adhoc

completed
2026-09-23T22:51:06.656684+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
281.4 s
total steps
436
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 slender pens or markers, with two empty baskets behind them. I’ll sort the plush animals into the left basket and the pens into the right, starting with the plush cluster.
move_to
left_x0.2850left_y-0.1900left_z0.1500left_gripper1.0000right_x0.2960right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3805, -0.0219, -0.0338, 0.9995, -0.0154, 0.7986, 0.6106, -0.3775, -0.0124, -0.0223, 0.9997] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1837 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2962 right_y=0.0012 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.5812, -1.2786, 9.5385, 1.8095, -0.0366, 0.1392, -0.0659, -0.9094, -1.5111, 9.9761, 1.7753, -0.0904, 0.0366, -0.0415] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.19,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"I see plush animals and slender pens or markers, with two empty baskets behind them. I’ll sort the plush animals into the left basket and the pens into the right, starting with the plush cluster."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe wrist view separates a small brown plush from the larger cream plush on its right. I’m lowering around the brown plush’s body for the first grasp.
move_to
left_x0.2550left_y-0.1700left_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]: [-0.9661, 1.2877, 0.7372, -0.3431, -0.7605, -0.6891, 0.9995, -0.0208, 0.7986, 0.6094, -0.3855, -0.012, -0.0265, 0.9997] state[eef_state]: left_x=0.2797 left_y=-0.1842 left_z=0.1342 left_yaw=-0.0053 left_pitch=-0.0363 left_roll=0.032 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.18 right_yaw=-0.0034 right_pitch=-0.0092 right_roll=-0.0036 right_gripper=0.9997 state[joint_eff]: [-0.1573, -4.9573, 9.1419, 1.4139, -0.4664, -0.0122, -0.0708, -0.4718, -1.2513, 7.9932, 1.7363, -0.1099, -0.0171, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.17,"left_z":0.035},"note":"The wrist view separates a small brown plush from the larger cream plush on its right. I’m lowering around the brown plush’s body for the first grasp."})
tool
executing move_to over 7 steps (0.7s)
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 open jaws straddle the brown plush’s body near table height. I’m closing gently through the gripper controller before checking whether it is secured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0237, 1.4456, 0.4225, 0.0841, -0.8089, -0.7422, 0.9995, -0.0208, 0.8013, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2575 left_y=-0.1701 left_z=0.0412 left_yaw=-0.0032 left_pitch=-0.0276 left_roll=0.0472 left_gripper=0.9995 right_x=0.2951 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0037 right_pitch=-0.0126 right_roll=-0.0037 right_gripper=0.9997 state[joint_eff]: [-0.3214, -3.6171, 3.9179, 1.1795, -0.0855, -0.1441, -0.0171, -0.3624, -1.2923, 7.1863, 1.7314, -0.0366, -0.0513, -0.0122] 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":{"left_gripper":0},"note":"The open jaws straddle the brown plush’s body near table height. I’m closing gently through the gripper controller before checking whether it is secured."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper closed almost completely, so the first grasp missed the plush. Its body is left of the jaw center in the wrist view; I’ll reopen and move slightly left and forward for one corrected attempt.
move_to
left_gripper1.0000left_x0.2780left_y-0.1370left_z0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0233, 1.4467, 0.4149, 0.0937, -0.8082, -0.7414, 0.0108, -0.0208, 0.8032, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2569 left_y=-0.1692 left_z=0.0397 left_yaw=-0.0037 left_pitch=-0.0278 left_roll=0.0468 left_gripper=0.0108 right_x=0.2952 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0037 right_pitch=-0.0145 right_roll=-0.0037 right_gripper=0.9997 state[joint_eff]: [-0.0615, -4.4923, 5.8051, 1.1453, -0.398, -0.0317, 0.7839, -0.1709, -1.4291, 7.1726, 1.7265, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.278,"left_y":-0.137,"left_z":0.012},"note":"The gripper closed almost completely, so the first grasp missed the plush. Its body is left of the jaw center in the wrist view; I’ll reopen and move slightly left and forward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteAt the lower viewpoint, the brown plush’s torso is nearer the front of the table than the jaws, while the cream plush is to the right. I’m backing toward its torso rather than closing in the gap between the toys.
move_to
left_x0.2050left_y-0.1600left_z0.0220
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]: [-0.8463, 1.5345, 0.2947, 0.4229, -0.7036, -0.5724, 0.9987, -0.0208, 0.8043, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2785 left_y=-0.1368 left_z=0.0145 left_yaw=0.012 left_pitch=-0.026 left_roll=0.0418 left_gripper=0.9987 right_x=0.2953 right_y=-0.0005 right_z=0.1781 right_yaw=-0.0037 right_pitch=-0.0157 right_roll=-0.0037 right_gripper=0.9997 state[joint_eff]: [0.0889, -3.7402, 3.494, 1.536, -0.2418, 0.0904, 0.0073, -0.253, -1.388, 7.0496, 1.7216, -0.0171, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.205,"left_y":-0.16,"left_z":0.022},"note":"At the lower viewpoint, the brown plush’s torso is nearer the front of the table than the jaws, while the cream plush is to the right. I’m backing toward its torso rather than closing in the gap between the toys."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe overhead view now shows the brown plush clearly to the left of the gripper, with the cream plush on the right. I’ll center the jaws over the brown torso with a short sideways correction.
move_to
left_x0.2250left_y-0.0850left_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]: [-1.2533, 1.4414, 0.3347, -0.0788, -0.9138, -1.0637, 0.9983, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2037 left_y=-0.1605 left_z=0.0168 left_yaw=0.0002 left_pitch=-0.0382 left_roll=0.0436 left_gripper=0.9983 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997 state[joint_eff]: [-0.2667, -4.8752, 5.5179, 0.7399, -0.6374, -0.022, -0.0611, -0.2256, -1.2239, 7.0769, 1.7216, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_y":-0.085,"left_z":0.025},"note":"The overhead view now shows the brown plush clearly to the left of the gripper, with the cream plush on the right. I’ll center the jaws over the brown torso with a short sideways correction."})
tool
executing move_to over 7 steps (0.7s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe brown plush’s torso is now visible just forward and left of the jaw center. I’m making the final small alignment so the jaws close around the body rather than its tag.
move_to
left_x0.2600left_y-0.0550left_z0.0200
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]: [-0.8803, 0.9913, 0.0959, 0.0471, -0.7231, -0.6273, 0.9982, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2263 left_y=-0.0847 left_z=0.0274 left_yaw=0.0215 left_pitch=-0.0335 left_roll=0.0296 left_gripper=0.9982 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997 state[joint_eff]: [-0.1436, -1.0188, 4.7795, 1.4286, -0.2662, -0.0024, -0.022, -0.2393, -1.3197, 7.0359, 1.7656, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.055,"left_z":0.02},"note":"The brown plush’s torso is now visible just forward and left of the jaw center. I’m making the final small alignment so the jaws close around the body rather than its tag."})
tool
executing move_to over 3 steps (0.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe brown plush’s body now fills the space between the jaws. I’m closing around it and will check the opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.527, 1.124, 0.0566, 0.3626, -0.4843, -0.3534, 0.9982, -0.0208, 0.8139, 0.6075, -0.3866, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2586 left_y=-0.0512 left_z=0.0179 left_yaw=0.0476 left_pitch=-0.047 left_roll=0.035 left_gripper=0.9982 right_x=0.2956 right_y=-0.0005 right_z=0.1747 right_yaw=-0.0037 right_pitch=-0.0275 right_roll=-0.0035 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.9077, 4.6427, 1.7558, -0.0269, 0.1587, -0.0122, -0.3487, -1.5795, 7.0906, 1.7216, -0.0317, -0.0855, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s body now fills the space between the jaws. I’m closing around it and will check the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe jaws stopped above the empty-close range, indicating they caught part of the plush. I’ll lift a few centimeters to confirm it moves with the gripper.
move_to
left_z0.0950right_z0.1850
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]: [-0.5274, 1.124, 0.0559, 0.3828, -0.4786, -0.355, 0.1349, -0.0208, 0.8146, 0.6075, -0.392, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2608 left_y=-0.0536 left_z=0.0209 left_yaw=0.0431 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.1349 right_x=0.2949 right_y=-0.0005 right_z=0.1734 right_yaw=-0.0037 right_pitch=-0.0336 right_roll=-0.0034 right_gripper=0.9997 state[joint_eff]: [-0.1026, -1.7299, 5.5043, 1.3553, -0.2955, -0.0171, 0.9841, -0.0615, -1.2923, 7.2274, 1.7753, -0.0073, -0.0562, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095,"right_z":0.185},"note":"The jaws stopped above the empty-close range, indicating they caught part of the plush. I’ll lift a few centimeters to confirm it moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe close-up is still ambiguous because the yellow marker and brown plush overlap. I’ll raise straight up for clearance and use the overhead view to identify exactly what was picked up before choosing a basket.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5274, 0.7776, 0.2779, -0.2173, -0.4706, -0.3557, 0.135, -0.0208, 0.8192, 0.6231, -0.4366, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2558 left_y=-0.0521 left_z=0.0831 left_yaw=0.038 left_pitch=-0.0621 left_roll=0.0322 left_gripper=0.135 right_x=0.2909 right_y=-0.0004 right_z=0.1703 right_yaw=-0.0037 right_pitch=-0.0671 right_roll=-0.0028 right_gripper=0.9997 state[joint_eff]: [-0.0068, -0.8274, 8.6359, 1.5604, -0.2808, -0.022, 1.033, -0.253, -1.4701, 9.4974, 1.6581, -0.0269, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The close-up is still ambiguous because the yellow marker and brown plush overlap. I’ll raise straight up for clearance and use the overhead view to identify exactly what was picked up before choosing a basket."})
tool
executing move_to over 9 steps (0.9s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe brown plush has lifted from the table and is hanging from the jaws. I’m carrying it above the left basket, keeping enough height for the dangling body to clear the rim.
move_to
left_x0.4300left_y-0.1400left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5274, 0.7914, 0.7998, -0.741, -0.4702, -0.3592, 0.1367, -0.0208, 0.8196, 0.6216, -0.4366, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.2566 left_y=-0.0527 left_z=0.2098 left_yaw=0.0401 left_pitch=-0.0753 left_roll=0.0376 left_gripper=0.1367 right_x=0.2907 right_y=-0.0004 right_z=0.1695 right_yaw=-0.0037 right_pitch=-0.0691 right_roll=-0.0028 right_gripper=0.9997 state[joint_eff]: [-0.1162, -0.6496, 8.6906, 1.3065, -0.2613, -0.0122, 0.906, 0.0479, -0.8684, 7.1453, 1.6874, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.14,"left_z":0.25},"note":"The brown plush has lifted from the table and is hanging from the jaws. I’m carrying it above the left basket, keeping enough height for the dangling body to clear the rim."})
tool
executing move_to over 14 steps (1.4s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe plush is above the near edge of the left basket. I’ll move a little farther into the basket and lower it so its body is supported before release.
move_to
left_x0.4850left_y-0.1400left_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]: [-0.4931, 1.5833, 1.3991, -0.6144, -0.4442, -0.3588, 0.1376, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997] state[eef_state]: left_x=0.4212 left_y=-0.1361 left_z=0.2257 left_yaw=0.0577 left_pitch=-0.1408 left_roll=0.0578 left_gripper=0.1376 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997 state[joint_eff]: [-0.0342, -8.1026, 9.894, 1.7607, -0.232, 0.2027, 0.9109, -0.1709, -1.7983, 7.159, 1.6777, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.14,"left_z":0.17},"note":"The plush is above the near edge of the left basket. I’ll move a little farther into the basket and lower it so its body is supported before release."})
tool
executing move_to over 5 steps (0.5s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe brown plush is inside the left basket, so I’m releasing it. The right arm will approach the two pens on the right side of the table, well away from the left arm.
move_to
left_gripper1.0000right_x0.2700right_y0.1900right_z0.1500right_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]: [-0.4229, 1.8069, 1.3987, -0.4858, -0.4099, -0.3462, 0.1384, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997] state[eef_state]: left_x=0.4643 left_y=-0.1278 left_z=0.1457 left_yaw=0.1034 left_pitch=-0.2365 left_roll=0.0944 left_gripper=0.1384 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997 state[joint_eff]: [-0.2667, -10.8376, 9.5521, 1.9121, -0.0855, 0.3932, 1.0037, -0.2256, -1.3744, 7.1179, 1.6679, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.27,"right_y":0.19,"right_z":0.15,"right_gripper":1},"note":"The brown plush is inside the left basket, so I’m releasing it. The right arm will approach the two pens on the right side of the table, well away from the left arm."})
tool
executing move_to over 16 steps (1.6s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe brown plush is visibly resting in the left basket. The right wrist view centers the rightmost pen under the jaws, so I’ll descend to table level while retracting the left arm clear.
move_to
left_x0.3000left_y0.0000left_z0.2300right_x0.2650right_y0.1850right_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]: [-0.4213, 1.8393, 1.3987, -0.485, -0.403, -0.355, 0.9977, 0.9466, 1.2602, 0.7795, -0.4671, 0.6724, 0.6399, 0.9997] state[eef_state]: left_x=0.4652 left_y=-0.1286 left_z=0.1306 left_yaw=0.1084 left_pitch=-0.266 left_roll=0.0999 left_gripper=0.9977 right_x=0.2651 right_y=0.186 right_z=0.1343 right_yaw=0.0414 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.9997 state[joint_eff]: [-0.1846, -12.2598, 6.5846, 1.2576, -0.2466, 0.0366, -0.0952, 0.1983, -4.6838, 9.1556, 1.2283, 0.5592, 0.188, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"right_x":0.265,"right_y":0.185,"right_z":-0.005},"note":"The brown plush is visibly resting in the left basket. The right wrist view centers the rightmost pen under the jaws, so I’ll descend to table level while retracting the left arm clear."})
tool
executing move_to over 13 steps (1.3s)
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 noteAt table height, the black-capped pen is slightly to the right of the jaw center. I’m shifting about two centimeters toward it and closing around its barrel.
move_to
right_y0.1630right_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]: [-0.1627, 1.1069, 1.1133, -0.8295, -0.2577, -0.1711, 0.9981, 0.9478, 1.6238, 0.4595, 0.2539, 0.688, 0.6506, 0.9997] state[eef_state]: left_x=0.3141 left_y=-0.0023 left_z=0.2332 left_yaw=0.1363 left_pitch=-0.227 left_roll=0.0827 left_gripper=0.9981 right_x=0.2706 right_y=0.1906 right_z=0.0113 right_yaw=0.0298 right_pitch=-0.0908 right_roll=-0.016 right_gripper=0.9997 state[joint_eff]: [0.1846, -3.4667, 6.3658, 1.5018, -0.1099, 0.0611, 0.022, -0.1709, -3.412, 2.6325, 0.4908, -0.0464, -0.1441, -0.0122] 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":{"right_y":0.163,"right_gripper":0},"note":"At table height, the black-capped pen is slightly to the right of the jaw center. I’m shifting about two centimeters toward it and closing around its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe gripper reading indicates an empty grasp; the black-capped pen remains just right of center. I’ll reopen, shift slightly right and forward, and lower to catch the thin barrel.
move_to
right_gripper1.0000right_x0.2900right_y0.1500right_z-0.0200
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]: [-0.1631, 1.1145, 1.1133, -0.8448, -0.247, -0.1757, 0.9981, 0.878, 1.5429, 0.3824, 0.3542, 0.654, 0.5808, 0.0126] state[eef_state]: left_x=0.3123 left_y=-0.004 left_z=0.2282 left_yaw=0.1311 left_pitch=-0.251 left_roll=0.0786 left_gripper=0.9981 right_x=0.2786 right_y=0.1729 right_z=0.0236 right_yaw=0.0263 right_pitch=-0.0446 right_roll=0.0246 right_gripper=0.0126 state[joint_eff]: [-0.0342, -3.7128, 6.6803, 1.5897, -0.2613, 0.0122, -0.0171, -0.4581, -4.8068, 3.4256, 1.0427, 0.0757, -0.0611, 0.6911] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.29,"right_y":0.15,"right_z":-0.02},"note":"The gripper reading indicates an empty grasp; the black-capped pen remains just right of center. I’ll reopen, shift slightly right and forward, and lower to catch the thin barrel."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe right jaw is now down alongside the black-capped pen, with its barrel beneath the wrist view. I’m closing for the corrected grasp.
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]: [-0.1631, 1.1145, 1.1133, -0.8482, -0.2462, -0.1761, 0.9981, 0.7719, 1.7523, 0.3092, 0.8085, 0.6094, 0.5045, 0.9949] state[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2276 left_yaw=0.1309 left_pitch=-0.2544 left_roll=0.0787 left_gripper=0.9981 right_x=0.3056 right_y=0.1614 right_z=0.009 right_yaw=-0.0059 right_pitch=0.0545 right_roll=0.1051 right_gripper=0.9949 state[joint_eff]: [-0.1709, -3.2205, 6.5573, 1.4432, -0.1392, -0.0464, -0.022, -0.5538, -2.9744, 1.5111, 0.4762, -0.149, -0.0073, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaw is now down alongside the black-capped pen, with its barrel beneath the wrist view. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pen grasp now has a clear nonempty opening. I’ll lift it for verification while bringing the left arm toward the gray plush, keeping the arms on opposite sides of the table.
move_to
right_z0.0800left_x0.2850left_y0.0100left_z0.0900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1631, 1.1149, 1.1133, -0.8486, -0.2462, -0.1761, 0.9981, 0.7708, 1.7561, 0.3058, 0.8322, 0.609, 0.4969, 0.1503] state[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2274 left_yaw=0.1309 left_pitch=-0.2552 left_roll=0.079 left_gripper=0.9981 right_x=0.3068 right_y=0.162 right_z=0.011 right_yaw=-0.0033 right_pitch=0.0665 right_roll=0.11 right_gripper=0.1503 state[joint_eff]: [-0.1573, -3.2205, 6.5436, 1.4139, -0.1245, -0.0464, -0.0171, 0.0205, -5.9692, 3.7128, 1.37, 0.1587, 0.0317, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"left_x":0.285,"left_y":0.01,"left_z":0.09,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The pen grasp now has a clear nonempty opening. I’ll lift it for verification while bringing the left arm toward the gray plush, keeping the arms on opposite sides of the table."})
tool
executing move_to over 9 steps (0.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe black-capped pen lifted with the right gripper while the blue pen remains on the table. I’ll carry it over the right basket and lower the left jaws around the gray plush’s torso.
move_to
right_x0.4750right_y0.1500right_z0.2300left_x0.3050left_y0.0350left_z0.0200
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]: [0.0257, 0.8162, 0.2733, -0.1337, -0.0254, -0.0303, 0.9981, 0.7708, 1.4014, 0.379, 0.3985, 0.593, 0.4934, 0.1568] state[eef_state]: left_x=0.2721 left_y=0.0151 left_z=0.0749 left_yaw=0.0464 left_pitch=-0.1121 left_roll=0.0067 left_gripper=0.9981 right_x=0.3032 right_y=0.1619 right_z=0.0681 right_yaw=0.0114 right_pitch=0.0561 right_roll=0.1098 right_gripper=0.1568 state[joint_eff]: [0.3624, -1.6479, 7.6923, 2.0049, -0.0024, 0.0952, -0.0171, -0.0752, -5.6684, 7.9795, 1.58, 0.3199, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.15,"right_z":0.23,"left_x":0.305,"left_y":0.035,"left_z":0.02},"note":"The black-capped pen lifted with the right gripper while the blue pen remains on the table. I’ll carry it over the right basket and lower the left jaws around the gray plush’s torso."})
tool
executing move_to over 14 steps (1.4s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe right gripper is holding the blue pen, whose long end remains visible in the wrist camera; I’m lowering it over the right basket. The left jaws are positioned around the gray plush, so I’ll close them now.
move_to
left_gripper0.0000right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1349, 1.2732, 0.2321, 0.4858, 0.012, 0.0578, 0.9981, 0.4065, 1.6264, 1.2388, -0.1581, 0.2855, 0.276, 0.1615] state[eef_state]: left_x=0.3248 left_y=0.0455 left_z=0.0534 left_yaw=0.0767 left_pitch=0.0075 left_roll=0.0594 left_gripper=0.9981 right_x=0.4675 right_y=0.151 right_z=0.2144 right_yaw=0.0116 right_pitch=0.0409 right_roll=0.105 right_gripper=0.1615 state[joint_eff]: [0.4034, -1.4017, 3.0564, 0.6862, 0.442, -0.2076, -0.0171, -0.4581, -8.0752, 9.0872, 1.6972, 0.1538, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.16},"note":"The right gripper is holding the blue pen, whose long end remains visible in the wrist camera; I’m lowering it over the right basket. The left jaws are positioned around the gray plush, so I’ll close them now."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe pen is over the interior of the right basket, so I’m releasing it. The gray-plush close was empty and stopped too high; I’ll reopen and move inward from the table edge to grasp its lower torso.
move_to
right_gripper1.0000left_gripper1.0000left_x0.2800left_y0.0000left_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]: [0.1345, 1.2678, 0.2329, 0.5381, -0.0051, 0.0574, 0.0139, 0.4046, 1.6745, 1.0798, 0.0189, 0.2756, 0.2691, 0.1645] state[eef_state]: left_x=0.3314 left_y=0.0494 left_z=0.0665 left_yaw=0.091 left_pitch=0.0654 left_roll=0.0706 left_gripper=0.0139 right_x=0.4637 right_y=0.1502 right_z=0.1565 right_yaw=0.0219 right_pitch=0.0113 right_roll=0.0925 right_gripper=0.1645 state[joint_eff]: [-0.1846, -2.6462, 5.5043, 1.2918, 0.149, -0.0024, 0.6471, -0.0479, -7.9385, 6.7897, 1.9463, 0.1294, 0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_gripper":1,"left_x":0.28,"left_y":0,"left_z":-0.01},"note":"The pen is over the interior of the right basket, so I’m releasing it. The gray-plush close was empty and stopped too high; I’ll reopen and move inward from the table edge to grasp its lower torso."})
tool
executing move_to over 10 steps (1.0s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe blue pen is now in the right basket. The gray plush is crowded against the left edge and the arm is not tracking the low target, so I’m backing off and approaching the cream plush and the remaining black pen instead.
move_to
left_x0.2450left_y-0.2300left_z0.1400left_pitch0.0000left_roll0.0000right_x0.2600right_y0.0350right_z0.1300right_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]: [-0.1833, 1.8313, 0.0326, 1.5017, -0.3019, -0.0151, 0.9952, 0.4046, 1.6806, 1.0718, 0.012, 0.2756, 0.2653, 0.9954] state[eef_state]: left_x=0.3245 left_y=-0.0031 left_z=0.0452 left_yaw=0.0718 left_pitch=0.278 left_roll=0.097 left_gripper=0.9952 right_x=0.4614 right_y=0.1492 right_z=0.1488 right_yaw=0.024 right_pitch=-0.008 right_roll=0.0815 right_gripper=0.9954 state[joint_eff]: [-0.1026, -0.7453, -0.7179, -0.823, 0.5446, -1.0281, 0.1441, -0.0752, -8.8684, 7.3504, 1.8926, 0.0464, 0.0317, 0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":-0.23,"left_z":0.14,"left_pitch":0,"left_roll":0,"right_x":0.26,"right_y":0.035,"right_z":0.13,"right_pitch":0,"right_roll":0},"note":"The blue pen is now in the right basket. The gray plush is crowded against the left edge and the arm is not tracking the low target, so I’m backing off and approaching the cream plush and the remaining black pen instead."})
tool
executing move_to over 21 steps (2.1s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteWith the arms clear, I can see the blue pen actually landed just in front of the shifted right basket; I’ll correct that after these pickups. I’m lowering onto the cream plush’s body and the black pen’s barrel.
move_to
left_x0.2250left_y-0.2450left_z0.0250right_x0.2650right_y0.0120right_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]: [-1.1965, 1.4517, 0.8738, -0.5148, -0.9279, -1.0351, 0.9966, 0.255, 0.6411, 0.374, -0.276, 0.2005, 0.1226, 0.9963] state[eef_state]: left_x=0.2474 left_y=-0.2332 left_z=0.1344 left_yaw=0.0461 left_pitch=0.003 left_roll=-0.0164 left_gripper=0.9966 right_x=0.2682 right_y=0.0373 right_z=0.1376 right_yaw=0.0134 right_pitch=0.0344 right_roll=0.0151 right_gripper=0.9963 state[joint_eff]: [-0.3077, -5.7915, 7.6376, 0.6716, -0.6032, -0.0366, 0.1343, -0.2803, -0.1573, 7.2821, 1.8486, -0.0122, -0.0611, 0.0806] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_y":-0.245,"left_z":0.025,"right_x":0.265,"right_y":0.012,"right_z":-0.01},"note":"With the arms clear, I can see the blue pen actually landed just in front of the shifted right basket; I’ll correct that after these pickups. I’m lowering onto the cream plush’s body and the black pen’s barrel."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe cream plush fills the left jaw opening, so I’m closing around its torso. The black pen is still right of the right jaw center; I’ll align that arm before closing it.
move_to
left_gripper0.0000right_y-0.0180right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2835, 1.7119, 0.7143, -0.1329, -1.0172, -1.1923, 0.9967, 0.0631, 1.4246, 0.0196, 0.8486, 0.0338, 0.0399, 0.9966] state[eef_state]: left_x=0.2353 left_y=-0.2535 left_z=0.0528 left_yaw=0.0808 left_pitch=0.0665 left_roll=-0.0946 left_gripper=0.9967 right_x=0.2903 right_y=0.016 right_z=0.0114 right_yaw=0.0063 right_pitch=0.0092 right_roll=0.0283 right_gripper=0.9966 state[joint_eff]: [-0.3077, -4.2872, 2.7009, 0.3297, 0.2125, 0.1978, 0.0024, -0.4308, -2.6325, 2.1402, 0.0171, 0.0317, -0.0269, 0.022] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_y":-0.018,"right_z":-0.015},"note":"The cream plush fills the left jaw opening, so I’m closing around its torso. The black pen is still right of the right jaw center; I’ll align that arm before closing it."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteThe black pen is aligned with the right jaw column now, so I’ll grasp it. The left close missed behind the cream plush’s torso; I’m reopening and moving forward toward its neck and upper body for the retry.
move_to
right_gripper0.0000left_gripper1.0000left_x0.2750left_y-0.2200left_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2846, 1.713, 0.7132, -0.0887, -1.0409, -1.2041, 0.0107, -0.1635, 1.7824, 0.0093, 1.3235, -0.1677, -0.0841, 0.9968] state[eef_state]: left_x=0.2384 left_y=-0.2574 left_z=0.0586 left_yaw=0.0995 left_pitch=0.0948 left_roll=-0.1422 left_gripper=0.0107 right_x=0.3065 right_y=-0.017 right_z=0.0121 right_yaw=0.0173 right_pitch=0.1227 right_roll=0.0096 right_gripper=0.9968 state[joint_eff]: [-0.1436, -6.9675, 5.135, 0.525, -0.2613, 0.1197, 0.8034, -0.6222, -2.1538, 1.4838, 0.6081, 0.1636, 0.0171, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_gripper":1,"left_x":0.275,"left_y":-0.22,"left_z":0},"note":"The black pen is aligned with the right jaw column now, so I’ll grasp it. The left close missed behind the cream plush’s torso; I’m reopening and moving forward toward its neck and upper body for the retry."})
tool
executing move_to over 10 steps (1.0s)
step 257
assistant
agent noteThe black pen is secured with a nonempty gripper opening; I’ll lift it to verify. The left jaws are now around the cream plush’s upper body, so I’ll close for the corrected grasp.
move_to
left_gripper0.0000right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1294, 1.8305, 0.551, 0.6006, -1.0363, -0.9619, 0.9938, -0.165, 1.7813, 0.0109, 1.3293, -0.1734, -0.0902, 0.1389] state[eef_state]: left_x=0.2861 left_y=-0.2412 left_z=0.0494 left_yaw=0.1842 left_pitch=0.2118 left_roll=-0.3233 left_gripper=0.9938 right_x=0.3077 right_y=-0.0167 right_z=0.0141 right_yaw=0.0241 right_pitch=0.1314 right_roll=0.0049 right_gripper=0.1389 state[joint_eff]: [1.6068, -2.5915, 0.5402, -0.2515, 0.6569, 0.0415, -0.2564, -0.1436, -4.3966, 1.7162, 1.7509, -0.0122, 0.0269, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.09},"note":"The black pen is secured with a nonempty gripper opening; I’ll lift it to verify. The left jaws are now around the cream plush’s upper body, so I’ll close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 267
assistant
agent noteThe black pen lifted successfully. I’ll take it farther into the shifted right basket; the cream-plush retry was empty, so I’m clearing that contact and moving to the yellow marker instead of repeating the failed grasp.
move_to
right_x0.5550right_y0.2150right_z0.2300right_pitch0.2500left_x0.3000left_y-0.0650left_z0.1400left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1297, 1.8305, 0.5514, 0.6449, -1.0634, -0.968, 0.0155, -0.165, 1.0084, 0.131, 0.4572, -0.1772, -0.091, 0.14] state[eef_state]: left_x=0.2886 left_y=-0.2413 left_z=0.0575 left_yaw=0.2175 left_pitch=0.2374 left_roll=-0.3696 left_gripper=0.0155 right_x=0.3065 right_y=-0.0158 right_z=0.0859 right_yaw=0.0283 right_pitch=0.1523 right_roll=0.0018 right_gripper=0.14 state[joint_eff]: [-0.0342, -7.0222, 4.0821, 0.9353, -0.0513, 0.0464, 0.6227, -0.3487, -2.0444, 8.8, 1.8486, -0.0415, -0.0464, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.215,"right_z":0.23,"right_pitch":0.25,"left_x":0.3,"left_y":-0.065,"left_z":0.14,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The black pen lifted successfully. I’ll take it farther into the shifted right basket; the cream-plush retry was empty, so I’m clearing that contact and moving to the yellow marker instead of repeating the failed grasp."})
tool
executing move_to over 20 steps (2.0s)
step 287
assistant
agent noteThe black pen is now centered well inside the right basket, so I’m releasing it there. The yellow marker is visible just left of the left jaw column, and I’m lowering around its barrel.
move_to
right_gripper1.0000left_x0.2950left_y-0.0400left_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]: [-0.4515, 0.9314, 0.4503, -0.1406, -0.4213, -0.3355, 0.998, 0.4828, 1.9686, 1.5005, 0.104, 0.403, 0.1215, 0.1467] state[eef_state]: left_x=0.299 left_y=-0.0607 left_z=0.1291 left_yaw=0.0623 left_pitch=0.0039 left_roll=-0.0262 left_gripper=0.998 right_x=0.5491 right_y=0.2136 right_z=0.2158 right_yaw=0.0623 right_pitch=0.2317 right_roll=-0.0122 right_gripper=0.1467 state[joint_eff]: [-0.0068, -2.441, 9.8393, 1.7216, -0.1929, 0.1538, 0.0171, 0.2667, -11.7265, 9.0188, 1.58, 0.359, 0.1929, 1.0281] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.295,"left_y":-0.04,"left_z":-0.01},"note":"The black pen is now centered well inside the right basket, so I’m releasing it there. The yellow marker is visible just left of the left jaw column, and I’m lowering around its barrel."})
tool
executing move_to over 9 steps (0.9s)
step 296
assistant
agent noteThe black pen is visibly inside the right basket. I’m grasping the yellow marker and bringing the right arm back toward the blue pen that missed the basket earlier.
move_to
left_gripper0.0000right_x0.4200right_y0.1600right_z0.1300right_pitch0.0000right_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]: [-0.3485, 1.6409, 0.0849, 0.9401, -0.3885, -0.2596, 0.9981, 0.4843, 1.9862, 1.4948, 0.0872, 0.3931, 0.1135, 0.9952] state[eef_state]: left_x=0.2994 left_y=-0.0337 left_z=-0.0035 left_yaw=0.098 left_pitch=-0.0001 left_roll=0.0185 left_gripper=0.9981 right_x=0.548 right_y=0.2159 right_z=0.1993 right_yaw=0.0802 right_pitch=0.1934 right_roll=-0.0329 right_gripper=0.9952 state[joint_eff]: [0.294, -3.5214, 0.4171, -0.3248, 0.7399, -0.398, -0.0024, -0.212, -12.8205, 7.4735, 1.9707, 0.1294, 0.0073, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.42,"right_y":0.16,"right_z":0.13,"right_pitch":0,"right_gripper":1},"note":"The black pen is visibly inside the right basket. I’m grasping the yellow marker and bringing the right arm back toward the blue pen that missed the basket earlier."})
tool
executing move_to over 10 steps (1.0s)
step 306
assistant
agent noteThe yellow marker is caught with a clear nonempty opening; I’ll lift it for confirmation. The blue pen is on the tabletop in front of the right basket, so I’m lowering the right jaws onto its middle.
move_to
left_z0.1000right_x0.4000right_y0.1450right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3481, 1.6451, 0.0803, 0.9714, -0.392, -0.2619, 0.1551, 0.49, 1.6329, 0.9173, 0.0925, 0.3622, 0.1734, 0.9986] state[eef_state]: left_x=0.3012 left_y=-0.0337 left_z=0.0003 left_yaw=0.1025 left_pitch=0.0211 left_roll=0.0085 left_gripper=0.1551 right_x=0.4264 right_y=0.1606 right_z=0.1229 right_yaw=0.0871 right_pitch=-0.0127 right_roll=-0.0515 right_gripper=0.9986 state[joint_eff]: [-0.1573, -4.3282, 3.7265, 1.4042, -0.0904, -0.022, 1.0281, 0.294, -9.4291, 7.0496, 1.7753, 0.1343, 0.0708, -0.1587] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10,"right_x":0.40,"right_y":0.145,"right_z":0},"note":"The yellow marker is caught with a clear nonempty opening; I’ll lift it for confirmation. The blue pen is on the tabletop in front of the right basket, so I’m lowering the right jaws onto its middle."})
tool
executing move_to over 8 steps (0.8s)
step 314
assistant
agent noteThe yellow marker lifted cleanly, and I’m carrying it toward the left side of the right basket. The blue pen lies across the right jaws, so I’m closing around its barrel.
move_to
right_gripper0.0000left_x0.5300left_y-0.4000left_z0.2500left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3481, 0.9821, 0.2802, 0.1493, -0.3885, -0.2623, 0.1608, 0.4889, 1.879, 0.6323, 0.6571, 0.3759, 0.1608, 0.9984] state[eef_state]: left_x=0.3044 left_y=-0.0354 left_z=0.0968 left_yaw=0.1006 left_pitch=0.057 left_roll=-0.0112 left_gripper=0.1608 right_x=0.4084 right_y=0.1478 right_z=0.0203 right_yaw=0.0814 right_pitch=0.0209 right_roll=-0.0562 right_gripper=0.9984 state[joint_eff]: [-0.2393, -2.0581, 8.8, 1.6484, -0.188, -0.022, 1.033, -0.4171, -5.5179, 2.8376, 0.569, -0.0317, -0.0317, -0.0317] 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":{"right_gripper":0,"left_x":0.53,"left_y":-0.4,"left_z":0.25,"left_pitch":0.2},"note":"The yellow marker lifted cleanly, and I’m carrying it toward the left side of the right basket. The blue pen lies across the right jaws, so I’m closing around its barrel."})
tool
executing move_to over 33 steps (3.3s)
step 347
assistant
agent noteThe yellow marker is over the right basket’s interior, so I’m releasing it. The blue pen slipped sideways during closure; I’ll reopen and rotate the right jaws to grip across, rather than along, its barrel.
move_to
left_gripper1.0000right_gripper1.0000right_x0.3900right_y0.0850right_z0.0500right_yaw1.5700
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]: [-0.8494, 2.7064, 2.8246, -0.757, -0.8867, -0.551, 0.165, 0.4892, 1.8866, 0.6254, 0.6655, 0.3737, 0.1577, 0.0095] state[eef_state]: left_x=0.5292 left_y=-0.389 left_z=0.2036 left_yaw=0.1401 left_pitch=0.178 left_roll=-0.0075 left_gripper=0.165 right_x=0.4065 right_y=0.1474 right_z=0.0165 right_yaw=0.0853 right_pitch=0.0147 right_roll=-0.06 right_gripper=0.0095 state[joint_eff]: [-0.5538, -15.788, 7.6923, 1.1795, -0.1294, 0.5104, 1.0232, -0.1573, -8.6085, 5.1077, 1.5702, 0.1441, -0.0073, 0.9353] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":1,"right_x":0.39,"right_y":0.085,"right_z":0.05,"right_yaw":1.57},"note":"The yellow marker is over the right basket’s interior, so I’m releasing it. The blue pen slipped sideways during closure; I’ll reopen and rotate the right jaws to grip across, rather than along, its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 357
assistant
agent noteThe yellow and black markers are visible inside the right basket. The right arm overshot while turning, so I’ll raise and recenter it over the blue pen; the left arm will approach the cream plush’s upper torso from above.
move_to
left_x0.3250left_y-0.2100left_z0.1300left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.3400right_y0.0700right_z0.1000right_yaw1.5700
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]: [-0.8471, 2.7647, 2.8231, -0.7731, -0.8837, -0.5735, 0.996, -0.1722, 2.1651, 1.4113, -0.3103, -0.9539, -1.3159, 0.9944] state[eef_state]: left_x=0.5316 left_y=-0.3899 left_z=0.1641 left_yaw=0.1423 left_pitch=0.1349 left_roll=0.0347 left_gripper=0.996 right_x=0.4894 right_y=0.0647 right_z=0.0563 right_yaw=1.2414 right_pitch=0.0103 right_roll=-0.2817 right_gripper=0.9944 state[joint_eff]: [-0.3077, -20.3282, 6.5436, 1.5849, -0.3785, 0.188, -0.0366, -0.212, -11.3162, 4.9162, 0.4322, -0.7302, 0.0171, 0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.21,"left_z":0.13,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.34,"right_y":0.07,"right_z":0.1,"right_yaw":1.57},"note":"The yellow and black markers are visible inside the right basket. The right arm overshot while turning, so I’ll raise and recenter it over the blue pen; the left arm will approach the cream plush’s upper torso from above."})
tool
executing move_to over 16 steps (1.6s)
step 373
assistant
agent noteThe cream plush’s body is slightly nearer and left of the current grasp point; I’ll descend onto that narrower section. The blue pen remains horizontal, and I’m using a smaller crosswise wrist turn to avoid the right arm’s awkward full-turn pose.
move_to
left_x0.2750left_y-0.1900left_z0.0150right_x0.3550right_y0.0550right_z0.0000right_yaw1.2000
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]: [-0.8864, 1.5158, 0.8486, -0.139, -0.728, -0.6041, 0.9967, -0.2569, 1.9297, 1.235, -0.638, -1.0012, -1.668, 0.9948] state[eef_state]: left_x=0.3309 left_y=-0.2139 left_z=0.1255 left_yaw=0.0057 left_pitch=-0.0049 left_roll=0.0185 left_gripper=0.9967 right_x=0.4045 right_y=0.0512 right_z=0.0879 right_yaw=1.3563 right_pitch=-0.0162 right_roll=-0.3076 right_gripper=0.9948 state[joint_eff]: [-0.4034, -7.0085, 6.8171, 1.4969, -0.3297, -0.0904, 0.0611, 0.9231, -9.2786, 5.2444, 0.6081, -0.7595, -0.0659, 0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.19,"left_z":0.015,"right_x":0.355,"right_y":0.055,"right_z":0,"right_yaw":1.2},"note":"The cream plush’s body is slightly nearer and left of the current grasp point; I’ll descend onto that narrower section. The blue pen remains horizontal, and I’m using a smaller crosswise wrist turn to avoid the right arm’s awkward full-turn pose."})
tool
executing move_to over 8 steps (0.8s)
step 381
assistant
agent noteThe cream plush’s narrower neck area is between the left jaws, and the blue pen is centered between the right jaws. I’m closing both grippers, then checking their openings before lifting.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0027, 1.6173, 0.5095, 0.384, -0.8581, -0.7147, 0.9967, -0.2642, 1.8904, 0.7486, -0.0422, -0.9947, -1.4548, 0.9948] state[eef_state]: left_x=0.2957 left_y=-0.2081 left_z=0.0605 left_yaw=0.0436 left_pitch=0.1143 left_roll=-0.0951 left_gripper=0.9967 right_x=0.3506 right_y=0.0624 right_z=0.0109 right_yaw=1.2373 right_pitch=0.0127 right_roll=-0.2766 right_gripper=0.9948 state[joint_eff]: [-0.294, -2.441, 1.6205, -0.2466, 0.3883, 0.0562, -0.0122, -0.5265, -6.2974, 3.453, 0.8474, 0.3346, -0.1294, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The cream plush’s narrower neck area is between the left jaws, and the blue pen is centered between the right jaws. I’m closing both grippers, then checking their openings before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 391
assistant
agent noteThe blue pen is secured, but the cream-plush grasp is empty again. I’m lifting the pen and parking the left arm clear rather than continuing unsuccessful contact with the plush.
move_to
right_z0.1100left_x0.3000left_y0.0000left_z0.2300left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0096, 1.6176, 0.5087, 0.4335, -0.8722, -0.7258, 0.0116, -0.268, 1.8908, 0.7341, -0.0177, -0.9962, -1.4582, 0.1326] state[eef_state]: left_x=0.2978 left_y=-0.2129 left_z=0.0684 left_yaw=0.0584 left_pitch=0.1454 left_roll=-0.1433 left_gripper=0.0116 right_x=0.3494 right_y=0.0615 right_z=0.0094 right_yaw=1.2359 right_pitch=0.0143 right_roll=-0.2889 right_gripper=0.1326 state[joint_eff]: [0.1983, -5.9282, 5.135, 1.0085, -0.1929, 0.0855, 0.8327, 0.1573, -7.7333, 5.3402, 0.6081, -0.4469, 0.0024, 1.0476] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11,"left_x":0.3,"left_y":0,"left_z":0.23,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The blue pen is secured, but the cream-plush grasp is empty again. I’m lifting the pen and parking the left arm clear rather than continuing unsuccessful contact with the plush."})
tool
executing move_to over 19 steps (1.9s)
step 410
assistant
agent noteThe blue pen has lifted with the right gripper. I’ll carry it over the center of the right basket, using the successful black-pen placement position.
move_to
right_x0.5500right_y0.2100right_z0.2500right_yaw0.0000right_pitch0.2000right_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]: [-0.1108, 0.8509, 0.7742, -0.4961, -0.1993, -0.1677, 0.9978, -0.268, 1.6405, 0.8783, -0.4232, -0.9886, -1.4597, 0.1328] state[eef_state]: left_x=0.3018 left_y=0.0052 left_z=0.2199 left_yaw=0.1297 left_pitch=0.0042 left_roll=-0.0179 left_gripper=0.9978 right_x=0.3484 right_y=0.0611 right_z=0.0948 right_yaw=1.2337 right_pitch=0.0063 right_roll=-0.2797 right_gripper=0.1328 state[joint_eff]: [-0.335, -1.2103, 9.0188, 1.5946, 0.0708, 0.1929, -0.0317, -0.0068, -8.7726, 8.2256, 0.6764, -0.5788, 0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.21,"right_z":0.25,"right_yaw":0,"right_pitch":0.2,"right_roll":0},"note":"The blue pen has lifted with the right gripper. I’ll carry it over the center of the right basket, using the successful black-pen placement position."})
tool
executing move_to over 16 steps (1.6s)
step 426
assistant
agent noteThe blue pen is above the right basket’s interior beside the black pen. I’m lowering slightly and opening the jaws to release it into the basket.
move_to
right_z0.1800right_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]: [-0.1108, 0.8562, 0.7757, -0.5083, -0.1871, -0.1722, 0.9981, 0.4782, 1.9461, 1.5932, -0.0677, 0.3283, 0.0891, 0.1379] state[eef_state]: left_x=0.301 left_y=0.0032 left_z=0.2164 left_yaw=0.1219 left_pitch=-0.013 left_roll=-0.0245 left_gripper=0.9981 right_x=0.5432 right_y=0.2215 right_z=0.2326 right_yaw=0.1434 right_pitch=0.1682 right_roll=-0.0373 right_gripper=0.1379 state[joint_eff]: [-0.1573, -1.9624, 6.9812, 1.8388, -0.2369, 0.0024, 0.0171, 0.253, -11.6308, 8.6906, 1.58, 0.315, 0.1245, 1.0232] camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_gripper":1},"note":"The blue pen is above the right basket’s interior beside the black pen. I’m lowering slightly and opening the jaws to release it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 435
assistant
agent notePartially completed: the three markers are in the right basket, and the brown plush is in the left basket. The gray and cream plush animals remain on the table. Repeated plush grasps closed empty while the arm stopped above the commanded height, so I could not finish reliably within this trial.
give_up
hindsightThe right basket shifted farther back during manipulation; successful marker releases used right_x≈0.55, right_y≈0.21, z≈0.18–0.23. All three markers are visible inside it in the final wrist view. A horizontal marker required a crosswise jaw orientation (right_yaw≈1.2); closing lengthwise pushed it sideways. Low plush approaches repeatedly stopped at z≈0.05–0.07 despite targets near zero and then closed empty; change the grasp approach rather than repeating those poses. The gray plush is crowded against the left table edge.
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]: [-0.1108, 0.8574, 0.775, -0.5087, -0.1864, -0.173, 0.9981, 0.4824, 1.977, 1.4467, 0.0841, 0.3279, 0.0837, 0.9952] state[eef_state]: left_x=0.301 left_y=0.003 left_z=0.2156 left_yaw=0.1217 left_pitch=-0.0153 left_roll=-0.025 left_gripper=0.9981 right_x=0.5388 right_y=0.222 right_z=0.1802 right_yaw=0.1521 right_pitch=0.1439 right_roll=-0.0505 right_gripper=0.9952 state[joint_eff]: [-0.1299, -1.6479, 7.1043, 1.7118, -0.1343, -0.0659, -0.0073, -0.3761, -9.935, 6.8581, 2.127, 0.0122, 0.0073, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 435): [image omitted: streamed camera frame] camera 'left_cam' (step 435): [image omitted: streamed camera frame] camera 'right_cam' (step 435): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: the three markers are in the right basket, and the brown plush is in the left basket. The gray and cream plush animals remain on the table. Repeated plush grasps closed empty while the arm stopped above the commanded height, so I could not finish reliably within this trial.","hindsight":"The right basket shifted farther back during manipulation; successful marker releases used right_x≈0.55, right_y≈0.21, z≈0.18–0.23. All three markers are visible inside it in the final wrist view. A horizontal marker required a crosswise jaw orientation (right_yaw≈1.2); closing lengthwise pushed it sideways. Low plush approaches repeatedly stopped at z≈0.05–0.07 despite targets near zero and then closed empty; change the grasp approach rather than repeating those poses. The gray plush is crowded against the left table edge."})
tool
give_up: Partially completed: the three markers are in the right basket, and the brown plush is in the left basket. The gray and cream plush animals remain on the table. Repeated plush grasps closed empty while the arm stopped above the commanded height, so I could not finish reliably within this trial.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.919 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]: [-0.0193, 0.7994, 0.6155, -0.3805, -0.0219, -0.0338, 0.9995, -0.0154, 0.7986, 0.6106, -0.3775, -0.0124, -0.0223, 0.9997]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1837 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2962 right_y=0.0012 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.2786, 9.5385, 1.8095, -0.0366, 0.1392, -0.0659, -0.9094, -1.5111, 9.9761, 1.7753, -0.0904, 0.0366, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b39346b3a265ba2ac4ace6d792c14deaff0d6f3b5768b9233b7a4d005aa017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938bfb0d3593a453874d7c9ff7b8257b0c3d7c6927fd79baa935f6f83f2f33ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33de2927376797d4e770814313095c339660bbff03903639429da5bff1d2d001",
      "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 1 attempt 0 · /responses · status 200 · 6.072 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFfyWhO9IZ4t7y2PW1duwh6d5Kf9CTwu7lMuUhw4JrdBs8N506Tukpan5n0b1RbuRSnImL52OxhEQ4zZ9vRbA-8NSG2jPk3_jkBG7OKZmoUERydUfaHCupxbsyX_vhhWI0HPr8YFAPeqJ3039exP6kulhff26d5MHTut-OV3BuXtN_0CVuLLWfPEjRj9iIwuCpmW8ApFjKNKf6g1mBFdkcL5KNbWR0MalfmhQ81-iDH7X2_OYO9ZFYg-aH4tXLiNZ-wa2FJMHp-K7CsT8DWyfbJUd-bOO44AfkKFT_RDzdDwYJFCAj3Cw7LgFFcosR6lnBZL0ucoXVrXj7Ny_h_ic0_werlEKnx6V_REx2E2DKMN4OcOeNnaUFsnZ_ULWR6AmtAXQM6Yu44eWs8-GyuMvjx2Ibgb8NTGCooQ683Yhxf5NDLhASZXPM0Exi2o-lnTP_vf7iDL34qS64qtmsDqCoFrvEL5Hbn2JqCluq-cCk_jC4gdpyJGS62Z52UXk4N7Fyb-oHQRK1_dD7TWc-gdVGzDOBD0NqJIHMCKy115Y2E0ZTvzPoZkLA4FAAxctMlZm52NenPO1B82SK5sb0j2xON7m-7jimI-nfd7u6vV98c9wlVA9W0nPLcg7unoIjK9UaIiEp2wmohCuy7GKYjJFdWsYye4aNbgcP4t-dMNzcg4SoTQ_L2tF-VXpWViAqDR-O40xMVh3wnS-i_qNgPBno3Y4X5YYJnpV5sKX8uDM9BFbJQbEOcpF4G-jPQeFQXPY22j9oQYILFIM4zkoiiTZ44RC_poQudmLgGnscmPgMN6bSlQs5AXRb_Swi_qM5Liv58CHlO6oVvtBEqIIQB4ZRG6fYhpiCNgj3TK62PwjJET4yBLCPYIS_MW70zOOp2DTwtPN1OpAlxgEmeYF7K1vhbd3QJGEKljHtF9U8KAKbAbfXQ7Y3DFpp8HKJsAVsKKeHqg95UxFa1KsjUaT8zSgIxp0Tl08ue_LtFZGVl8j2i4HqFjaH2K5tDXdEuNJfvdJV65Zz9PyON9_4rCXMF8TbvpjF9bzzW9ZzyT_G1EpzQ13y7lVQwmvB_DrTl0nzfZbEP9OBgmzXtBCcB2yPiRYip6hVnMVFI0UOSrtH74thmxb8buRF4ACrw_NO_4r_nx9YaQ_9jOLd7ly9KxbiUeTGkzFk1n4_EJfPyb5rVfa7XlPoyenXxXZ853jLtcEA-cDrFqWrxiZ1iN3c_Dp4jpBEz10j4S7bcpeN7hpPALmTapKRM_wWXjKUcfS-_NPO5eYSkZii5AW2RlCySz8QtTchUc6h2-qVU3EYwpim59DtZJvOUe2FFD4aMQyKHyeg9JpNUXvZcfe4bxer8M32AfmKZPC0041E5Wy7an-oYRx5IzXaZZXvNdJgLMQTxHoNkkfXLe7ygZW5-UN8GweTZ9VsZ1LYUq95Nmn1RBvD3-0Ceo9iMMLPfzk8UPXlxuzTKGWTy4GbP_5otunSd3f1_6-CT0ofOOFU7eiC8OD7ynKKftK9WIFNn769WGw8cSQyOOy5ca4_3L2k2xwIQMZG40OtGwbhAslZCwCeAUgrlO7EtctT6p90CE2KVu_0I1SoutWZh4rvJkvsXKLZ23rbjWOo6DnBbQq9pgx1oz6dnSYeTpu5L21YPWF4KYXvxq1qgY-6pkVCHGXX4kbpfPR1l34ZINfZbMT71fH0bRIKvuM5GO1e3ztwMpfhR5UeZHLdgEDD1IfdVEjzBKqnFu7AzjdmD_eaSpp8T7jIfoHa-qZpyjwpCBlooP66TcF2PJZRbhYWAcVCVXsJwXiIP7l__kJo0NUYk9YkH0gm6XdFbYr0WtomOPkpklHV36LiLkA3u4tvRSS0gwXCTSFCzC6QxGcdTdqjU2fuI9-7YxRFW5HhYh-5GzNJqZfjXfzzcwJRhLVolXvtyE0AZaKdi9uYCyOn2jvxKPHY0n3ccBE267tESxhJwUYqCp8TnJP8RFAcmZ720CjBR62Qu25quF5RPareaqVuC0kEpn-Eug1D0hBvRudnQroTAKmUodVg8gMqy1NgV8e8GUA1OcD5rcwfctjtU_DJPQSEPxgHOIVAfciT6syQkuVBAlSnyrIXIdCk26IJTjbrQDI_ePtHBC2GwqXoJb6dTH-NUUdFc2lalieS33pz7v-NCmD0ERgn6huAz3B3M098kExKJvm6RbixjogMYxEn9yhOo0XLuUxcK_EDvE_2J0kFbCsXgRjaWWKGSS3Q80BX8GkJQROUSiV7ljdBCifrR4VAQjEcWXybFxa89AxfRO8aX3oCWpfPaRHE5Zezd3KE1Fb5vSBUYLH-bV0lw8kv9pUllQOn1dmDeohqN6WKYihfyBCt9ij6_XXTgpQKinxdP2LKrf7Og4UkHbT8-nIs5JEtYjqQZEbUTJWJJ7XFH5PnBGGqKd6vOBnOoQ_V76FJgyGhtArhKhyqD5PNePMyLkCssDugXz6oCBJTnhgozTgho8GndcFc3aqRWcJY4RhpVWRUAZ5n3G0Diu3-yXDLAWNXdIZq7y22qj7FKAGZXv01B73Rjtb6AFc6rwZyktxn3cafaIt2yBh9qJZ4Ma-MmBlU6AnmFN_ycirRWLa-KQAofgshUr_KoITSPfinq47Dx5S7RIbdzGFLnuRhE_XQUmLzd8mFDzcOtk7-Ih_lmJwh7EaMQ-aD1GMRE6ZMhn5bXNXevpe7tHSBVfHP4-Am0NFwB_5IcQl9D39fK6mPW1PJHAQBesqiwBSCYVbXHqY8Dcmj94U4T1MdB0DKC9mQ==",
  "id": "rs_030d801d443668c4016ab457eabe2887d089ab046edc908ee1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"I see plush animals and slender pens or markers, with two empty baskets behind them. I’ll sort the plush animals into the left basket and the pens into the right, starting with the plush cluster.\"}",
  "call_id": "call_D42FNecVS1sqU1PMKPF7K1Hi",
  "id": "fc_030d801d443668c4016ab457f1313087d094884698dec49ceb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D42FNecVS1sqU1PMKPF7K1Hi",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9661, 1.2877, 0.7372, -0.3431, -0.7605, -0.6891, 0.9995, -0.0208, 0.7986, 0.6094, -0.3855, -0.012, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2797 left_y=-0.1842 left_z=0.1342 left_yaw=-0.0053 left_pitch=-0.0363 left_roll=0.032 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.18 right_yaw=-0.0034 right_pitch=-0.0092 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.9573, 9.1419, 1.4139, -0.4664, -0.0122, -0.0708, -0.4718, -1.2513, 7.9932, 1.7363, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f0bebc44700c98eb7c38228572a02b4db5eea83e54c31819c8654eec395f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1ed44052472287a72bd49afdc19af106a3c466fe132a0d8c4700acb6249f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40283be3f627f0b17180df2fa8a4023074fc108f1da16d38bf40f01f2aa7c32",
      "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 2 attempt 0 · /responses · status 200 · 3.985 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]: [-0.0193, 0.7994, 0.6155, -0.3805, -0.0219, -0.0338, 0.9995, -0.0154, 0.7986, 0.6106, -0.3775, -0.0124, -0.0223, 0.9997]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1837 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2962 right_y=0.0012 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.2786, 9.5385, 1.8095, -0.0366, 0.1392, -0.0659, -0.9094, -1.5111, 9.9761, 1.7753, -0.0904, 0.0366, -0.0415]",
      "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]: [-0.9661, 1.2877, 0.7372, -0.3431, -0.7605, -0.6891, 0.9995, -0.0208, 0.7986, 0.6094, -0.3855, -0.012, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2797 left_y=-0.1842 left_z=0.1342 left_yaw=-0.0053 left_pitch=-0.0363 left_roll=0.032 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.18 right_yaw=-0.0034 right_pitch=-0.0092 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.9573, 9.1419, 1.4139, -0.4664, -0.0122, -0.0708, -0.4718, -1.2513, 7.9932, 1.7363, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f0bebc44700c98eb7c38228572a02b4db5eea83e54c31819c8654eec395f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1ed44052472287a72bd49afdc19af106a3c466fe132a0d8c4700acb6249f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40283be3f627f0b17180df2fa8a4023074fc108f1da16d38bf40f01f2aa7c32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf9nCtqF8t6_NrpuNXjRRaAsNyz12bdTuzoN0NK7H0HC6ZzBJ6A_ylS1jdg9iQKLzHIHoRSIWoJhdtjSXWxdYlPfgFogObtNMHYDLR3RsNSF1RgTjstKkKdq8P8YDeg8LZnY5dJd_VQ8_HBuJ4hjbkOvZPhsYGngmAoVZSOtHC3I0ymYfsmTlTbKgdhDHez6MDTpoITGIX7EKSX2hoQYjTMBX-rn8FHq1L_aL4sCHA-wae3mmK8J4U0DbwpTR1VP5_VKIf096AdEaZXwAvxi7nmMzlzBH_Uog4Q2RyWfyKvOetltYRuqcArk5PpBFZ8r44iGaNx5cYbWEUoDAzZV9d1o5b1vjK_77Zr0XedhsnJDR3efFrPqC4m6hR7lmCxRe9Rb2boVatI1LsTxsKV83rq8nUDV3oH6-OPkLuiIRYMFjPMzDmR65HRGdiAa38fEo-Liq1WewgkrLHgK7hsw4Y7AnOecjWzJErkRxtb_GS3bbMTMIciwE30LJaDPXL03WqZeGXNhnX_Ep98O94W57-KvftA3oz1Wlq2AZa4jyhEjbw4oIToF_jwAmGozLo9n4gsev3cFFp9IajzuYQ-VGx_SYyUumOyQm9xbxjsvw-j6cxm0Y1MP0WWpO1yZ2qKx26w6EjwIsis4ffcROELLG9J1RZ6yTifHBm9rwlYOG9GsugJ8dwgtR2yRKOR2sRl4mM4K5jCGCMsu2NaZkr1WhDIasinS4DSXhPF-ekhgfcaTcixdu1btEqYr5DkbWMRC3okNKLiLP3bnQDqzV3bMnKJFcVM0BjH-l3ETKe1K-O7mJng3mF9IkgOUJ8QtQZiR9VkWpiclbREdj4Cukt9Q5EDbbDy2GSPapKKC5_dN5kXxlwSZk9yrF2bXqz0UrxHNzYbPWIB5F2woSmYQoGPwz-tFCBGM_4t7gCkhV9dKP0bS_LGzReU28vcN4y9VnXnlJW_24xt7bs4Sc0s95bdmgEbvxqA9jw_PWbuJ_z43LguSUlNesEqSWPncVPOM3A8Y-H_04tSyejwGrK1oSn1C8pSHMfiJ6C5fz4e0kSRkpPDHXWXCokEFCSjFRNIHVYEc0_3UfMzgReuICT6gPM7CaPyq4G80ds0FOi_-omqdRyKlMJDsgM6Q2viYH1rriio9QEP12CaSRqTSSSwco0kY0UYxmFFcPCx3sglJL7n5jlIOIvBFQP0xcAHQYB5lg5EBWIOs2Tleym2p8Oo952LpXQcPMg0GOx3cLVvjimQDUgFh3omfGly0MpzA_VPYvtdfnQPOp6TLU0Zs5ijhZrcennOKQWabyVSRxSzD7K7Nmhm5w9kZdcoOBDmLfr4A9NtJ8cBDH2VuHbfS_XGi-8F3mi6vk6t2w4YovF-u5uBtiXEha5Gm4Jbb9EeFouuokZX3LRHNTUOm9vJscZiDuycW4XaKX9rhw9hFszhx80LH6aFbRRv2H5-BCjtqUS6yNSPP_DqMpuqjGf1E8vIZkiptT-aWJKkQ2NRqVbJJH03AkoqawhcwgjEW9pufj66tSH_eUwrNOresOCMa9nIHkPTaqacthJE-3r987_EUMQsghtVphBp7BUjvSFLiOEgLbhSpFKQeOHnuvLkEvKgnLYRmJvFH7AKdfcQ3aQyOTPAQZTjkXmobCo_-RfxCeiwRa_CWlCuNIX8WGqueeEfnN92hUrLwjdjSJgMSMOFeMmFKh1gJ2L6DAq7FNgG3z7nr-jU5bJYf7ECGahMHRw4L5umqaD-cwIt2pHr5FQ696RIJEEbOliiyKcI_awqNlWCZbos_Jemn4gEFX0Mc4vmwClrrKbq0Dd1kUaCSPLt5BmWFuNXW0FcYb-Q5AHKaFwEbuyq3K8Vkfmn3wdmhBW97OQdngUm00HZqXAW513S0XTTh-DtFoexXMtOSp1fBgDv9JbXicarkpsuHPFTIUz-4IhcurTEDrdpcafRtQw6p2AMXxflstE1oLCyDBWIwF7Zs7lQfh7fMoRjwBDUt8CN7akVhCyTR9vjKVJNf6_L9pwEJjGVPwY=",
  "id": "rs_030d801d443668c4016ab457fad8bc87d0819f3a54efdc807c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.17,\"left_z\":0.035},\"note\":\"The wrist view separates a small brown plush from the larger cream plush on its right. I’m lowering around the brown plush’s body for the first grasp.\"}",
  "call_id": "call_s91m6nt8JAF8HHCCpGw94wdx",
  "id": "fc_030d801d443668c4016ab457fd1ca487d096d75c4e6000ea69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s91m6nt8JAF8HHCCpGw94wdx",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0237, 1.4456, 0.4225, 0.0841, -0.8089, -0.7422, 0.9995, -0.0208, 0.8013, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2575 left_y=-0.1701 left_z=0.0412 left_yaw=-0.0032 left_pitch=-0.0276 left_roll=0.0472 left_gripper=0.9995 right_x=0.2951 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0037 right_pitch=-0.0126 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -3.6171, 3.9179, 1.1795, -0.0855, -0.1441, -0.0171, -0.3624, -1.2923, 7.1863, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38604e442fddaad9560db0b8a7a469f56c0b1f11902fe6d6243d06ed7ae11f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702a1010f30de048d5e763aa9fb6e28fd86c56bfc7c6942159433922f8057ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e2b0558beff1a80c4f6caa64fa60b19aaf5ce24c7c316e00c34525bf156d5f",
      "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 3 attempt 0 · /responses · status 200 · 3.668 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]: [-0.9661, 1.2877, 0.7372, -0.3431, -0.7605, -0.6891, 0.9995, -0.0208, 0.7986, 0.6094, -0.3855, -0.012, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2797 left_y=-0.1842 left_z=0.1342 left_yaw=-0.0053 left_pitch=-0.0363 left_roll=0.032 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.18 right_yaw=-0.0034 right_pitch=-0.0092 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.9573, 9.1419, 1.4139, -0.4664, -0.0122, -0.0708, -0.4718, -1.2513, 7.9932, 1.7363, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0237, 1.4456, 0.4225, 0.0841, -0.8089, -0.7422, 0.9995, -0.0208, 0.8013, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2575 left_y=-0.1701 left_z=0.0412 left_yaw=-0.0032 left_pitch=-0.0276 left_roll=0.0472 left_gripper=0.9995 right_x=0.2951 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0037 right_pitch=-0.0126 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -3.6171, 3.9179, 1.1795, -0.0855, -0.1441, -0.0171, -0.3624, -1.2923, 7.1863, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38604e442fddaad9560db0b8a7a469f56c0b1f11902fe6d6243d06ed7ae11f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702a1010f30de048d5e763aa9fb6e28fd86c56bfc7c6942159433922f8057ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e2b0558beff1a80c4f6caa64fa60b19aaf5ce24c7c316e00c34525bf156d5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgD4mJPPxcXwrvcPb3Glfao_iUsnyXzJUjiyHudcJufB51t31Qu5nzi0cPTrlQLX0GIe1mWmO8jpvA0NEU_IAU41-mCEX4GOBteqgBTRkdsiNVEaxRaw-gux_vmPnKAfOQmU8IoUHRfVUojCGe_WQiiFU5zQH5YFFgIRRpOVpjom592iUy_Bzcgyza56DnZNPbWgcr5okb2Z15dyI-gkwf8cUAh85SpiG7-cYeoKCYXyLJgLoGT4l4iUzWf1HPy2i3jDa5C5ZafSvkK6u-wpKMipnQZX8ytsKZSv6eZtOGh5vlPs5nDmtoqFXZCdRgc07R1aObybwiSyIw3cEdoA3WnlP-GkY_OirtuJg4WTfs3Ai6g08VyK8p2-zwJPPksVMn1eSKd6ZeoH3tJE_3YrRcnDR9kb2thil83fEcOMyHEhxi86XPRrvfTHkTbsqRMqiDaQvpCyR3C7dGH8J80Ic_vn9RjVa74Zsk5qzQkvn5wBaIFLq6LpXi9NgCDL8mKalnzKuiNiULfSGdHg8LoLS7p0VAqlkC8LoepgWZbLEwZ9EfIAXhDRIoNP28mgaMKK67cDCWstZral10iDA4sdzzBbO-AqTPmkgRtvO3oemYCHutPw7oXoVlOxZGSdpzuxIpV-KagFySToJXr8B4-WO7Qmfy8_rJQSa8IaoqyF78QwVEePnAJppKywqCluJXqKMfLk2loL5oQc4-A9ZjJnekCshQsQZXnLBb0B3swyUKCdEYwfY1jC3nb9uCCY2YMrqUaIY2DqEOfLVoowTp1OECiwaYjIcH6-Hhv9XGhAAHDPg09Y85VMUXcgrzDMlMuQ5SPQyO7NHye0E8FpOSgPAW-_et_A9b9kfNS2fCjj-KMc2lLS_M9YL_FpTOnRqi7SsmBGrb0nDqsY2jYqadEO831tEZoBfqkDrZWFaI0S6tjUzBGj3REvgTtGkuD0LbGg1xpNOeS2E8KQG7isSq_gGKl8yx3327iWRenYD-kFE3GSNiVvDgqpnoyk1Mlv-9Iiw6W42cNOdgbpmxdczObc4vYNIx1pLZRwpf0mLBu0YnRFUSUWOLiB03hTvo1wap6IknmbWfvMi51-BkiFIdv1EXzMn78mAlGhHC0HoFmBtj-ihDDsg__7UHCn2POoPYBZPIkIs_n8qcbPp2uKQJ8W1n_PtslPLHdLhJxx4nZjxFl7EGh5GJEa_Y1yhgdqs-17EXa4GX0veDzBHCGU9rDawSLyq-LRFbOVUX-kqxr7e6BrPkPHpnSfNVoH_GLXlPBb-TDKjqL2MMmqcXyY2DrJ4TpWo19J-E62K47HB0lnJ8IwOKaWNPE5XthfvyCC65yTl_jIZj2wySGQm3E3qrl_WxFldZt6rXDVMuMuhY4eiTEmXhlUS_aaNzdIk0nPZBohTxKUKWXtxLBdzaUIqPqyG_-GEcqtadie0-0UzUKpaGkXoV-C2CGdpyaiwsorYJocDCxzmtq6OxQTf5qfzejEAWlnw==",
  "id": "rs_030d801d443668c4016ab45800c0b487d0b20ec5d3b9d340dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws straddle the brown plush’s body near table height. I’m closing gently through the gripper controller before checking whether it is secured.\"}",
  "call_id": "call_VQjpp7R7a8WiwNxOhqzk5VEj",
  "id": "fc_030d801d443668c4016ab45802250487d0884f37ca04922e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VQjpp7R7a8WiwNxOhqzk5VEj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4467, 0.4149, 0.0937, -0.8082, -0.7414, 0.0108, -0.0208, 0.8032, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2569 left_y=-0.1692 left_z=0.0397 left_yaw=-0.0037 left_pitch=-0.0278 left_roll=0.0468 left_gripper=0.0108 right_x=0.2952 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0037 right_pitch=-0.0145 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.4923, 5.8051, 1.1453, -0.398, -0.0317, 0.7839, -0.1709, -1.4291, 7.1726, 1.7265, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac83e0906d22676b35429d984fd4022be39426d6df900ec591b1a6a9ddc0999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3646683c590843cbfeedda5ab78d8ede07f724b40a128f038d75038e84d86828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f3ccd9e9fb80a2b683804f8c6e5b99364fac13321f199ffcfc61e623b6bc92e",
      "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 4 attempt 0 · /responses · status 200 · 8.007 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3805, -0.0219, -0.0338, 0.9995, -0.0154, 0.7986, 0.6106, -0.3775, -0.0124, -0.0223, 0.9997]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1837 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2962 right_y=0.0012 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.2786, 9.5385, 1.8095, -0.0366, 0.1392, -0.0659, -0.9094, -1.5111, 9.9761, 1.7753, -0.0904, 0.0366, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0237, 1.4456, 0.4225, 0.0841, -0.8089, -0.7422, 0.9995, -0.0208, 0.8013, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2575 left_y=-0.1701 left_z=0.0412 left_yaw=-0.0032 left_pitch=-0.0276 left_roll=0.0472 left_gripper=0.9995 right_x=0.2951 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0037 right_pitch=-0.0126 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -3.6171, 3.9179, 1.1795, -0.0855, -0.1441, -0.0171, -0.3624, -1.2923, 7.1863, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4467, 0.4149, 0.0937, -0.8082, -0.7414, 0.0108, -0.0208, 0.8032, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2569 left_y=-0.1692 left_z=0.0397 left_yaw=-0.0037 left_pitch=-0.0278 left_roll=0.0468 left_gripper=0.0108 right_x=0.2952 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0037 right_pitch=-0.0145 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.4923, 5.8051, 1.1453, -0.398, -0.0317, 0.7839, -0.1709, -1.4291, 7.1726, 1.7265, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac83e0906d22676b35429d984fd4022be39426d6df900ec591b1a6a9ddc0999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3646683c590843cbfeedda5ab78d8ede07f724b40a128f038d75038e84d86828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f3ccd9e9fb80a2b683804f8c6e5b99364fac13321f199ffcfc61e623b6bc92e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgHwgLs9qXyO_FwpchxTzk0etxMKK_IyjWQlIXdcuQDbIXpMcPEpNwHQaY5TQoSgbFACMok1FdvramlubpH4yEVtt5mnllbuT_XAwxMBxz-HmL_EmgS_ym23WkYpaRZ5n_rpiZ_NBl6xtqvRwYaCvUrlq-Waxvj8u2UMWTjpx3CrcAALqKRBBZnF2OKN7Ob9tDRMZkknSdR-4xoBixPaj8jtO7gbc_Rk6COjP1DnsLM9wi8ptv8QR5T3uhR-1mpgwrt176d4Iakvwhu9qTJ9C_PKBAD8rBV4PTGHny45JgljOF29PnLnBd3lGSa1SzW1GJ_2MJ83Sjp1jZjJMn_qZT04tWpfnbbdZCgDWfBAPtLQosJBrYE8w2EDuwcY3zl3SspVz5qi318f4K3RGl_DoF5DvSTETquZqysKJx0O1ganhiaKZXHAp9_k_9N7wi9-MaYi1sqy_riWqaeV9f13peU1hlLsEGBaI3-iV6e_WHg23bX-vGxlKPsEpy_0y37RzpoD5ynWc7XeG0DNCanhuiAKOQEtZgJ6WnBQ4RnnWvu5V-INcAdFy0RhOo7Xf7Z9fJt_l2N9SEMk_qL4bzlI6IQrV-PXtLSlVEeYy2SXEoIa-VMZUOQRptmuVnhoykL-yTzmISokYGJiH3LR5OdsZQTMx2K_b7evWIUHZN-u1C-aStyhsWTJwG50edTwD7b69S4cSfk-vTe1CQAjJLFjkWH14jQCNWHBc2467O35m8HrHZnws8S9hanmRSmo2jyhpwTN4hlb-JxuVyD6tPE4aOtdBKwaHLqk5zbRsVwYCSDtiCBbQqBqgZCGOefsn7f6UA3vnu7alZxdoUVVF4s_y7DMBQw4LZaqBkjo27eRsVsM5fpHtkSA7CK88PjhwxtwCQdekYAujsRZ_9JlSQlbfJmtMzm327x2E4eTRNQAEIkaGbOIvF_QnegR07F3DvRp9hmTQ4O__ki1XeIIFVQslOsvrf51rES7kW6S_kIZknTZPCP2EICCvOx_KqANkMeTbi6XLLodlkoyrgQ_d6SDUD0gWTDLcJ37viJkMiujOD_FHY9ujEcIxcHwrzNiI8iSo7-_9bHAe4cHKE4Fe32FRVIdbsjEBYr8Y410a-mS_kGUDGPEc955v9-AC0nPFu_pt88Nw1avXrn897lGBlaGqGZZm_dfsAzq-3ptvpLeru8ikhROZBK7jHf0Fm3gkwiqj1pL4tj1GHnyKvMycodJ6v_um83XxgH0Lp4vD0NdpR4S8SW0Q9GE_z7G3I9_XFbckxOLA3DJVqmjjg4UFtkOeAhGn9velqFIQ2lvuT05HMeutdz-3X39gN3i1Y5vxRivnmC-HVfWUp_7Au2CCKURyla3wNohBQ7XfHZlS0cXBOPk92ODJ886yMRBVv-D8cKbFEH",
  "id": "rs_030d801d443668c4016ab45805ea3087d0b866d4e8a8ca4171",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.278,\"left_y\":-0.137,\"left_z\":0.012},\"note\":\"The gripper closed almost completely, so the first grasp missed the plush. Its body is left of the jaw center in the wrist view; I’ll reopen and move slightly left and forward for one corrected attempt.\"}",
  "call_id": "call_e7LiSJO6aVlRW2a7Fx7FV39k",
  "id": "fc_030d801d443668c4016ab45806d6c087d0ad8f54f85ebaf143",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e7LiSJO6aVlRW2a7Fx7FV39k",
  "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]: [-0.8463, 1.5345, 0.2947, 0.4229, -0.7036, -0.5724, 0.9987, -0.0208, 0.8043, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2785 left_y=-0.1368 left_z=0.0145 left_yaw=0.012 left_pitch=-0.026 left_roll=0.0418 left_gripper=0.9987 right_x=0.2953 right_y=-0.0005 right_z=0.1781 right_yaw=-0.0037 right_pitch=-0.0157 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -3.7402, 3.494, 1.536, -0.2418, 0.0904, 0.0073, -0.253, -1.388, 7.0496, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b19fe743e59984bfae77706ba12e71e9741756ea5e35357792c6e04335fe50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3aa187ba9f6b69b22a30a8afcc34df985423c774f4c66ae9dbc67e24e9806c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bf3282cf2f095df5f5b6cf0100ada0a6d2c6982abf479c57029bedb59a260f",
      "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 5 attempt 0 · /responses · status 200 · 4.099 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9661, 1.2877, 0.7372, -0.3431, -0.7605, -0.6891, 0.9995, -0.0208, 0.7986, 0.6094, -0.3855, -0.012, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2797 left_y=-0.1842 left_z=0.1342 left_yaw=-0.0053 left_pitch=-0.0363 left_roll=0.032 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.18 right_yaw=-0.0034 right_pitch=-0.0092 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.9573, 9.1419, 1.4139, -0.4664, -0.0122, -0.0708, -0.4718, -1.2513, 7.9932, 1.7363, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4467, 0.4149, 0.0937, -0.8082, -0.7414, 0.0108, -0.0208, 0.8032, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2569 left_y=-0.1692 left_z=0.0397 left_yaw=-0.0037 left_pitch=-0.0278 left_roll=0.0468 left_gripper=0.0108 right_x=0.2952 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0037 right_pitch=-0.0145 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.4923, 5.8051, 1.1453, -0.398, -0.0317, 0.7839, -0.1709, -1.4291, 7.1726, 1.7265, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8463, 1.5345, 0.2947, 0.4229, -0.7036, -0.5724, 0.9987, -0.0208, 0.8043, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2785 left_y=-0.1368 left_z=0.0145 left_yaw=0.012 left_pitch=-0.026 left_roll=0.0418 left_gripper=0.9987 right_x=0.2953 right_y=-0.0005 right_z=0.1781 right_yaw=-0.0037 right_pitch=-0.0157 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -3.7402, 3.494, 1.536, -0.2418, 0.0904, 0.0073, -0.253, -1.388, 7.0496, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b19fe743e59984bfae77706ba12e71e9741756ea5e35357792c6e04335fe50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3aa187ba9f6b69b22a30a8afcc34df985423c774f4c66ae9dbc67e24e9806c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bf3282cf2f095df5f5b6cf0100ada0a6d2c6982abf479c57029bedb59a260f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgRqbRqD6oWomub60OuIh8DtAqmVidUrwcQc8qMyY4HwZSqNdEqVboub6KQleBXdHO2vrC0xRNsnGwBWhF6iDYXdPJqEtv5FJc85grAyiAOlsSZZqVxETFWIamNcb6q6v-s-hrCDwhz_gzhkW164lSWQzhabk7XSD2GpVleuApUKGEyQkEfePfXGloKolWKNZr9EhhBjpbryt0SrCXHQpvmWtdTwESxmaXRs8PDGKc-F_gPPBP8CDhtEMouADPmYEwxpMg-fwpJwi1a7l3ZBNLWASUoGh_AK6YwBBSOipnzaRrjZ1ZXnFiyuSSW_i3oZcsJEjNqDGPjRAS8TesWrOftyKzGnklh7Wf5Dh2_7Z5TWS6aAEbkFbhuF-bdQzEeNkGF3baf23tjUwTe7u_IKMVpIyjLijm3-A8KAtmn8aX4h9l9ptnUE8S7_5gqUwiH05KRnXGQngjYX1d1Vp-TQFZ55Tkx1c1fvqoU9oCHJEsekMtSHgbJlUZB3BvgUj1yJroowIZ8LHWp0HF_wivDA_NAUop8Nm7N3zlyL643qTI0jAT7l6Omyde7A8iiAu9nTE_FhWAB1hkIbfqB8GOT18l70Zk1amYEVWk80_VQfgSdKn0a49BIDQGqpUf64DQXUMm2BBCPdlyOQd3Bvq5VPLm3LuPvudY4uBBt8FrwJsRr9W1ETfohS0wwe9m7Pkpte-nULImgDkszaT5BnYjWTiz9KmL6-gnY_CdIz1gBl-IQyggCNKYTrpgeTV1bT029joJo8pZOi--ZGbMztM0cXzi8vOywTtyMiY8VMv_ImnTFFam9rHuILZWaQOfhT7ph125Xg-Hz-oeVhM4MW-TuVKbGulwqggoB1eZrWl3W-ypOPBE_lQqWpLbLBhrJ56GoURp1-QDbZdJ7ufWd9WFuxFWlPIWNvHVtmi_-WHsHT1JdJHJg4XwnnZNFtTjDPF_l_Xl8b82RIr3enWEqEZZyeb_O_9pcMotc41258_Lzajy57jgc-_vpDsgEAyH0saJhAoDHP6xj6tv5Y_SrcKUdHVHhnsw8Zk67POlKpRkcIImSu0cBOV-PZlbl-Z8oY-qo4XYTgLPsJUGYlBbVOQWwub358qKp_3bidNYUrLKBuHY8antk21K4yGQA_q7xvHwZoocIxryTFI0Ip1vIkSAryGP5QdXmLM85OdXt47Rk7-0G44-4ymJETBXuxeuH3QTCEL59Oaq_9PLGyNu5Hn_PbbKWVf59j9m1vHIFUB3yZBfWt08qdOSHQNHmLtObirUaHDM1h-cf7P_WsZZWJygvRNhWvnfFLNbtBtrPwyc7CSGuzCvX5wJVK3JGOweqMIILRfJ6Db2DHXe0gCNt-qZbLzb4QtYI20WWf1InXEVlJZ701V0FxX6zgdc-rnNxn2DdyTq9oYhH84Y1aS0wPUcDFLZxEbaBc6sSzXYJIOAOeqHEvgA9jfTjLL1j96gPg1FvhSqj1d7goKVQ1zcdSLVMOSN1vEhZzvUixK4O-vraopoWfLFsyzTBopmgRxDVXD9-CedQuj4DemOJ1gc6QVPegBfUjqF0ldBjvQcWOhcnKTl6YIwkhNdo7fZtqh6LzlfHd0Q6QgodNX2ZourEymYr1gRPUExHKiv-qXZPfLjlsCHQlIhH6hKmpjvG0avXcfKKgLiVeHOuAKZT5R9PUp_eJY87oVaxW69pdopEkukiibt9api123HGhFIG-ZVL6D840bwQSp1zgYziZtdosTZTGqZciBm8EUvRPTVZSPkBXngizkainQ5ikiBqCHMxUhvGmv2L_tkr8_peGRF-4eeHVGnSsF_-jklQ7sDHUtpOd85N2yhSTqbma8c6F1MeulPPWMAJTNp1936wrMlH9Jen3TfUu2F9p1FNhuwU1AB32hw6S6saerTJEyOMdqf5tLahBRWge8k6N2JbV8UtSyg0TRhfNcffYQR2IdC4tuqqNQGouhJsOx8vvcW7T3eANUdTl2zhShSoc4H4DcsqcnmfenWYxqfZhRWcIhOldTv8bPm88aULrMrtUHmC3TLM6xi3aOXQ4JxGfsNzkWxh-8zjBOORB1W0A_wMl4X-L0pqdaWKTVwobe6Oshynw9-fmnmJjHO72Q-Q2_ABvTTEwYAVfEqvVpPqzz-mjnMlQ8ZHmZ-kS6yOlkKDwJUS4PSydZEgIZnQAM3Qh0DVX0rmvOA98nSwxq2McVyGHhaSj3iRQYQ6IR-BJiuGqcJ-K4e5g_BPGTvuaVRbojj9LSOAMEHzsif6JgiXedlnQpUJefrEB74bs8p_XJHgv9hIBke2BBzvEb6X7QQ6A3m9ATEB9kIP6cR_c-zEDXBmlEuwqAZjT5fo6CsHw3t7RBeSSECv4ADqEKfcK9tmmqHaoHsJ6aLu_7kiZV7-76WfbJvdoYAam_aPa_l0cmL-B-OHmmcBpE6zp4IHRbtm4s-VYwALJdPRG-ErDzZKRjeyqSvaxx4EZw6Q8uswKe9U5bQ1VY4EqKbro_fghVs7sBGkoxI6SwM6bFqh9XKRUswBpdFdUNv0TS0bgBSIzqb2sXl-UuEsklOE5ETa5FIoMDUaf8AXm5XxYqXjymseEbfW20OiVXE8wwJiRyH1MrdfF3WhmysqECyYKXbK9mEe-IC7vn_welhsrP144Pqj0irEpTspQmChoYwLwN4=",
  "id": "rs_030d801d443668c4016ab4580ab4f087d0aeee7dbb3de3a69e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.205,\"left_y\":-0.16,\"left_z\":0.022},\"note\":\"At the lower viewpoint, the brown plush’s torso is nearer the front of the table than the jaws, while the cream plush is to the right. I’m backing toward its torso rather than closing in the gap between the toys.\"}",
  "call_id": "call_Q30EF1evEZZXYqBEn4rcpNpG",
  "id": "fc_030d801d443668c4016ab4580fd08487d093bd727dbed9bb67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q30EF1evEZZXYqBEn4rcpNpG",
  "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]: [-1.2533, 1.4414, 0.3347, -0.0788, -0.9138, -1.0637, 0.9983, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2037 left_y=-0.1605 left_z=0.0168 left_yaw=0.0002 left_pitch=-0.0382 left_roll=0.0436 left_gripper=0.9983 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.8752, 5.5179, 0.7399, -0.6374, -0.022, -0.0611, -0.2256, -1.2239, 7.0769, 1.7216, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e32f8ada7fc50ed72b6e9695cdc584e8624e9117845a3007a6a05089567c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2afbb8078b4dd5a4d6b4f5bd8ab1ccb7e8e6189cce7f0dda93cbd5ab973f23f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4b09726860dbbda41e16c273da10b4dbaf1cb8e3b0871501a04c49c69c22fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.291 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0237, 1.4456, 0.4225, 0.0841, -0.8089, -0.7422, 0.9995, -0.0208, 0.8013, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2575 left_y=-0.1701 left_z=0.0412 left_yaw=-0.0032 left_pitch=-0.0276 left_roll=0.0472 left_gripper=0.9995 right_x=0.2951 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0037 right_pitch=-0.0126 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -3.6171, 3.9179, 1.1795, -0.0855, -0.1441, -0.0171, -0.3624, -1.2923, 7.1863, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8463, 1.5345, 0.2947, 0.4229, -0.7036, -0.5724, 0.9987, -0.0208, 0.8043, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2785 left_y=-0.1368 left_z=0.0145 left_yaw=0.012 left_pitch=-0.026 left_roll=0.0418 left_gripper=0.9987 right_x=0.2953 right_y=-0.0005 right_z=0.1781 right_yaw=-0.0037 right_pitch=-0.0157 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -3.7402, 3.494, 1.536, -0.2418, 0.0904, 0.0073, -0.253, -1.388, 7.0496, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2533, 1.4414, 0.3347, -0.0788, -0.9138, -1.0637, 0.9983, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2037 left_y=-0.1605 left_z=0.0168 left_yaw=0.0002 left_pitch=-0.0382 left_roll=0.0436 left_gripper=0.9983 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.8752, 5.5179, 0.7399, -0.6374, -0.022, -0.0611, -0.2256, -1.2239, 7.0769, 1.7216, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e32f8ada7fc50ed72b6e9695cdc584e8624e9117845a3007a6a05089567c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2afbb8078b4dd5a4d6b4f5bd8ab1ccb7e8e6189cce7f0dda93cbd5ab973f23f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4b09726860dbbda41e16c273da10b4dbaf1cb8e3b0871501a04c49c69c22fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgXYptAsFW_2kc8GhnaV1isFHFCllVB2r0TBzN30LujHsU8Hl3WrTFw7UGqiHhKF_s0eupBpN2qW_7m12v8vH5xsctN3ekrb-Vo12A63hmlkD1l30w7fHLiTQ7gZ1msAqkZhKyBn-FpKJAEiBfShLvkVfWaH7NItVT4-IBV0OAshZ19ffap0kpklgFGmvzPybbQVIZ91SXjYQLpRw6uktSEOgDQVctjUwClOqQ0esdBAUNAQN7qjErXZ2ggbsVUpnWmJ7KkJ4yKuUfOHOL3lASlHWPLcv7sVy2d8EdlcHv3sa5KfruFYJOXiLHEM1EunWBc85pw6vCX3ohMo1tIBg_Cloy_ekXih7DZhtUfPeWYqaFfQyTXW6ydOyr_W8GKgVArdKKR5G1laguCld2uHMlfqw6OYS6G59gr4zigWEWJhUGjShwkSr4O2FOBb4NgE3HIEhs4FebFB4VUs4Y2dbrfVE-gVU_In9NMR_s_j8bwMulzpzmN59HMsCrm9kQ1chGtFXkjHfEcgYuzoXf9NGyDCMTZg93rzJLH_K2K9mb0uLGcSoLBTLoavR6q7tBYEiNGyyeV6WSQ5s7Z8cHJCvdJdntLCq4tUqyFyJZVqMP_Z5m9azEfcOSuqranL7ISGHg2JjKoVirSrWTQLZisiLd3ciXaoRmRc9eDaE0z1FIftxtLAAyGpVtOsE7_UtsbNU-0RBodJbbtLYAEjnkERu_PTkSokF_Xk_jPAzPsx_BnjGKwjDUS4b-hGmX6LL0Kq61jGbbHgPvHRRZK-Y5wNQR0bY4pZ2VayuXpsFAv7k42WaVlDHj_NKsqkeHk97NjBnI9BwMYdLRdwgP7a_ejnweNA8PURQnROlYIY5VrmlJDp8o3NP40PeYMAYGzUc3ZYMTYaX7PtHlMjQVSYEU_L_TNq_fG5K1v987CyudxG73b9SGHO2vbAmAHKKKsJGH95HREtatpbuXF59n_RiQhKBQQRnzpKegjdnQmaQS_d45dYOeYIwFMxf3S3nRWGDgx0d-cQ2aImeWma0wQasx6EVn9-3CWu9Oau0hIee055AsRufzMskCz8l-i1q4tntkkTAVyck7K7j_6Se7GUjMGtrfWkASCjQ22WIiMrOyq4_6b4NcypMQru9HO00cIf2oua5-Eznz8rPIp9zR9AT5e7r8K21SjAp5hcMwzl1g1ZgmKLigvcZGJJxupKCSh9mdXB47iXoljML7DgyxJp6ABJY83_WG7Od9jigKCiEuj5mQgKO8EbxdwjfBwagkz6-iNQpLQ2DWYWzthu7RvKKX5YoAN7gUWhSsLi5mHe4OIhs5i5iXozFJrpq9UcnZ2l9VaqiOmOH6yEA1FVzlyp61w9aQj6j7yLiMzXNJzt9z6sfEnqb8Zxifrmq9NBp6ooazDzOyfPU8m5J-fAkgzM8tgVVVc2vW1XGdf5AgBAUxXiGtyajCz3n5kN07CWs8EzY73TyRRRqRQfIlhKVXy9zZr9g2g4t3NRO3lWkktkQfD18g7H51g01d-EY-EqaZhzzibChjcFk4wrn_v40M6UyM7RwKskNFHlxKlHHp7I_83lMuKMEG9C0XOGC5o4_rTfu5DvdFU",
  "id": "rs_030d801d443668c4016ab458146ca487d0ac8c01ff3ba38c43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.085,\"left_z\":0.025},\"note\":\"The overhead view now shows the brown plush clearly to the left of the gripper, with the cream plush on the right. I’ll center the jaws over the brown torso with a short sideways correction.\"}",
  "call_id": "call_1thKsmjvzLswtXkMt8nS6tJP",
  "id": "fc_030d801d443668c4016ab45815f26087d09bd58256366b7269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1thKsmjvzLswtXkMt8nS6tJP",
  "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]: [-0.8803, 0.9913, 0.0959, 0.0471, -0.7231, -0.6273, 0.9982, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2263 left_y=-0.0847 left_z=0.0274 left_yaw=0.0215 left_pitch=-0.0335 left_roll=0.0296 left_gripper=0.9982 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.0188, 4.7795, 1.4286, -0.2662, -0.0024, -0.022, -0.2393, -1.3197, 7.0359, 1.7656, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c2ccf5102bf2109ab54c282052e0e5b1a7cf38a4dc5af5a3d208e2505a84df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f86baef37bdb448d9f147b324aaae3835a20559fcc489814242be53c3a5caff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b9beace6c01fd40c352fdd97cbd3faa9a5d75c3ec70481447b14e2bbebfaed",
      "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 7 attempt 0 · /responses · status 200 · 2.413 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4467, 0.4149, 0.0937, -0.8082, -0.7414, 0.0108, -0.0208, 0.8032, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2569 left_y=-0.1692 left_z=0.0397 left_yaw=-0.0037 left_pitch=-0.0278 left_roll=0.0468 left_gripper=0.0108 right_x=0.2952 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0037 right_pitch=-0.0145 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.4923, 5.8051, 1.1453, -0.398, -0.0317, 0.7839, -0.1709, -1.4291, 7.1726, 1.7265, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2533, 1.4414, 0.3347, -0.0788, -0.9138, -1.0637, 0.9983, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2037 left_y=-0.1605 left_z=0.0168 left_yaw=0.0002 left_pitch=-0.0382 left_roll=0.0436 left_gripper=0.9983 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.8752, 5.5179, 0.7399, -0.6374, -0.022, -0.0611, -0.2256, -1.2239, 7.0769, 1.7216, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 0.9913, 0.0959, 0.0471, -0.7231, -0.6273, 0.9982, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2263 left_y=-0.0847 left_z=0.0274 left_yaw=0.0215 left_pitch=-0.0335 left_roll=0.0296 left_gripper=0.9982 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.0188, 4.7795, 1.4286, -0.2662, -0.0024, -0.022, -0.2393, -1.3197, 7.0359, 1.7656, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c2ccf5102bf2109ab54c282052e0e5b1a7cf38a4dc5af5a3d208e2505a84df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f86baef37bdb448d9f147b324aaae3835a20559fcc489814242be53c3a5caff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b9beace6c01fd40c352fdd97cbd3faa9a5d75c3ec70481447b14e2bbebfaed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgd57IXgGNaAu3FDg0z8bU38fLqP1EVUh0sbfI-h4gemW7zKs49EH2DWc6jmwXXq8JpiPNf0zYqL4bnotDzneaehZec6j2GJote_7fmPpa_OGV79ebXvvsOFk_Ocq-tzv2zzTgCf4T05gyA2cHPrnV5ihvVDDA9AWaOwiRl3eQHmBHn0msNW_VvHu0816yKIAd7J3kHymRujUX1dDOpVp51_oOUbxXr8A715XXkI4Tiyy8eKmz-GoPvIY1XEJN3tDzBU9uozjgVSqvugnrsFEYo_e3G-wr-Xi5335dKayQIYZ8vI2Skv4zlo_TpVbJPbUuFMNUQsTwh8RiduHEzR82XBtA7Hwsz6vDzIMAxUjNUR4omw0DbXhF4X3KoiKWQQI5B6NXucaUGSQokUTb07hF9YJQiysrvZ_zLrabw5b83QpOrC24RUZKIG_fLfGc_TnHq-1lBcLc72M4BSi_Ha9mZVosgusp0twyG80qcOSF8vDF5L0Wo7lJPALLCpALk6HMAmfNd0qtLig2uYSVx66nMkQ_hw1P4tT0LPZ0MNHnfE2BbeeCBQ_xqX_suU8aLCgGSOmlejG5hkN0GxeCSspxKDAtTIc8ywdsi-HR0bM7nX8QHEfSLAIhIpWrQ0TcBn6-awsSzxYutYxXufIog47WAdyuNB12hoBGTbF9HAh8RAOZwp_Kv8hNEDSnlKVhrJRKMgISJYiMt2bgPCuLA1P9yxwh1XTAk571wHdGvFJcCymX5oZGLpi8aXJuvYpLoX8-frv4JLq0x3sFhF4u7SjSBQJ7-MG7mPSzB5iX5Y2KV-rV7yHOjeXeUIl9cwtNQ-TR9K_VXEXfZhwunYdQm9ZeeXHcTvSJZcVKQTyKB9dN9s_x4Zdnt1uGuCByblgi0UI7BdVdh6eP--DL_PzPmxXwksHvrQ8KkZuMt5HuhZ0GlIrL5lJZro55U7ab-fPM23dFYqVN2fNWG7LPXylMKQ--JIE6Vs0LjH3-PUVj_mUQVU3MJe9z8i5ZVIbc9Xj_ct_l9lz5tsQmspUS-HDx1TT1YvVfLqUC7Fz-9rsB52HNFzY3mKkfuRZGAJTNoi1Xwr5JfwQStNjYYm33FifC_lGRLvYZMoEppDx0c8ob6FcOMFnl6c-zsrUVhI7JIQBV3wH0nFRvIvx2Ixa9TtkWo9KVFGOKWRGayjJtx0Y-bBxJQH5JjOCLp9bXOhewuPBlwiUVIYFbfkGdZz7AeGfxZ3OUbRAddUims1C5FmxQXeUKnih6nhMdmQLwq8Bmcw9df7mevDcPHWtx6-DvAs-ZeOf35RrVoAkWCBJCZnQ6f6cG889e5nYZPGygicq7Lyamvky2e4_h5iK5cyRKwIBaT5siRUnQkH_wriBsjLFYst6NdvmfcOh460RncMb6DUQq2LDsCxZNSV3nFymPHCVK0yD046_gUq69ddr_oMnyoEzui--5-TjbPi23UV19ZwaF4m9Dtymd6JSxXTDkBBSF_iaGqd2BWd5fMEyMvFM7fehVfxuFPou8zxAAzwdt6eoZqpt6xlPOS6yfKBsUNxW1IanKck2_0YEeYpLyrLpeuetHaEvCT4LjjpnxS3kmHDGooQGYB",
  "id": "rs_030d801d443668c4016ab4581a395c87d0ac38d79b76e20a53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.055,\"left_z\":0.02},\"note\":\"The brown plush’s torso is now visible just forward and left of the jaw center. I’m making the final small alignment so the jaws close around the body rather than its tag.\"}",
  "call_id": "call_Ef336KCFtvhrLhsX4PkYT4Um",
  "id": "fc_030d801d443668c4016ab4581c11f887d0b18485c1b16f6e77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ef336KCFtvhrLhsX4PkYT4Um",
  "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]: [-0.527, 1.124, 0.0566, 0.3626, -0.4843, -0.3534, 0.9982, -0.0208, 0.8139, 0.6075, -0.3866, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0512 left_z=0.0179 left_yaw=0.0476 left_pitch=-0.047 left_roll=0.035 left_gripper=0.9982 right_x=0.2956 right_y=-0.0005 right_z=0.1747 right_yaw=-0.0037 right_pitch=-0.0275 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.9077, 4.6427, 1.7558, -0.0269, 0.1587, -0.0122, -0.3487, -1.5795, 7.0906, 1.7216, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a646d7b9d6b3e32a6c16aea7bb987a806ca3536897bb845c931c08e183e571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd06c7ccd8966604440bed0f3fdbfa95f9c6c67821975c103e2780546a8f39a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439b7675fb103b6e53e0219d478732e751ef42a3dfd1500627d3d5562675649",
      "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 · 2.803 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8463, 1.5345, 0.2947, 0.4229, -0.7036, -0.5724, 0.9987, -0.0208, 0.8043, 0.6086, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2785 left_y=-0.1368 left_z=0.0145 left_yaw=0.012 left_pitch=-0.026 left_roll=0.0418 left_gripper=0.9987 right_x=0.2953 right_y=-0.0005 right_z=0.1781 right_yaw=-0.0037 right_pitch=-0.0157 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -3.7402, 3.494, 1.536, -0.2418, 0.0904, 0.0073, -0.253, -1.388, 7.0496, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 0.9913, 0.0959, 0.0471, -0.7231, -0.6273, 0.9982, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2263 left_y=-0.0847 left_z=0.0274 left_yaw=0.0215 left_pitch=-0.0335 left_roll=0.0296 left_gripper=0.9982 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.0188, 4.7795, 1.4286, -0.2662, -0.0024, -0.022, -0.2393, -1.3197, 7.0359, 1.7656, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.527, 1.124, 0.0566, 0.3626, -0.4843, -0.3534, 0.9982, -0.0208, 0.8139, 0.6075, -0.3866, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0512 left_z=0.0179 left_yaw=0.0476 left_pitch=-0.047 left_roll=0.035 left_gripper=0.9982 right_x=0.2956 right_y=-0.0005 right_z=0.1747 right_yaw=-0.0037 right_pitch=-0.0275 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.9077, 4.6427, 1.7558, -0.0269, 0.1587, -0.0122, -0.3487, -1.5795, 7.0906, 1.7216, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a646d7b9d6b3e32a6c16aea7bb987a806ca3536897bb845c931c08e183e571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd06c7ccd8966604440bed0f3fdbfa95f9c6c67821975c103e2780546a8f39a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439b7675fb103b6e53e0219d478732e751ef42a3dfd1500627d3d5562675649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFggCdkMdGDi0hawYzKP828RNAsu977Ng_Zx_pSA8WTTfbAlZgtEXVAWHbCZLWVGPrWRw9P2hTb01mx4hteZBv9mKQ7eGii89cRXb0wTxsPr4IzMi-HAaWdh4wGuU9AJ8Du8lOo70tmnZCI0AdBKIJ0h8PwksK_3yGxiRMGSNIdMxfZtV87x9wPHoIYY0qNxl8v8wGmFFk-nxVfYlEKl7anwL73hOplv9RdZS2ughAaYQXNCE6Fu8i7l5qPKHJXV0C9Oh6w8yAhczGoahFmITXQKxnypQq_2mHDpU2cvTeRXil-p5zbJa8E25YZjgMq8EeziuAvZVGJKE4WgpTRBPyzZMToNOb_puEiCecD7ASbDlbknQt2oyTpuea5FkP-v-AOdykVMnSp2bpV59p9Drp9_qbvSldFklNJtm296wcB5RPzLvqnRRRnebe6GE2UyfMfRX5DRehXyO3LVbq1X_l1cbpmuf2f7dY1EK-bLaYjqqz6MehAYqB0dV5vWN-mCHA6ZCDhlac4tp3pjecLpCuSRNIQpA7DioxLNZrOHXdvAF1WOV8gf2cgQc1Wf574Dixa6kpB4bBYa3VtZgRmp6zQAijD5tcs5eJxbT7DYR7ggsMnbh8Wrj0FjU2uGTR-sJhS8pwwzzSOMt5bnNIAK5iBSNyS7NlMa_erk_Fg8yPDwwOOoI0eIUyZ4BAAHU8wEEBkMu0MKmL1LEn2SbzvIJG_HIPiehv2NxMPO7bUrO-i0wgpzS6fZSwzdWz9dDBrx5iRwPRICC1IW-M7pY3xfEyKTYDgQmoKZ4ClHmgZhiKQG-wurkfZRY2EMz2Ve2dpIwf-0SiitQrWvJPHs_Cdtqhov4l2fF8ckkG66p6BwNtgCYb52dhxKSmw7YrWoDHquoW3YNp2Y9Z57ZhqHsMjrpZGXlvKQ1ZFVkBKWFM9vgbtRDk5nKFhbVQ7486RnZ2qzvu7JVDSwTDTgi9NKtFFhu0nFMaR2w-diY8IyM0X8Kv2cvnJJs0jdh_CUOVG1uSk4qb0e2ABDXW82YJ2XZ4FGau1xnREFCh9IO4bjgpOO08GLN_-u7fAhr8VtcY7QIk7sBZKjeWvfVdEpHlBbm7yxIyImI1twCApZNXD72ZDFlOH7A3eFda2eDme3mI8OwjAQUuN91437cMdur8spFcAMAzYTb5n2bCUCbrombv65_CKujKKXKJYCABjHOZHCerNgk4aI7tFu9ytS2nJDXM5E_kvWcA==",
  "id": "rs_030d801d443668c4016ab4581f2c5887d0aed4cb07cbddc0b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s body now fills the space between the jaws. I’m closing around it and will check the opening before lifting.\"}",
  "call_id": "call_4MrOWUx7uRUTk9mrYODTLyc6",
  "id": "fc_030d801d443668c4016ab4581f5adc87d0a1a500bfa53b9bb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4MrOWUx7uRUTk9mrYODTLyc6",
  "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]: [-0.5274, 1.124, 0.0559, 0.3828, -0.4786, -0.355, 0.1349, -0.0208, 0.8146, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2608 left_y=-0.0536 left_z=0.0209 left_yaw=0.0431 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.1349 right_x=0.2949 right_y=-0.0005 right_z=0.1734 right_yaw=-0.0037 right_pitch=-0.0336 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.7299, 5.5043, 1.3553, -0.2955, -0.0171, 0.9841, -0.0615, -1.2923, 7.2274, 1.7753, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d301ee5721d49788f4525a1e931129596fd8bc94a463e65ef4466de88b5ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2099b7ccf0d1557fb3b45729c89705921e5283898c980011b0c54ebb27b41ea9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115e842ec570a562ee426f3eb0a4a285d2b7f9d8a65e2b1a0ca549a4c192d87a",
      "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 9 attempt 0 · /responses · status 200 · 4.158 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2533, 1.4414, 0.3347, -0.0788, -0.9138, -1.0637, 0.9983, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2037 left_y=-0.1605 left_z=0.0168 left_yaw=0.0002 left_pitch=-0.0382 left_roll=0.0436 left_gripper=0.9983 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.8752, 5.5179, 0.7399, -0.6374, -0.022, -0.0611, -0.2256, -1.2239, 7.0769, 1.7216, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.527, 1.124, 0.0566, 0.3626, -0.4843, -0.3534, 0.9982, -0.0208, 0.8139, 0.6075, -0.3866, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0512 left_z=0.0179 left_yaw=0.0476 left_pitch=-0.047 left_roll=0.035 left_gripper=0.9982 right_x=0.2956 right_y=-0.0005 right_z=0.1747 right_yaw=-0.0037 right_pitch=-0.0275 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.9077, 4.6427, 1.7558, -0.0269, 0.1587, -0.0122, -0.3487, -1.5795, 7.0906, 1.7216, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.124, 0.0559, 0.3828, -0.4786, -0.355, 0.1349, -0.0208, 0.8146, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2608 left_y=-0.0536 left_z=0.0209 left_yaw=0.0431 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.1349 right_x=0.2949 right_y=-0.0005 right_z=0.1734 right_yaw=-0.0037 right_pitch=-0.0336 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.7299, 5.5043, 1.3553, -0.2955, -0.0171, 0.9841, -0.0615, -1.2923, 7.2274, 1.7753, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d301ee5721d49788f4525a1e931129596fd8bc94a463e65ef4466de88b5ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2099b7ccf0d1557fb3b45729c89705921e5283898c980011b0c54ebb27b41ea9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115e842ec570a562ee426f3eb0a4a285d2b7f9d8a65e2b1a0ca549a4c192d87a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgkcGGCQy9_EuTH3QgNcpjKD0k0yQHVYGr7pdc_aBfoYRSAnB3-znauloZ81rnyqX2dSyxOEdlfuZyoSUTZ_uiI8vasx8NHdpgm9zvVpbwLH65wTHBfZq4PBHRkWbNjcUY6yFkmPJ5iliTq70OF_E2POuXEyzgMLri6GoBlZzt0PnpJbSIel7jRgopysVfFWghlssDvtwYuEAb9USY0SURBnC6rSsidqe_UPLyGCbfMyP2ewqlepSkszQXpH0xM48IOOGgINhGiPcp60zkx0UFJEiwtFFZRXvkFPbnjL_eBv8-5o37ElpUdunyv3nFokw6tCviSX9sUYh_r8ORyU6tV8eeUqJYiAMXrXP7d7x9RlKaIWj2lRfEu5g82X0Yub_HaO4l9DUGqchj4DPWHxGsDC_AiygAzyJoX1QkJ4Nz0yGxg404pa6KwK3ofBx0QguLEjTy7sTGDeIU5AjvNJwhpArFP9RbON3cCoJEfkaO8-wdrlcXlUSTFS2h3-Cue85mDNeVccWka56ajD1V4_L8IgGEBHXOe-Kp6V645wvrA1Lov__2-wkPRuTr1y3Jlyi5SX0PwVEqQAgdvIgxCYVL2izkVM0JhV9_b6_dVhPa54GqkguMuPdsqzFAURKHzEUZLYYhk0KTy-OTfpmKRkvu93aZsfnV34kysGYDJj1TK41yShEGBkbx9q-Pf1hdZQBzhd-R-cGb8Hg7_8L7hJ0eh24IGifvFhgqy1WqyHLpy-Dxd4e4cT7b5TYDUJRl6bvDfNuJUoC-Lho7ueRPHa8R7r9KEdqnHqlSG41woIzUE1-lnCBnlIGrwuGnQ_rZF30rnEK4fMLipYSsEyDJU5SPTfmal53s33YoekE8JiOq4ca5COTS4JqAeNMjg7gcDF4n_HL_yw6hr4-w1C0rHhe_H0tJtJ6thaZTxbC7iGNXBKJduqgiHExxCqZgz1FfMvm1UreGuNB50rnsSGE_pQf2D5lBJcKe7egEHYqkvCQaTShbK0gpGrRf-p8uGsxTQuKbZQzOSDKXAeYVcuGBJZJuNHwk7jXJpzP7F2b1DqK8Wyx-mgRpTYVHbnKcl_V1ehRBE8j_C7XHHLPHXkuM5nBW9jtnujqpJ3M6xshRUywR-mk-UTzNXYtkEyAYhZ-dVTIOOONOTR_gEDofMO_VS-XudoCKjxWINsmgzxMd3QwF9W1mIZQKz78iZtF7x_mOtfMBObbMhxU58XRcR1urM-WLKzA==",
  "id": "rs_030d801d443668c4016ab45822b15887d0afecf9a83cccbb5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"right_z\":0.185},\"note\":\"The jaws stopped above the empty-close range, indicating they caught part of the plush. I’ll lift a few centimeters to confirm it moves with the gripper.\"}",
  "call_id": "call_fFegsvt4dqo5lnskn3elXbnH",
  "id": "fc_030d801d443668c4016ab45822fdb487d0aeac131fcc356673",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fFegsvt4dqo5lnskn3elXbnH",
  "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]: [-0.5274, 0.7776, 0.2779, -0.2173, -0.4706, -0.3557, 0.135, -0.0208, 0.8192, 0.6231, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2558 left_y=-0.0521 left_z=0.0831 left_yaw=0.038 left_pitch=-0.0621 left_roll=0.0322 left_gripper=0.135 right_x=0.2909 right_y=-0.0004 right_z=0.1703 right_yaw=-0.0037 right_pitch=-0.0671 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -0.8274, 8.6359, 1.5604, -0.2808, -0.022, 1.033, -0.253, -1.4701, 9.4974, 1.6581, -0.0269, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bbfd1f5ecae795f1cc37b9b74d2135f2e288418179ea559dbb101d7811883a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e39f3d87ae5b480c4ed19cf563b8e30e6f20016349c8d10b7eacfad6db8d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b2f6aed84617bea6362310fc92d51f1a1aa5f14a9ccbb96fed4240dc967c45",
      "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 10 attempt 0 · /responses · status 200 · 4.713 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 0.9913, 0.0959, 0.0471, -0.7231, -0.6273, 0.9982, -0.0208, 0.8082, 0.6083, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2263 left_y=-0.0847 left_z=0.0274 left_yaw=0.0215 left_pitch=-0.0335 left_roll=0.0296 left_gripper=0.9982 right_x=0.2955 right_y=-0.0005 right_z=0.1769 right_yaw=-0.0037 right_pitch=-0.0198 right_roll=-0.0036 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.0188, 4.7795, 1.4286, -0.2662, -0.0024, -0.022, -0.2393, -1.3197, 7.0359, 1.7656, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.124, 0.0559, 0.3828, -0.4786, -0.355, 0.1349, -0.0208, 0.8146, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2608 left_y=-0.0536 left_z=0.0209 left_yaw=0.0431 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.1349 right_x=0.2949 right_y=-0.0005 right_z=0.1734 right_yaw=-0.0037 right_pitch=-0.0336 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.7299, 5.5043, 1.3553, -0.2955, -0.0171, 0.9841, -0.0615, -1.2923, 7.2274, 1.7753, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7776, 0.2779, -0.2173, -0.4706, -0.3557, 0.135, -0.0208, 0.8192, 0.6231, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2558 left_y=-0.0521 left_z=0.0831 left_yaw=0.038 left_pitch=-0.0621 left_roll=0.0322 left_gripper=0.135 right_x=0.2909 right_y=-0.0004 right_z=0.1703 right_yaw=-0.0037 right_pitch=-0.0671 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -0.8274, 8.6359, 1.5604, -0.2808, -0.022, 1.033, -0.253, -1.4701, 9.4974, 1.6581, -0.0269, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bbfd1f5ecae795f1cc37b9b74d2135f2e288418179ea559dbb101d7811883a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e39f3d87ae5b480c4ed19cf563b8e30e6f20016349c8d10b7eacfad6db8d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b2f6aed84617bea6362310fc92d51f1a1aa5f14a9ccbb96fed4240dc967c45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgrqHBSNvsG33WZ2r8C-2EpWiDpO9s7UjeE_5VTj5lwHDuvYXf5CgRB9itS090aKYmpm9F6fA2Qc6b_jXGBpM8Oxrr5n2NE5Oeizzzciw1Kfz7Iy1jg3Yo4NNtLrE3oN80zqjVGSb5g_u8DLyDaBrDSQNFWyTkN4ExBQPrffR09fUNs_tPsEYf1mxGPi6I4SN8Ica3MLd4MwnANWVln4S0CpNb5twe8vDjV9RNpUPmhIcEYB8Ky4slFdzWC7WpOQ15uMVvno9jrX6CaMmV1Vwc9RpLvU2HzlHPKTcvjxPr808uSqlSpu7TjYBYDzsJalWL37fdw6hWuCQMjPpU-B471g28dYxbTM7kwiJ7asyQ7R9mY17icF8rUcVRej15yuBbom_CGBBq7keNSB67aVXGbzi99EFIYQC4iM1-maynOq5tgM7JWcUccymouOK6leLy2W5FDJ-b9rzYQXBqTAtQNMmn9-iyFMemGzniyfILNRAHaI1a6kMFXqbwspzxV3Zi-tH6VmWGTUEUiMyBdzoGj_y8uYIjLKEv5-6-HzcBYtSaTwEWBduV8n8mJq9h2Ma1AnC_sDkDc1Geh2Q30glVHbJKRQMrk5u2nJ3Ytq48i-GD4vZlvPa8nnzjUXrcmM8EoZKG3AMSYdjw6AbdIuxKgXvnsrsu6T3xmk9TgjAGye1OdXpPqlyBQZjZKCOLsyNUtEvbtF7NhlxQWdf7TQbLUA3RoRmsTnnvuRZMg41iWnsySwNefoDAjk21NPC7pfGOrqb6C-LWyqJZi_mh0NXkCDB1Y3lE6EJSht5Sld0gwOR5-UuZAkeOgBYiSifoGMgkJHsVzxES6yOHXYkjuujcKZDLL8q7UBx75PkCUWbNO2CQGdhooLoWs7TfHeZxhPmIdsHrf4Y-KsIvEAaGPC6drsx2KPJe_Q_TSm8SiBcw5Y0EqEqPu_z5T80lPqH-qffnrLNEBAgdHVaXPDCDVRvZXC1JMcL3-lZgOx8nDemXSmORkogIf4sS0hhoDB6oQ-9opIWQ98U6EXrLkWxNKwYjrIyvlU4y9a_7qo2rh6tp1O79Ft5j_oNcis4ZC9AUuLIA0dvzbTPwHJstBFMMrP09lc2ImqR2J3YMKV6bk87QPYrM-EyNeNAWIKLcE8vREOze57TPZkwgaucOpZ5NcpAhhNVFhC3c-zHiFp6XRptR_gwH7Tof5BcgQ4RMKfqzD0agn9u1NyM_ubd0150B6VSXqw93jP-o44axs1OKvyipy7HlrgdM7ppURS2uqAKf59enU_wonD-HC7EkxCAdIzwk09hTXX7P5t88IJuFCNZbQbw0FP8OiQF1v0SNgT1No2r62oIgEG2q-1Y-1fL_JAwAJTXLFF-1YUQHgftouxPS3SKvfwpv5Iq4fIKEo_GOhkkiNjy2_MWpF5bAgepSSceQyoAXyk9wYnwtO7elA_-Z58j3ktT652BBviEw0zD2b8SADi5HCdoiJ_LjLqVo96gIEtSPkdqjAM0pZ2j1KH7cLAgZGZVWie5b-NQ2ZFIwON75HAjezHg-atGQVuphAn6Jx4j9HV6IqlJyXKEeEXUTGj_bqjRF7JB7oDQhOsPAwICiHTs_k7h1pBLaYLoQiUL-yUvBhQTkHn-2FkRfw0hDu-Jzmq6d-5Ilf8aVwK4M9Z6N03ewZm1VfxHi1YxVXVXd5iR88z_TrEDxyuCBmx0fZb9YAGb75kVVehzlyDNXqZmp2-pSleO3kOeE7ODpXkzYy1E6I07gemQ-MV1v9qb1lqSU=",
  "id": "rs_030d801d443668c4016ab4582862f087d0a56d861b9392ff66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The close-up is still ambiguous because the yellow marker and brown plush overlap. I’ll raise straight up for clearance and use the overhead view to identify exactly what was picked up before choosing a basket.\"}",
  "call_id": "call_VxExlenwb9rnvccj7D4tEyDs",
  "id": "fc_030d801d443668c4016ab4582a0f7c87d083d7e0e5bc513bd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VxExlenwb9rnvccj7D4tEyDs",
  "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]: [-0.5274, 0.7914, 0.7998, -0.741, -0.4702, -0.3592, 0.1367, -0.0208, 0.8196, 0.6216, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.0527 left_z=0.2098 left_yaw=0.0401 left_pitch=-0.0753 left_roll=0.0376 left_gripper=0.1367 right_x=0.2907 right_y=-0.0004 right_z=0.1695 right_yaw=-0.0037 right_pitch=-0.0691 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -0.6496, 8.6906, 1.3065, -0.2613, -0.0122, 0.906, 0.0479, -0.8684, 7.1453, 1.6874, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f880b22e7c99185b81fe53f7412500497423979c2cc600eb03f89fd0c46486b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc9825149410233bb6ec20d519dc41a499f4424b502a598880b60e67b21fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041d1219955909fa04c9fa5b23e4109c522498951101776730644602d00b0912",
      "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 11 attempt 0 · /responses · status 200 · 8.196 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.527, 1.124, 0.0566, 0.3626, -0.4843, -0.3534, 0.9982, -0.0208, 0.8139, 0.6075, -0.3866, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0512 left_z=0.0179 left_yaw=0.0476 left_pitch=-0.047 left_roll=0.035 left_gripper=0.9982 right_x=0.2956 right_y=-0.0005 right_z=0.1747 right_yaw=-0.0037 right_pitch=-0.0275 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.9077, 4.6427, 1.7558, -0.0269, 0.1587, -0.0122, -0.3487, -1.5795, 7.0906, 1.7216, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7776, 0.2779, -0.2173, -0.4706, -0.3557, 0.135, -0.0208, 0.8192, 0.6231, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2558 left_y=-0.0521 left_z=0.0831 left_yaw=0.038 left_pitch=-0.0621 left_roll=0.0322 left_gripper=0.135 right_x=0.2909 right_y=-0.0004 right_z=0.1703 right_yaw=-0.0037 right_pitch=-0.0671 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -0.8274, 8.6359, 1.5604, -0.2808, -0.022, 1.033, -0.253, -1.4701, 9.4974, 1.6581, -0.0269, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7914, 0.7998, -0.741, -0.4702, -0.3592, 0.1367, -0.0208, 0.8196, 0.6216, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.0527 left_z=0.2098 left_yaw=0.0401 left_pitch=-0.0753 left_roll=0.0376 left_gripper=0.1367 right_x=0.2907 right_y=-0.0004 right_z=0.1695 right_yaw=-0.0037 right_pitch=-0.0691 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -0.6496, 8.6906, 1.3065, -0.2613, -0.0122, 0.906, 0.0479, -0.8684, 7.1453, 1.6874, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f880b22e7c99185b81fe53f7412500497423979c2cc600eb03f89fd0c46486b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc9825149410233bb6ec20d519dc41a499f4424b502a598880b60e67b21fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041d1219955909fa04c9fa5b23e4109c522498951101776730644602d00b0912",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgxi1D0qhOoP0RvDsNxIt09c_OY2UwjaBOykgTbQqGS8NzyZ-Y4nJdgshOuErmxE2vVft7sdJ6hfvtmWFpMtQ39Hc4tZZWNQZP50rfNQNbZoOM7adMMxJR8iG-fA0Ea1t4SvepzgCOQxnFGI1wXFhWvX77dW5Lc2WobI2G1FU3RP7SWlvGeI6FSyJwovFYpwrbtzsPRvzQAfoQDbZvHhRWSJkjQeFKwkm0J-AyQ-KkG_Fv4Daq9yb2D34ZNa7JTrKYljsGUvmsartBerP0xaaDrmPr6GYmI16S3ys58zP2ODTDCBHs98hMcSRoslMg-vvTj9Gynoq2ZW7BHElNSecjUloiGeMm0HobZgkIl1Qo8Tbecy2ji2g-Y7PtWBzfZqigTizPOh2jrXEqv9neJUvwm06K0AsBFon13N9TNrNMnL3bw84QQb-bNEE2hGCL_uMWN_AxK0xLnX5Fag1mTXtkkgLdSdmsoL-7fY7vXhBNvDZsJ7TvrEWdIBpJ2U6Fnv6TlxKKU72N1P1aIf-JE9VzixG1vNEIQeaxZJhWjOakrazSVY0FBlK7MzFjsvQ6TqGPSZvxKzV74RKIyBzjPPKk7MAfldhoP10anrne_ZRO0soS3jQkfVbxpMVhlw1lQPQlwwkdkrTU2QnIeOmVsJnTkpJjCzLGHQSWytH0ph1W6tyPLmXaCyo3HTgjdS08LMR5ZxXERqaDejNor1C2aPYI8kuFkwscyFI0Ph19qUHCleo9FE0yX7vjBZ94GCEE0V3VrheQ-CIzpJtC8-pJRRq5kbkvVihmzZ68RjVr394Xwsy_Okeei1trBXEEX6jjpFwiLZeQGgu1gki9COr6dyHbumQ52t9H9UfZBnxTCVNPDxHy_4N8WwnR3YfmZbvUPRBEawLkwNjM_NzMQG6VQz7eQuMxWfCbYovnxE-oJiDc-Fe_SWW1cgVauYbgfadARAt0h38Kf0J2JMqDxXupx-iyx308zZNAGK6VYGkzh59w_KvB4SswlxZw2ODXRXZIwWzBgWmmJBWrKKJ6gASaPf14SgG2cPrwLZRhUdjInoYKv7_NHD1K9xxYNZze8vzfPxoir1iZtBGAPus-ueJHMyf2pMooGeJSeKrMjryGQBo10fp7ktePU0IWZtBnFICdEOh1vXVXcgGeINMrEFKTsG6tYpCC4OQNAc2F9rCG0aPobKWGGzpWO9pJEupb_EAejnnjmc0j9KRnGysUVpC7Panw_zExvKcvFgFFgh8IsphCWFTRCMpzY59vHZadkiGrXS1T3zh_ay8I1tV_Jqz003iqmO1oBjV_1dhmz-2U2FNeFePdPpNfyC2EV40jcP8ZFBL1yQhy1txFMOJR9RDrWIv76qy4V-9ktt-a0C0rkHsEFSGPfAFDdC_L05i3VUSspbMAi-Pt93OqKBfn2GOUcFG3vgEEhY_Q7O0IoZwn0FuR36WmU-T4TmtzdFBGQj-t_lznd1ODn-CJGuUhDjvsR8E_b9YukzcsWdYZCdvf6Lw2sOsqj93sgaNzTKgID2xIv8GEcNSBJI3w4pb9P-zZw7JuCSkZjCjGiP6FF7RqaP6H3CAMf1fV_0dB-pUcMVX3HU4SbMPVQK1gd39_rWrL_lPLjSGAYa16OvtXG7Q_OizmLz6Foem0zr9nuagRUu_QD4TbZimvHtd0t1P9jhMYrqRQXPKi3yMr8QusOjq-xUprX9YBwvkGW7hopMaBI_CGjlPRqY5c1bXym1oojZD-4tqak430J_8_7bh3z6iT4fXufruqmpWxooIJFA-fUI1BiTDIy8DYGEvIg33cCHDv-p0N4bLr9-altgBErkZtpkh4GPZ2RrYgAyasJGOUnJO9mc5jt",
  "id": "rs_030d801d443668c4016ab4582e36b887d0b9588ba23f6bcf5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.25},\"note\":\"The brown plush has lifted from the table and is hanging from the jaws. I’m carrying it above the left basket, keeping enough height for the dangling body to clear the rim.\"}",
  "call_id": "call_mW9QUSDwjCNSl2MZ0ERzv0sf",
  "id": "fc_030d801d443668c4016ab4583088ec87d0844cd3bf0500105e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mW9QUSDwjCNSl2MZ0ERzv0sf",
  "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]: [-0.4931, 1.5833, 1.3991, -0.6144, -0.4442, -0.3588, 0.1376, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=-0.1361 left_z=0.2257 left_yaw=0.0577 left_pitch=-0.1408 left_roll=0.0578 left_gripper=0.1376 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.1026, 9.894, 1.7607, -0.232, 0.2027, 0.9109, -0.1709, -1.7983, 7.159, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714611f09ac933cb48f9d9d661ef4886b26363635bcfe88d26f0941fc189896f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe9deb47d0ac95c05e73d19240d420b11c7fb0509e66ba7f258ad4bd7711002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7246bd0cfb75dc868aa15b37e7d3903996173c13669a75a72c99ffc7061c94d8",
      "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 12 attempt 0 · /responses · status 200 · 7.724 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.124, 0.0559, 0.3828, -0.4786, -0.355, 0.1349, -0.0208, 0.8146, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2608 left_y=-0.0536 left_z=0.0209 left_yaw=0.0431 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.1349 right_x=0.2949 right_y=-0.0005 right_z=0.1734 right_yaw=-0.0037 right_pitch=-0.0336 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.7299, 5.5043, 1.3553, -0.2955, -0.0171, 0.9841, -0.0615, -1.2923, 7.2274, 1.7753, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7914, 0.7998, -0.741, -0.4702, -0.3592, 0.1367, -0.0208, 0.8196, 0.6216, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.0527 left_z=0.2098 left_yaw=0.0401 left_pitch=-0.0753 left_roll=0.0376 left_gripper=0.1367 right_x=0.2907 right_y=-0.0004 right_z=0.1695 right_yaw=-0.0037 right_pitch=-0.0691 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -0.6496, 8.6906, 1.3065, -0.2613, -0.0122, 0.906, 0.0479, -0.8684, 7.1453, 1.6874, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4931, 1.5833, 1.3991, -0.6144, -0.4442, -0.3588, 0.1376, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=-0.1361 left_z=0.2257 left_yaw=0.0577 left_pitch=-0.1408 left_roll=0.0578 left_gripper=0.1376 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.1026, 9.894, 1.7607, -0.232, 0.2027, 0.9109, -0.1709, -1.7983, 7.159, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714611f09ac933cb48f9d9d661ef4886b26363635bcfe88d26f0941fc189896f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe9deb47d0ac95c05e73d19240d420b11c7fb0509e66ba7f258ad4bd7711002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7246bd0cfb75dc868aa15b37e7d3903996173c13669a75a72c99ffc7061c94d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhI4DzWTi4k2GLnQrduLMPhw4Yh-2omYJwgr64CVmqbpJYxkRU0IydkSk-tMrL5Mef1n1Mtqa8GI7oJ4I-cciv2610V6pBAlNgv7QJuX9CCRLrlp6hXhBBpKlou3QTkxLQBG74XdBmbDkiSBfc8YLEITdh8zJi3Zx6P0kj1N2hRsdLjiSel2Bt-ppjuP9QJu2eilW14RTdfSN4ZIwWkD0d_pAQyGXoUYVIUoVYZG8U_POLAMPJ0ENTNo7fGof6ns-TEMGGRu5CYZkxyaZrFFx47Mkppq_qtnYXXH_lOMz6wGK8TA9sKMFAaJsKvJGU2Ck7RDLeXW3jzlZNFUQYnB9BMWMaeyWdaWFYjbXmrJPnX7jTA5C3RAD3lL3Ax4rPA1LpkA22S3xrG8hNHlMzExGlOAXHMQgrGLXXg24PjuhvvWeladRJXVD7HdXsZOhKkIWd776xaDPmtVsSlGlui77tyqDEplQAENxPjpoW9cMUlmJxFaMGLP--cY1-bUwPAvehVAQ1WsCVJMvadSkuB8NUQOtsf3dWdKd4bEV6dh9YwL8JTNJ3oN1Y4ajJlkgzNhUCnnUW0pIxbS315xARLCV0cTJ-OTaaW4PD-Q95K_huHk4EFGDoV5gD03y40FzW1nEZNwRb7afw-GeaWKHzhr8vp1M0-SqMqqQrOVaUmgp5wIHRCxuxx35kWTtQnOq_XkoYjfe1DlUzpdf86tgKda1uJUMVlYRuFa7WRRa3V7LDG15s7z8_KLrdmMOOjcRCQ7SEJr8XnQlrUaj-d81gjpkHkwPSmeaJq8JaIzyBJyOqy_UouYa4PAyp6mmlthITQv_I24gSz0anrEiCjcKXA61ljcfdUv19AO0ST4_7N5N1JXjUUvtKOuvSK8-MRbwFyKIDMlQrxdWsg2LPZjOUJOVY5RCwMeMIRYnrVKus2zxln7dKLugIQqD5OJ2y1Zo9VB3bxnyI3N5TxqLiOfmPoyEZ1rhQIxT_XY8deLgwA9pJq5j9RCvPIKer7v9QH1l8USdxCxy3JjaxiSaFRtwYEW7gbFqiSBk5kGk-HLyIZijjpqGe1S7TTwC9nGViW3G6iEYQNhyXY9uh1z6Zim_au1lR_4QUvYhmpu_b6aFi45lTxZeNXp4r2UsBpM2sLJIx3oUNBW2YguNzgMgpUa8LmNc3yTQQ-U-HYnyHsmXKtaoYOHiWeJivtcPHjPa1lwI6M5cNBL3z58PjPMmLjzg9q-pjNkO--puApxfLHvHEXpT8O88nv-Jdubyyi7BHzd9aubhV2PsAUw1uPVi2iCQzp2HmpmhFYDa3RzQsZhFORy5sOGd_G8ISasgo05W28TyWX0GksHrf0EinLXx94II6CRSYl8cka7uQDJgfs3C9AN-KjslvD5gT9rdbLwNFHysskbc_Mf1q5YOXEbsySIN7LIxFpzesCWy2PDd3HM9fvlgAPNJDY4siMSaCUQZ-0DVUX29JezM-qcmNEyVUhpDW12W2T4kYMJVHsOE8JkVNbUaAdLDXUkobGtGkYg3OtCEYmexoIMhZcnawbU_T64q59bUQIj-bRToQ4Lp0o6MDA6PY0yTTXVoMtTxhjnwCR1tikq0Yb6CcQrklTQ9FZ1Qj6etOppFwyoqOfi37p2Jte53MX7N8hJHq9_WfVbWXn2STvxCtEmUhjzJCbkmLfiv7StTWPmIh7jylG4-aSSZYZ2uLtqcFNH2HnX6zmPWGRvXaWTLUCQP-54SydsPDDJkdFm2ok3X1PTNEh8S2IeeRVKS28DAQ3xiFc67jTsO_En6Cyii3pykeeI8VYcE_QXMo9z0JRkulRUOXwpJLlHkBhoUsrpiMzQp3AUuR87KBMpspB9lyxdgvWe6jQBxIiBI7cautjDRrLr2D2OmumvsaRKl3yJHdabOt_HlJWeXgZOZi3FOqHFpeevujxYf_TWzuKcbqWDw==",
  "id": "rs_030d801d443668c4016ab45843de6087d0a317bcf80308d525",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.14,\"left_z\":0.17},\"note\":\"The plush is above the near edge of the left basket. I’ll move a little farther into the basket and lower it so its body is supported before release.\"}",
  "call_id": "call_OOeHSMMT8H78H8sYkEdNGW2F",
  "id": "fc_030d801d443668c4016ab45847294c87d0b99934ae10cd6d79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OOeHSMMT8H78H8sYkEdNGW2F",
  "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]: [-0.4229, 1.8069, 1.3987, -0.4858, -0.4099, -0.3462, 0.1384, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4643 left_y=-0.1278 left_z=0.1457 left_yaw=0.1034 left_pitch=-0.2365 left_roll=0.0944 left_gripper=0.1384 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -10.8376, 9.5521, 1.9121, -0.0855, 0.3932, 1.0037, -0.2256, -1.3744, 7.1179, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0980eb15e10c67f87a8d3f89b754ac868f8879d45a7155d5ed6ff03e642d3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d35ccec8f9c54650edc7abc94f31095427c260ae72c4433cbd16460aea136b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32164593eba27c6f6a503d94f06b076103a6557514884e809ad4e09e4dcc852a",
      "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 13 attempt 0 · /responses · status 200 · 4.901 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7776, 0.2779, -0.2173, -0.4706, -0.3557, 0.135, -0.0208, 0.8192, 0.6231, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2558 left_y=-0.0521 left_z=0.0831 left_yaw=0.038 left_pitch=-0.0621 left_roll=0.0322 left_gripper=0.135 right_x=0.2909 right_y=-0.0004 right_z=0.1703 right_yaw=-0.0037 right_pitch=-0.0671 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -0.8274, 8.6359, 1.5604, -0.2808, -0.022, 1.033, -0.253, -1.4701, 9.4974, 1.6581, -0.0269, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4931, 1.5833, 1.3991, -0.6144, -0.4442, -0.3588, 0.1376, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=-0.1361 left_z=0.2257 left_yaw=0.0577 left_pitch=-0.1408 left_roll=0.0578 left_gripper=0.1376 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.1026, 9.894, 1.7607, -0.232, 0.2027, 0.9109, -0.1709, -1.7983, 7.159, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4229, 1.8069, 1.3987, -0.4858, -0.4099, -0.3462, 0.1384, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4643 left_y=-0.1278 left_z=0.1457 left_yaw=0.1034 left_pitch=-0.2365 left_roll=0.0944 left_gripper=0.1384 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -10.8376, 9.5521, 1.9121, -0.0855, 0.3932, 1.0037, -0.2256, -1.3744, 7.1179, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0980eb15e10c67f87a8d3f89b754ac868f8879d45a7155d5ed6ff03e642d3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d35ccec8f9c54650edc7abc94f31095427c260ae72c4433cbd16460aea136b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32164593eba27c6f6a503d94f06b076103a6557514884e809ad4e09e4dcc852a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhR7-3Cv82OtolODjiAERpG1JwaXtAjSc3CvondEYr_HI9qw3a-d59tk4nubfhXE4mRWtWTupaF3dE9CxQB8YhWBdvRPGYTzAFPNjvwdSSUFldtyqfA4-ejWE2llbDG60BAKlKFFeQFR3ISSNSTu4Qqr79uIk84TVDQwO6hj7-Wb8zNBsjTHSrU6lxtPatFFKkbulAhVVG4ltUFFvR_7wOShGkWlkJugO4oBZqLs1-3nS7Vnd6KWjb1aFlASkF3qTKQGlKlPbyKjnTp2ojPx37XLNz_6OlpwqsooFNpT6u9qua2lNKg3lhsoTIq6JMrGtT0T_a4Fnkl4UJ5UDkc9--Fm3aQpNGpL80Zy3ijHotgt2QEfrTjwzzMBsIC3GznZYeHDMskSAVYABwcaJkI4O9RlM4wH0FW3nQ24uO8stV_bHeN88pbspUE8e1psfrX3bo367O5S6P1zyCy0i7Xkn_ykSllzP-wajnvCsWasJs0KtirHmIUIkObm6y-v5dMez_f3_-wi8nxhYjVcpb9ppKdD4RGkF6dSHYSYJj0DKoA-GI-ITatiurz1CzBGBkDlsHrJuaTDpJi7i0XlK0muLQJA3W3ZDVmTRF9dC-e1vthHuvBtfWMSvPreleL_DLZTFPgtXgDjjANQ592q0dwGl0NiCFbNvA7Xt8zO6CQ02itYv5EEJxInspx5xbRy_asT4t1SuGJAmRycoP29MnXTu9Gp3qzlIDnJ02Pl4qEopoEg4o60xjQebb9KvGQSctugY6A7Fgd5XYoGXgbyE4vLpHqMo3vj65FX7eySosYQYZ5b3GOzb_3L-9NmkpODFnGhzlklOJVfRQ9io2lmg9OwtPVu1QdisIGjXcEOaVrFeGNryF0gL2_QLpKHjM6kQ1j7hl0_gVYb4-gIzZgj7Z7byyik3mn_KM79PyMZm2TVrTZMig7D1tU_i24MmtsD-1xtpaeXVN8ALY1wuy8MmnmEwKj1YRj9248MkloJPUA5aesubFzNp4r5yYFMCnB11mtlcPBPvcK0XYjDsd8uVFMj8-K8HJ5U16k5eJX_E6esdNiI_Cc_MxBNr2r3DCfFNsJSfQ7EKl-6XAIo0ogPHjHeOFPcKl5SchjIoY-gEwsuq404e3U307eN5E-I4Q__4Fs9iCqM3rh4eLyJmqC8ddDVtTQFsBjWAwXy3LRQsBEeXOxVC2ul9rec6uXPdKfV-cW4-HortVyPRATe8wP6I8hOzSR4wQh5xyiIci4vBkbg79-dn9HFqUdxKjcCPJA53o6cdZ_RwCH7i_-ti5AujuWQnfQapas1OfrVf2JzZQ64LCAN38akiepohRr6MrE1lpVJ6My8RIPVGtb_XiC2HfNnVPPsJMIrG4BX3npzELRYMLd_xCh43OWRfBKJtXyD3H0EGgQ-VT9WTzVmUGWfWm1oDj6fdWDh93OWxF6EuiF_W7mklGBCCTiZIw8NYR6caVYqU-W-hfCtl34kX4ODf7uFBYM04n_slONZ0vJSr4nwBo8BbjpPZB6J834703OjvyckxLaXkhQ7B5E71-s1vOZ5zGMpdDO5NPNumlKQilxaLinLwPSu8Nm5LnitHH899MHRERbKtlDP7NBKxzV9oLWWT4cPtUc8mh-OPob0SiDmQhrtoVYjTab4Y6aQCM7WMNC9a-wlSCkza-JKVMip8RoClmLVgyb_ztnp7EEihHfu-iaCAcaOOY2wyme1NiF0AwFOrUcukj7ndvqlgU25hKRtW4B3BY1UPGEsvvNzQUosTNbWDUIu4vtgucodgEw__i6phUgBjOvdY3QZOZe6uJBXLiAfsEbXxoZnjWevhvGlOn-rBSbLX326xn5wNatD2659GUjca63esEqWypj-i0ZlWXJWn9w777zvU4h2Ddk57eXe8y20M72QSDnLc0ATnLVmb6lbVsKUGgUlGT1F0_Yh36N5fBaNG3AjF2RMg-N_bskMZEhCNlKs7nO20NwcfcE7oAdupenP1IRh2jEf_QWpPJkjQ==",
  "id": "rs_030d801d443668c4016ab4584d280887d08a4698253269b42e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.27,\"right_y\":0.19,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The brown plush is inside the left basket, so I’m releasing it. The right arm will approach the two pens on the right side of the table, well away from the left arm.\"}",
  "call_id": "call_I6ETa5y6SZxlCZxNuGNdRctd",
  "id": "fc_030d801d443668c4016ab45850226c87d0a2ebc2552e2e58e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I6ETa5y6SZxlCZxNuGNdRctd",
  "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]: [-0.4213, 1.8393, 1.3987, -0.485, -0.403, -0.355, 0.9977, 0.9466, 1.2602, 0.7795, -0.4671, 0.6724, 0.6399, 0.9997]\nstate[eef_state]: left_x=0.4652 left_y=-0.1286 left_z=0.1306 left_yaw=0.1084 left_pitch=-0.266 left_roll=0.0999 left_gripper=0.9977 right_x=0.2651 right_y=0.186 right_z=0.1343 right_yaw=0.0414 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -12.2598, 6.5846, 1.2576, -0.2466, 0.0366, -0.0952, 0.1983, -4.6838, 9.1556, 1.2283, 0.5592, 0.188, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803cf81ee5f33ec633c644d85a86caaa3fd98df75645c7fcfde0b2267d3aa226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b654be4cbb908a348a2f833d1c5162ed61efea28fbe94ee3b6dd113a2f7ea06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89476e938603391f3d2b22a608f485639ad74da3e35f955e01e5a1850adeeb46",
      "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 14 attempt 0 · /responses · status 200 · 4.088 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 0.7914, 0.7998, -0.741, -0.4702, -0.3592, 0.1367, -0.0208, 0.8196, 0.6216, -0.4366, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.0527 left_z=0.2098 left_yaw=0.0401 left_pitch=-0.0753 left_roll=0.0376 left_gripper=0.1367 right_x=0.2907 right_y=-0.0004 right_z=0.1695 right_yaw=-0.0037 right_pitch=-0.0691 right_roll=-0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -0.6496, 8.6906, 1.3065, -0.2613, -0.0122, 0.906, 0.0479, -0.8684, 7.1453, 1.6874, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4229, 1.8069, 1.3987, -0.4858, -0.4099, -0.3462, 0.1384, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4643 left_y=-0.1278 left_z=0.1457 left_yaw=0.1034 left_pitch=-0.2365 left_roll=0.0944 left_gripper=0.1384 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -10.8376, 9.5521, 1.9121, -0.0855, 0.3932, 1.0037, -0.2256, -1.3744, 7.1179, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4213, 1.8393, 1.3987, -0.485, -0.403, -0.355, 0.9977, 0.9466, 1.2602, 0.7795, -0.4671, 0.6724, 0.6399, 0.9997]\nstate[eef_state]: left_x=0.4652 left_y=-0.1286 left_z=0.1306 left_yaw=0.1084 left_pitch=-0.266 left_roll=0.0999 left_gripper=0.9977 right_x=0.2651 right_y=0.186 right_z=0.1343 right_yaw=0.0414 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -12.2598, 6.5846, 1.2576, -0.2466, 0.0366, -0.0952, 0.1983, -4.6838, 9.1556, 1.2283, 0.5592, 0.188, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803cf81ee5f33ec633c644d85a86caaa3fd98df75645c7fcfde0b2267d3aa226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b654be4cbb908a348a2f833d1c5162ed61efea28fbe94ee3b6dd113a2f7ea06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89476e938603391f3d2b22a608f485639ad74da3e35f955e01e5a1850adeeb46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhXKwa8fy2kOXn1ZWSva5C1mg6I620WvXT_mZ8REtzUtgsl0q5UxPYwRLmK_Uqx892L78v8VmcOwCmZdguP9pyH81YOu-tXyu7RsbgTAbUZaUh3atiXRPQuF3silhPbcJriiFsrrLSq1rKqkoRHj80baNGhmLGifq7IzPUrY7ziUH0M97pLyZMN_CxtIUarAFKVw33b70cXXfqcouvjneO8qEF9QAhgpMSSWA4KGUxTBKI-lRX8K5YNyVPPydNL-Rv65c-svifLr7qIJx2zKqhj6zqO_siknOmYPV22H7A9-Hq9WmaiYPgkGggfYgeDfhhrTVVQ5-EpK1sxiopMy9O3wWdss8XIBMc4slhP29oS5Vb3nMAUF6U19Blwyopfj8GcIeoI0AH3GuQaOQtTXu0-DlYMtGcZn8FEX2xG--62toXi2mcXDAppwg7JabKLdFEU7K0I7QGtazOUAgkNY24hfhSBou2I_SoZZ_T2LXg0gyckM7uRRDJ15JhrmiQXa4L-B0EOJHDrp-cs0RC7aZTnz19bDC7SP6O9aBBu6jMd5ZbBRaBl30u4sQEW_Wuj0xMhD4V_EgqYEyzQeeaTT6NykzqRZomhSFKDrRk26HZLymVYWnZtnFGN6vo9-qc4QqrnbVF6tMSScLu14dy7nTeaLJJtnyn30-jOvKtXejEcUA4KuCG2YE40L74qKY5Xf3FYxfaawYgBUaIZVGqfg1KjTwlX3Y8c1iBZM38LHsL7Duu0dCilZnMIgP11A62R28QUqTVz8s58bvoVQ_RhlQzw9oplozO0oDFU5j2DymIM7cZ9qqSg126AM42zHBZ_J-GtVBBbs2rk8zNBDp1AzseYbde-L7AOx-XAEMr7y4KbbgBbiqvgtApX-oHBSQD36x5RgUJimyozUndntCTtEfLK9nDQLia84qW7GjGJjmYVBinPU2ZsrXU99xqox1Jheia1wOJg7WRO0h7vzCTcIWvcpknFckj0OWuxgnkL7T1PYKRbiUpSWmQwQlwEYfWKmuXaajaOG8W1uuVXqIw8k991oO_oDNL1EsmzUJyZcy9JEpE9FDq29VO7yxofn9dA9FoJsun6WzJ2eKgTuYr4lpLVxxuHX_pjT3m3XPC6J_aErCE1I7izIGvxM3vLD3pE8e-Fh8vcj6eIg_IbOzI4ktB04cb9EmJ21iXjFvOoou4ZV3IxmiG16M2Nys30qChmfX3_6OvX9t62fU-HNflskTHPo_zehOIgJgdb0a-RQpdDswHoe5wdp4JCpbcpBn5PIDGRMkDbPSU1IL2_47XZsMbBy-pFpA97io8tMBI57JVaJP2h-qrLXl5iQMLwKL1DXjbtkb-QLUmjRQPVWtCmHlMYHb312ACNz3ewf5IvSqOfOURy9Pp0rM_TmR7MOrpEZLpanadZWWm6YJCB5nheLd0VCgAnaVR011LqUUFHHCh82B7kc4BatVRUZka7-e_Mr8qPkw_2eppFPXKBFlqWVvKz2Cw8YAovl_ikuSrNLl6BYmZiRF1lQTvk23lP_kJNzgBSuQdLJvfeAL7SIKfkG2KMc7QwL-3al8UYgIJOjwsH1xYhBK2swxvD4Gfu0-0ej2CSsltCxd3Pq5feKum8pXHQUjotaFtfSbVE-_WV1UWRdqUG1F15_GOskuptHhXqdeNkGqXdsqZMHblfSJQ43xARX2sKLs8OK-9lzbUYkYahm7vqkNXH_5BBvWCWuaWZab-ZnECGCHPhlw9irLoECE60hyr_YSZm6liBcodoYGvcji6MnBHflT93DLwflGx_nmNdpe8MIKS4LjSoxzcc73COl_vEnxQP-GAP8XXJ_8IXs3o=",
  "id": "rs_030d801d443668c4016ab45853e16087d08441fa3561d0c486",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.265,\"right_y\":0.185,\"right_z\":-0.005},\"note\":\"The brown plush is visibly resting in the left basket. The right wrist view centers the rightmost pen under the jaws, so I’ll descend to table level while retracting the left arm clear.\"}",
  "call_id": "call_aPZSOJtiO7EObC2OXXtgrPuZ",
  "id": "fc_030d801d443668c4016ab4585653ac87d0b44730a5c398f236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aPZSOJtiO7EObC2OXXtgrPuZ",
  "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]: [-0.1627, 1.1069, 1.1133, -0.8295, -0.2577, -0.1711, 0.9981, 0.9478, 1.6238, 0.4595, 0.2539, 0.688, 0.6506, 0.9997]\nstate[eef_state]: left_x=0.3141 left_y=-0.0023 left_z=0.2332 left_yaw=0.1363 left_pitch=-0.227 left_roll=0.0827 left_gripper=0.9981 right_x=0.2706 right_y=0.1906 right_z=0.0113 right_yaw=0.0298 right_pitch=-0.0908 right_roll=-0.016 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.4667, 6.3658, 1.5018, -0.1099, 0.0611, 0.022, -0.1709, -3.412, 2.6325, 0.4908, -0.0464, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76460235a201054bb11ce6425b8021030e21d379ef2d527e925cc3767320c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9668b5b1e1fd100e807819bdc4ec1c9c1aa3b233bf6239cf0832d3c5a7da0cca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cd39e5c562ea920f992c4259113670b88419bf198f10eba8e1eb1d5d6ede06",
      "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 15 attempt 0 · /responses · status 200 · 4.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4931, 1.5833, 1.3991, -0.6144, -0.4442, -0.3588, 0.1376, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=-0.1361 left_z=0.2257 left_yaw=0.0577 left_pitch=-0.1408 left_roll=0.0578 left_gripper=0.1376 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.1026, 9.894, 1.7607, -0.232, 0.2027, 0.9109, -0.1709, -1.7983, 7.159, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4213, 1.8393, 1.3987, -0.485, -0.403, -0.355, 0.9977, 0.9466, 1.2602, 0.7795, -0.4671, 0.6724, 0.6399, 0.9997]\nstate[eef_state]: left_x=0.4652 left_y=-0.1286 left_z=0.1306 left_yaw=0.1084 left_pitch=-0.266 left_roll=0.0999 left_gripper=0.9977 right_x=0.2651 right_y=0.186 right_z=0.1343 right_yaw=0.0414 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -12.2598, 6.5846, 1.2576, -0.2466, 0.0366, -0.0952, 0.1983, -4.6838, 9.1556, 1.2283, 0.5592, 0.188, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1627, 1.1069, 1.1133, -0.8295, -0.2577, -0.1711, 0.9981, 0.9478, 1.6238, 0.4595, 0.2539, 0.688, 0.6506, 0.9997]\nstate[eef_state]: left_x=0.3141 left_y=-0.0023 left_z=0.2332 left_yaw=0.1363 left_pitch=-0.227 left_roll=0.0827 left_gripper=0.9981 right_x=0.2706 right_y=0.1906 right_z=0.0113 right_yaw=0.0298 right_pitch=-0.0908 right_roll=-0.016 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.4667, 6.3658, 1.5018, -0.1099, 0.0611, 0.022, -0.1709, -3.412, 2.6325, 0.4908, -0.0464, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76460235a201054bb11ce6425b8021030e21d379ef2d527e925cc3767320c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9668b5b1e1fd100e807819bdc4ec1c9c1aa3b233bf6239cf0832d3c5a7da0cca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cd39e5c562ea920f992c4259113670b88419bf198f10eba8e1eb1d5d6ede06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhc60qNYwU7bZ0Q50YkHL18_WCIPpIXeQJCJ85EGzdi9wPf-KLYcPy7xTCLhYm-wY1F19Ylb-wsNh3Zr1iXJMOSde1kPBscuRX6c6E87bEbn01jBmsSrw0dU9RlhhpBdHBYtB-YSV-QK1ycPISCzvWONETGjMvSIZ9Omn3sotgOydKYgiEZDP2zzsty6BADvBHX6_vLYDJKJFBiytYdIkFN91eGuMgFqh_Axuy3pP-8KOWAkN4wENxjn_pH-Z24uFvTZplcEGBTLghRq3LLN8iOUnOZG7jJB2K7Jj8WJStxZxpP3uWZvxQmFeu8295LBzRTF5JruXf5mJBOszlRAV2tUukAstQntrmaXhbaluMuI6MwcuIVJr2qtW1vrZs1zYX6oUhhAn53Y3zLQowCcaSCPuJ9Axw-typooJZ3nsfyPeqyrDzObjBfYVN4l8YCpGimHhFv_Sz1YiJDLxzKAolkkbKYETcyKMKbm4LYxWBpt_WONTJ1yBaVPyhFZYb4fXu9zjyx3jDpluJWaQubQN1YEpZU_ea6Kzv03jyzfqlaoXFAisRfEY-UFjy0Ss29RW-z1dg8lsZE6_gtMcE8i6w5aeCpm83v5_K-H1P5sD1gJVlGPJGUWsnAlbR-Me1SDNlBUNr80eWNsJoJWuZz_TSIFMY4NyEZkJ-ICFt9YzJC3d0_mronfVSMDXsh0mKTlqjBigGOQTpx9gfHV3oArYeHwkqD-1nDZertv1QQpjsqSkOM-b2icTDgivzYEVHy5SllDWM63V6Iqg50cl3FiwPhG1Cts16MwMJGT1YIoKs1fp2Jw-ea62z4O6LRqeOJc0OxS7BsB7pHvBpLqshut5lhnj3t0T0o9JuWAzPLo3Da0JI39hrGWkw5M7sq5_urvzxQz9Ur8160yikq7Ub0negsic7g8TVmOJZltN1neVY2-Vv8YXgNrSheYyoASGtfO1KIvVpJVPwTMi10GTwNL9aN55lr_ZTAv4lUYXMxipXRku6rUWl-HhBgYKmfrzUs2woj1cqYLLD_BZVpObYZAX1bSMisoXhfPouGGcEOtNqxwg-69McRJhASQzETrTQAXiwasruYipf8tuIPFC2ch4zNX42hgG9yDvYv7ukKsMQziaBGplbSH0cKAAMpVVzf60XpP47XVxbmVY0cCo5QSfNSH9Afs64oU70hHETuYI9mtiEb8qgls9CjgTziEwEmYDf658MLqfyL-tg1irIdb_v1DpxRndLvc7nK9xV9eJj3CiMqO8mvtQ_GkWM1I609yL7_YfaCNeukVT2HyZ17CPf5hZQXjxYqB_g324t8y7Hxp7qqOH1UgnP6LPeW2v6mtcnVy3lNicGp_TQ-BAboiOfeNpLZEINMjtqDVCinhOj7GiHvtTq8jjCFTTIdy4MhM5OArDEMFagcB-mDj3xKCIAM2CVs62J8gecf6cse4-1lmiunt_Tg6VVQq0OX6gHEkfja_orvIazP2VfKH4ufW_mXPZ4KUoAZ8rEWNg9fT6QqSWWvfPb4D601eH-t1V3BmitA7bm_Cy1Go720XlLPCwu5rA==",
  "id": "rs_030d801d443668c4016ab4585a199887d0b995340d72cf1794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.163,\"right_gripper\":0},\"note\":\"At table height, the black-capped pen is slightly to the right of the jaw center. I’m shifting about two centimeters toward it and closing around its barrel.\"}",
  "call_id": "call_32TGkUYI1tevD6nunmdXN2fU",
  "id": "fc_030d801d443668c4016ab4585be91887d0957262a34c6a28c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_32TGkUYI1tevD6nunmdXN2fU",
  "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]: [-0.1631, 1.1145, 1.1133, -0.8448, -0.247, -0.1757, 0.9981, 0.878, 1.5429, 0.3824, 0.3542, 0.654, 0.5808, 0.0126]\nstate[eef_state]: left_x=0.3123 left_y=-0.004 left_z=0.2282 left_yaw=0.1311 left_pitch=-0.251 left_roll=0.0786 left_gripper=0.9981 right_x=0.2786 right_y=0.1729 right_z=0.0236 right_yaw=0.0263 right_pitch=-0.0446 right_roll=0.0246 right_gripper=0.0126\nstate[joint_eff]: [-0.0342, -3.7128, 6.6803, 1.5897, -0.2613, 0.0122, -0.0171, -0.4581, -4.8068, 3.4256, 1.0427, 0.0757, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292279fdf75eb1948aeacd86129f6cd68a45d49d0be9a88c6ca7d6ef840d710a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42acb3ea9d92ad5281261a12bca4cab73089b5881acae0d81ca06b7fc283459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291574b2b48aab59d56f10f8506aa4ca9d5b422e9c3e775f1152d8953c8d6bb7",
      "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 16 attempt 0 · /responses · status 200 · 3.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4229, 1.8069, 1.3987, -0.4858, -0.4099, -0.3462, 0.1384, -0.0208, 0.8249, 0.6197, -0.437, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4643 left_y=-0.1278 left_z=0.1457 left_yaw=0.1034 left_pitch=-0.2365 left_roll=0.0944 left_gripper=0.1384 right_x=0.2907 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0035 right_pitch=-0.0767 right_roll=-0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -10.8376, 9.5521, 1.9121, -0.0855, 0.3932, 1.0037, -0.2256, -1.3744, 7.1179, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1627, 1.1069, 1.1133, -0.8295, -0.2577, -0.1711, 0.9981, 0.9478, 1.6238, 0.4595, 0.2539, 0.688, 0.6506, 0.9997]\nstate[eef_state]: left_x=0.3141 left_y=-0.0023 left_z=0.2332 left_yaw=0.1363 left_pitch=-0.227 left_roll=0.0827 left_gripper=0.9981 right_x=0.2706 right_y=0.1906 right_z=0.0113 right_yaw=0.0298 right_pitch=-0.0908 right_roll=-0.016 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.4667, 6.3658, 1.5018, -0.1099, 0.0611, 0.022, -0.1709, -3.412, 2.6325, 0.4908, -0.0464, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8448, -0.247, -0.1757, 0.9981, 0.878, 1.5429, 0.3824, 0.3542, 0.654, 0.5808, 0.0126]\nstate[eef_state]: left_x=0.3123 left_y=-0.004 left_z=0.2282 left_yaw=0.1311 left_pitch=-0.251 left_roll=0.0786 left_gripper=0.9981 right_x=0.2786 right_y=0.1729 right_z=0.0236 right_yaw=0.0263 right_pitch=-0.0446 right_roll=0.0246 right_gripper=0.0126\nstate[joint_eff]: [-0.0342, -3.7128, 6.6803, 1.5897, -0.2613, 0.0122, -0.0171, -0.4581, -4.8068, 3.4256, 1.0427, 0.0757, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292279fdf75eb1948aeacd86129f6cd68a45d49d0be9a88c6ca7d6ef840d710a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42acb3ea9d92ad5281261a12bca4cab73089b5881acae0d81ca06b7fc283459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291574b2b48aab59d56f10f8506aa4ca9d5b422e9c3e775f1152d8953c8d6bb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhimBveuS_M8NaIM88BsBEkwup17j4Z5PTMzy4pqzd1Xmg1GAccwWCMzUHolfLPPHbXCCwqw8xxZzuluBlluDgoi58FKGkbwi133XbWy4P7rKjo54UAz57Vcke4njdqrv3EcGPFi_Q8SB9SnO47Rt-N0dqS1h78wjw2VXZi5IJgKyPyvoAsB7LzKzTNBiS2OREGE5f1-L-E-7fXAcHN8DILR2NWzFcMK3gD0MRqRLjKmvc7G85wH26noVhkYkrAYNOVuLCf1Ok6HvA18fr28r-EGue9F4XQR0lUktS6Hevj7xDM-G2m49y0Rocn7mXr_Ad7w6A022jR71J6uftButcyOTTPJkBi4PLBr7LZ112uLhB7XARiBPUof7lOlseoLhVTALoXc5bCcAUxOitzdF34yhFhUnD5rnkDtph_jMWGPmhBuvnn0j4HGaDT5MWpLj-b8IfJa8AYmpgsnCyNcFPcZvLZCE8w-g9a9WT4Oi58ntrlhWK0I8OV0z4IcRKU9Ay8vJPxFCfw7ezZnFUfSFf2l3abti0F8cp-sd98BhxsX2dDZB3Yc-8gGdmGLIRehyf76RbmaOFEBT6ENhoMYsul3rVr9ffdnE8lJPrs2zJUAQqLvEZo2bycVXE3ILWanb2psbBwsVKNGOyJu8tgJH37uQcApINWRnX93DYeXUJIkzuhJWTwUyqvmNM0libkywyDOiA4cD1WzKdZvaxppsXMXMwA56RmelQXtsOKXGz8CbBoIw1cp1Q91QXv6Xv3MhJH9sQ4T4BsWyEoC-ieKlD5w31Pu1najOAa5b1_keVL6ueZVxwNpHSSncckXsb377a_d4JOzdq215Pxn7mJabNuOjDjthZU5U5_6lJ4GMnLEL80ru7boE8sDoxqeiE97Bs9GjJETNLHVm-EJ9k8TbtJtXNEv9RJWVGqxdKrrewz7Uje92Fkr9uEUtcIq23Wf625WIi-P9U61Y96HFEzQfNs4Z89Pj_gQrXoLf-CJdLiubxZ-eFK0OUAVlNOKNUwzMSLXA2DDMPixW_Qz8DiBGqg0Kwy7jcsLkf0AlXZHEV8TNl9zb763FhIOUD2ELBW5GqY4jecvGBG9Rck0NtiDxBNyNbcGrz0qCoDlmxAgZRfpUPYTrOKDhr3UmGaDJGaCbl7OVzD99D9uRoyyWx4PrE94DQKvAFnJkbYinErFo0rmUAGuHIPNph6mqxshgiy3F00ATeTKRFIMrRid_U6I1YkpJ2zOAJqxN-jhJAUCQ0QSHeyi343efJ4YirbvzsAWfsvZFhQM8cAwXCIhXiwDh397lSh2QgGBJyrgLB-_j3XDYOLK-WV0rHhgrlmQXiZ5UMy6ZEbOkjuxJaXD5Z748wU7YHZ-X_9-PsEccpPSRk9V9B0zxgvFju413MW82MClQLW",
  "id": "rs_030d801d443668c4016ab4585fc26c87d08f4c6fcc29ed544f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0.15,\"right_z\":-0.02},\"note\":\"The gripper reading indicates an empty grasp; the black-capped pen remains just right of center. I’ll reopen, shift slightly right and forward, and lower to catch the thin barrel.\"}",
  "call_id": "call_aBC2nthLSszZNTPyTJOtx0SI",
  "id": "fc_030d801d443668c4016ab45860ebc887d0bd4a54252145eb64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aBC2nthLSszZNTPyTJOtx0SI",
  "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]: [-0.1631, 1.1145, 1.1133, -0.8482, -0.2462, -0.1761, 0.9981, 0.7719, 1.7523, 0.3092, 0.8085, 0.6094, 0.5045, 0.9949]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2276 left_yaw=0.1309 left_pitch=-0.2544 left_roll=0.0787 left_gripper=0.9981 right_x=0.3056 right_y=0.1614 right_z=0.009 right_yaw=-0.0059 right_pitch=0.0545 right_roll=0.1051 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -3.2205, 6.5573, 1.4432, -0.1392, -0.0464, -0.022, -0.5538, -2.9744, 1.5111, 0.4762, -0.149, -0.0073, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463f5c8a3c8fa06aeee18d4868afb609d3dba74461aabdf847366347b7c228c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6697eec8aeda5c48c21c7aaaa4ae5660726a435381d5882b14efc150ce5ab6d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81089d228aaeb0a65eee8ed4625e097636e0d8b46b3d2fc828e5c120265a78f",
      "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 17 attempt 0 · /responses · status 200 · 4.268 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4213, 1.8393, 1.3987, -0.485, -0.403, -0.355, 0.9977, 0.9466, 1.2602, 0.7795, -0.4671, 0.6724, 0.6399, 0.9997]\nstate[eef_state]: left_x=0.4652 left_y=-0.1286 left_z=0.1306 left_yaw=0.1084 left_pitch=-0.266 left_roll=0.0999 left_gripper=0.9977 right_x=0.2651 right_y=0.186 right_z=0.1343 right_yaw=0.0414 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -12.2598, 6.5846, 1.2576, -0.2466, 0.0366, -0.0952, 0.1983, -4.6838, 9.1556, 1.2283, 0.5592, 0.188, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8448, -0.247, -0.1757, 0.9981, 0.878, 1.5429, 0.3824, 0.3542, 0.654, 0.5808, 0.0126]\nstate[eef_state]: left_x=0.3123 left_y=-0.004 left_z=0.2282 left_yaw=0.1311 left_pitch=-0.251 left_roll=0.0786 left_gripper=0.9981 right_x=0.2786 right_y=0.1729 right_z=0.0236 right_yaw=0.0263 right_pitch=-0.0446 right_roll=0.0246 right_gripper=0.0126\nstate[joint_eff]: [-0.0342, -3.7128, 6.6803, 1.5897, -0.2613, 0.0122, -0.0171, -0.4581, -4.8068, 3.4256, 1.0427, 0.0757, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8482, -0.2462, -0.1761, 0.9981, 0.7719, 1.7523, 0.3092, 0.8085, 0.6094, 0.5045, 0.9949]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2276 left_yaw=0.1309 left_pitch=-0.2544 left_roll=0.0787 left_gripper=0.9981 right_x=0.3056 right_y=0.1614 right_z=0.009 right_yaw=-0.0059 right_pitch=0.0545 right_roll=0.1051 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -3.2205, 6.5573, 1.4432, -0.1392, -0.0464, -0.022, -0.5538, -2.9744, 1.5111, 0.4762, -0.149, -0.0073, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463f5c8a3c8fa06aeee18d4868afb609d3dba74461aabdf847366347b7c228c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6697eec8aeda5c48c21c7aaaa4ae5660726a435381d5882b14efc150ce5ab6d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81089d228aaeb0a65eee8ed4625e097636e0d8b46b3d2fc828e5c120265a78f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhnmg7YO5NbbfH2PRRQXBD0os2dUJA4H8caqhQZDq43oV8Baa2-Q-sV4UHeSrM9ps7Ee2KPMKuD5PNTi-u21zRgQZI5Tu31xv_azh1HPWr2RrVRRkiZb0wAlMUIBijQx-WdZJVXsLbx0ZN4vZH_npgjjkq4qm36NAiCAH927t_nm8h93ESudHJYoXAs5MWkQsJLy1PNKgHsBFgVdenf4qo325j89ZTakp_JdKM6sCfB4P3fmTNMv5VkUMJvfrinWcFB8T_glAHd6hdxXQ7POoW_sTDzIyDDvAVne42IKiu1OytTTEgEL7VlMmpDoNXMO2Ih_W_IvJyNXUoatbjUt-leKAI4HM3P6M3wpGkzU1AL9bvuV8RGBgJNj4JSvYp91jHbzuM0r7bnAo_F7VrMX3itpHK-jBxx6hA_ku-yU5G3dJoh_JDdG5s5IPTg7UGCqpZACG9bv22u85YC3wlU3qwsuJBqfcW11YjH34TOvpwjyqQtUFcAHLBFLTHSH4DVj5DJz0lZG8ErtjolYtcJ0TjciLk1q28JpJnzRT2lqy8DpB7B4BdckcET1npnggHiYNj7i8go28HmewY3jYpKnLyb5hDNNTy6d4aINY3pdfo35Hvn4yUHJHJe7qnsLMN-x2PcPC04d79oy0aPrrfxOQACGnmlMcTBxPrN3oAP8AN9zBLOfe89aDjNLlKDJzc-yMjGsIYoyaQer2z1z3xOqudsc3Nccun03BOu91vNq0DmX1tIkGLe1CrJKqmUm2tI489F5LsxF2wEEVuDZV5P4aiIr4ZLW3n9AY1NZpc56Elxx6AXl_YRcOptPOMdjH4jO80uwZK5Fha9xAREqq7sYmd5W_Z945sZgKmTDZ9jZKGAGz3nl2xUB9ee-DSbJHzLfiqSsEclWkq8NpBBxU7REuPKorgadqcZwF2LHpBnvIp1IeqwaXvj2QnXxePpXyVkVRgQ3EZESI0xmsd6hwSN56TznNZLtiNVzLQC9xMt5JTkK-AtfYnPtNUFDq_3zGaXY7cvqOq0NBerM3suG_nwq1OsGn7X-1bwI8bwMos-hEXZs0qnSQXLNvjr1NC8u1lMHOUuipb0_suMzVo0QF4YNwCWh-d20Fguy38HlT2FbIsdDzRXAwxNQ9qS35DpNommBolMpS1muGId0xXqsVsPgype7J5GNZjlJhNfwvw1RWHDZC1wgf95BN_NENzVMtYwITxa0GJh_lH2K42XZRR-YPHEwnVJQNID8LgUNrAXfueFDpvrYGZVJ65FgGFMGDpNlP2F",
  "id": "rs_030d801d443668c4016ab458651a2087d085f101b16d5481de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaw is now down alongside the black-capped pen, with its barrel beneath the wrist view. I’m closing for the corrected grasp.\"}",
  "call_id": "call_WBrZw2TtLgIH2noEyZQsRzuP",
  "id": "fc_030d801d443668c4016ab45865a19487d08beff960f77299c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WBrZw2TtLgIH2noEyZQsRzuP",
  "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]: [-0.1631, 1.1149, 1.1133, -0.8486, -0.2462, -0.1761, 0.9981, 0.7708, 1.7561, 0.3058, 0.8322, 0.609, 0.4969, 0.1503]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2274 left_yaw=0.1309 left_pitch=-0.2552 left_roll=0.079 left_gripper=0.9981 right_x=0.3068 right_y=0.162 right_z=0.011 right_yaw=-0.0033 right_pitch=0.0665 right_roll=0.11 right_gripper=0.1503\nstate[joint_eff]: [-0.1573, -3.2205, 6.5436, 1.4139, -0.1245, -0.0464, -0.0171, 0.0205, -5.9692, 3.7128, 1.37, 0.1587, 0.0317, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6e3500563934ee4f6e69e0e50a84e21696f7700f35014df690b2ff9b5380aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbeab94c8d5b8f76fa7ca9f9292007b17e48e79a75e094be43dfe7eb874efef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b642d47a1700ac72c11b8b22b87de7cdbc7be31806af475c97647914c12a9eda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.118 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1627, 1.1069, 1.1133, -0.8295, -0.2577, -0.1711, 0.9981, 0.9478, 1.6238, 0.4595, 0.2539, 0.688, 0.6506, 0.9997]\nstate[eef_state]: left_x=0.3141 left_y=-0.0023 left_z=0.2332 left_yaw=0.1363 left_pitch=-0.227 left_roll=0.0827 left_gripper=0.9981 right_x=0.2706 right_y=0.1906 right_z=0.0113 right_yaw=0.0298 right_pitch=-0.0908 right_roll=-0.016 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.4667, 6.3658, 1.5018, -0.1099, 0.0611, 0.022, -0.1709, -3.412, 2.6325, 0.4908, -0.0464, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8482, -0.2462, -0.1761, 0.9981, 0.7719, 1.7523, 0.3092, 0.8085, 0.6094, 0.5045, 0.9949]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2276 left_yaw=0.1309 left_pitch=-0.2544 left_roll=0.0787 left_gripper=0.9981 right_x=0.3056 right_y=0.1614 right_z=0.009 right_yaw=-0.0059 right_pitch=0.0545 right_roll=0.1051 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -3.2205, 6.5573, 1.4432, -0.1392, -0.0464, -0.022, -0.5538, -2.9744, 1.5111, 0.4762, -0.149, -0.0073, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1149, 1.1133, -0.8486, -0.2462, -0.1761, 0.9981, 0.7708, 1.7561, 0.3058, 0.8322, 0.609, 0.4969, 0.1503]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2274 left_yaw=0.1309 left_pitch=-0.2552 left_roll=0.079 left_gripper=0.9981 right_x=0.3068 right_y=0.162 right_z=0.011 right_yaw=-0.0033 right_pitch=0.0665 right_roll=0.11 right_gripper=0.1503\nstate[joint_eff]: [-0.1573, -3.2205, 6.5436, 1.4139, -0.1245, -0.0464, -0.0171, 0.0205, -5.9692, 3.7128, 1.37, 0.1587, 0.0317, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6e3500563934ee4f6e69e0e50a84e21696f7700f35014df690b2ff9b5380aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbeab94c8d5b8f76fa7ca9f9292007b17e48e79a75e094be43dfe7eb874efef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b642d47a1700ac72c11b8b22b87de7cdbc7be31806af475c97647914c12a9eda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhsglZeN3i8kKC5nI7bX7s3QEA2jIdaDoDiEEWdkF91EAc5eXRl6_c6HvdRhfsT7AeHe2KyU_EtunzJwAWRDQ0SPmQO0etDqSTte7vBC0-NN9KhCpvoSFV95tX41hp7iR_x1VgBkiKCr_5l4kljuHEyL_3ySMbq8EBnIF-p2AVpWlpe0XY_01BDaWZMzAcjk8SmYIIRs1iBte8NIeii7tbQCsjSAUiT_XTrl0OXRV17ufNg_-Y3EEAVobV_1UgZINVaHJDQe9HkwJ2G6sGEs9Kz-0enYYMZ2JTDh1r-Pmqz5qd7cdvh-ECv9-uGaYRrRQo2PgyZmUZ4647fY_nmgfGBbvj8fXb8FFrPkH8ABgaxln53Mv9uJE37aYqbtM_OFCQCXrrtQ8kqURKDq8Rry9UIZsPSxPs2GoPJpNHP97zZsYKCJQrf9vBci5M8Wli_oWKAs7iQhKu3IGWr1gLVSpGsyqLRYtAOICrTilTz36_Xylinbqxs68Lsh1hJa6iwspX_7GfDklaQUHm1i-aTF5kfvNYMd_YSzHrIMHFmSlrro4Wmk09sCgOxrx27TX888Io46nZe5CgN4om3Fb1B73dv5_MZFCr8QLsWzoWLPNA7wRXSBisHFC9SDH-B2RZLcBgk3cSOiteYW2ssSWav0Gaz5WOaSUIOaSTv_QynwlPCKS38eW9f9ufx4-o5B3oVhtEd9SHiZosi7voXaVYwjPuJE5HxwtEOCmVsgMU4U7WtVksqLlOfEyaX6lzQi-3EKsXTnweWoXHqEc1nN7EAPWlX3X5mHWSkP2drYUYuDkdvkfRTReNTsfMmRzkT7bon4Q__p5G3x9ZAUH-tiWB3T9bVzmPxYvIywKcjAOcyUsBbRqVS0aMEb1iq9oJuP6PtgakJtqODPF0P_1ArjjHI4j3hBJM-0IVfe0nmePU859pJr-YOB2ZzJTmpJgqeHls5v2xypdBDkRNRRWN0wM9TQD5Ck27Qi-Ls4IbUil43GMijr4AJJmFBohunIAlkS-PwRnWPnKuYzYvtWeCiBjzeMH4CEhJjcYRgNHqpygqynTHRKjYQYHwTaVpLRBp-H6g_u2XmS1r28vVCVhlq77r-RO42i1wgjLogUKwzvYzRAeDis0gngIxpBJe_x6qD8SUBpcImCSOBvUVcTkQE5DPyFgTt7Bw4XzdKjhndsC9m7nyjvo95_8pvVTNJqI3PXyckwcfCyZ0--jNj9pddfW7xqgeAEg6O6U5kIwpF4FJlD9nJUnisP45IO2o55H6MnIGtja5P18ImlYOlxqThHEa8xGUunrQYVTuF74noOAu7b3cgZSYYym_wGDI1FCbmvzp-U4y-SFKmpENlzJssIuLcuYISEYe54qg5RPr5qdN0rAM6bLOhAYH-imqEc7uzHv0f4Bf91OjTGb55oc_l-R0ZEzRiIrpxJqNHqQDX5xkLHNr8UfAmfzSaqLh-kH9N-OQAprUQ4LrXYMbksGG68Nj78KLwp3OHIkSUJdHnhrpyXE-meAN0Pc5YURzTGl5cdHf_8iIaTOXFipns3svPWuHYpSPiIDv9A0Ce4BeEDDO49iBfOkix-tWsVbkIlk0Ue2ZkRfDtOGu5AuBv_kJNlz66kuZTLSCRiTNlyw1dc-ZjLHOd_TIHZ_m3k3w5CeE4C8IlKnv3R7faaehnW4iLzRxhHx7y9w==",
  "id": "rs_030d801d443668c4016ab45869a79c87d095491c1bb36d4700",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"left_x\":0.285,\"left_y\":0.01,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The pen grasp now has a clear nonempty opening. I’ll lift it for verification while bringing the left arm toward the gray plush, keeping the arms on opposite sides of the table.\"}",
  "call_id": "call_UsXBW0oM0oOMUAkijGhN1Iz2",
  "id": "fc_030d801d443668c4016ab4586b23ac87d089f2dfad960da0bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UsXBW0oM0oOMUAkijGhN1Iz2",
  "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]: [0.0257, 0.8162, 0.2733, -0.1337, -0.0254, -0.0303, 0.9981, 0.7708, 1.4014, 0.379, 0.3985, 0.593, 0.4934, 0.1568]\nstate[eef_state]: left_x=0.2721 left_y=0.0151 left_z=0.0749 left_yaw=0.0464 left_pitch=-0.1121 left_roll=0.0067 left_gripper=0.9981 right_x=0.3032 right_y=0.1619 right_z=0.0681 right_yaw=0.0114 right_pitch=0.0561 right_roll=0.1098 right_gripper=0.1568\nstate[joint_eff]: [0.3624, -1.6479, 7.6923, 2.0049, -0.0024, 0.0952, -0.0171, -0.0752, -5.6684, 7.9795, 1.58, 0.3199, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533e42b0c1e9d9bf9fa53636a8defcbd084a7673bf5c3095e532a770386f320b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c134ecbbcb8bc38a128c78bb181cbb82bb135b8910d8f78dc32bce65b35e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3012ace706c699ae0be72473b38ae8da9f1970b0bada93cda03540a15275a4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.458 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8448, -0.247, -0.1757, 0.9981, 0.878, 1.5429, 0.3824, 0.3542, 0.654, 0.5808, 0.0126]\nstate[eef_state]: left_x=0.3123 left_y=-0.004 left_z=0.2282 left_yaw=0.1311 left_pitch=-0.251 left_roll=0.0786 left_gripper=0.9981 right_x=0.2786 right_y=0.1729 right_z=0.0236 right_yaw=0.0263 right_pitch=-0.0446 right_roll=0.0246 right_gripper=0.0126\nstate[joint_eff]: [-0.0342, -3.7128, 6.6803, 1.5897, -0.2613, 0.0122, -0.0171, -0.4581, -4.8068, 3.4256, 1.0427, 0.0757, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1149, 1.1133, -0.8486, -0.2462, -0.1761, 0.9981, 0.7708, 1.7561, 0.3058, 0.8322, 0.609, 0.4969, 0.1503]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2274 left_yaw=0.1309 left_pitch=-0.2552 left_roll=0.079 left_gripper=0.9981 right_x=0.3068 right_y=0.162 right_z=0.011 right_yaw=-0.0033 right_pitch=0.0665 right_roll=0.11 right_gripper=0.1503\nstate[joint_eff]: [-0.1573, -3.2205, 6.5436, 1.4139, -0.1245, -0.0464, -0.0171, 0.0205, -5.9692, 3.7128, 1.37, 0.1587, 0.0317, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0257, 0.8162, 0.2733, -0.1337, -0.0254, -0.0303, 0.9981, 0.7708, 1.4014, 0.379, 0.3985, 0.593, 0.4934, 0.1568]\nstate[eef_state]: left_x=0.2721 left_y=0.0151 left_z=0.0749 left_yaw=0.0464 left_pitch=-0.1121 left_roll=0.0067 left_gripper=0.9981 right_x=0.3032 right_y=0.1619 right_z=0.0681 right_yaw=0.0114 right_pitch=0.0561 right_roll=0.1098 right_gripper=0.1568\nstate[joint_eff]: [0.3624, -1.6479, 7.6923, 2.0049, -0.0024, 0.0952, -0.0171, -0.0752, -5.6684, 7.9795, 1.58, 0.3199, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533e42b0c1e9d9bf9fa53636a8defcbd084a7673bf5c3095e532a770386f320b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c134ecbbcb8bc38a128c78bb181cbb82bb135b8910d8f78dc32bce65b35e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3012ace706c699ae0be72473b38ae8da9f1970b0bada93cda03540a15275a4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhxpRXSHY5jksED0hlRUSuo-75mLXUtHBJwKdUCDZS4Zocjrug42qn8j_WhbfyhqYjOKCEOX9VU1uQT15Vx1wmNmFZjoADTMmfib0wriMACTwe9yubi639oL2p9RYkpaLoaSPj_Y164GJf4JabCKBCdXOoXlgpnF4OnpgY399hQYk6sjK6V2cJ8sF2d1y5WZzskCJo1FyvkcoH0rqil2kxrMVVdPdIfACIHCLLbC_yA_JAYD_PsBmPURW259hu-lRLUUJcUtfnYiviP-Vx3iKg1pLvm7JA6qXIbqo1UbUrez36XY__Cmz3m4I4w9i6sIAtym_bWktOpw_2dFYV8xH8v45h_UI6Kz2nCNL5GPr3jP3J7Yon6vbKyPjtaazNPeDQbE1EiAzLsgJaIrIxkwOh8duNtKi8FdpOfnC3OkVVDinXhiP4YUge51GwqjPPqwsc2YtD7jnfvuBI8t75F-7kFfDZ5Kj2dRyYqWtWDzMNghptDM6cCKKaGcYryB0TS91dC_1C0h3HWVylHv8sz6YVZJ1TII6mNhTqN2AvaGBqj_zMBq395dsHin0U9oR8AxGS8PqCe14vlxgZqY7NSSmWnqta0LTuhkpBYAXhr3hpIX0uwOqF0CQSCXogL69UR9ppm8_1tGFExm0kPiVjB7pV_z-o2s0UcqgNSznUhVJ8Gz5rjB33q8XrhwFtnHTTP5S-g2cUY1RN5H9LHM_L6FtswKpVUiUAhES6yqXEIAYzlj8QC8pJPThsQzM_beZEAg7tjP7vFIPLiFbZGOQyoZ_hQS7dpcJLNoO9oRdEv7PM3_Km3DrrQQRalE_FYPFk0xz9JiOlMR_sytD0xRROVJGyd0aGIsmiP7qW77Bd9QvKP0HRro-lTbpfovxTwBQ948D3UkKz63we0rdY3VeX4Nxcmw-liWrmNOGpgaexmlgTDngsvIkOALGLxSKrK8iJXualKvOOGL7Z8HiPnNLyJSU2fp9QnJqk6iUHpmxQNVuJk72GI0VCBXVqtd6TPevzzW4xwnHt6qvjKYqeg31ZuNUHzOrfPx1E1By42pUi1TfHvjMIYE-r2AObEUDcpeEHuoVg-aeUyiMOLR6ryduTa9xB6Is_n-1iHUof3iPQoijLOqiug-JlHEPfk9tffaBdEVhPPuBblobZ_kp9l8FwW1bxERH9ILi5393qiZFlWPRC42CBnd_CUKbY_6FTkHUKVU5hzk_9eJWeaYFieI9DoRYDxuEUyEQpn2zaATisjpJBZg8i-_ttm3gq8yWu2rS1OwOLv08tTwdT8rxrOljuUThfILWeWBBqoWSQ-txIi3PxMF-hCGZq4NPhwbdiDgiChj_r9RbfqJWtyX0vtlH6yJ8LkZqFbVgU0UaWUbVGseAO_EBb40Ogd729pf6ZvXLEoDIsX3ZBTJpgnqq5_iyHGY9kfak0YPRo8sLAd7ACTBEJiiHiOBjxCapjZ6U73DPTtIuylVXJ-IsUEQRW8dFANJu8-PYqiZLV7FmJYHyOkSSZygVOMxLEz9qeIhpUvgd3WzH0Gb2E4y6FUY0C8Rzxe6BsYWQ7TP-XJ6xwsTYPddUyX_eInOMx3_BK1wPqfH6Zbw_J-vM1BrPUWw3LHDi3gkwMnaw==",
  "id": "rs_030d801d443668c4016ab4586eaaa087d08c409e896a424fe2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.15,\"right_z\":0.23,\"left_x\":0.305,\"left_y\":0.035,\"left_z\":0.02},\"note\":\"The black-capped pen lifted with the right gripper while the blue pen remains on the table. I’ll carry it over the right basket and lower the left jaws around the gray plush’s torso.\"}",
  "call_id": "call_039osFgNJycOxpdePpNIgD22",
  "id": "fc_030d801d443668c4016ab4587025cc87d0acde0def25dec63a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_039osFgNJycOxpdePpNIgD22",
  "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]: [0.1349, 1.2732, 0.2321, 0.4858, 0.012, 0.0578, 0.9981, 0.4065, 1.6264, 1.2388, -0.1581, 0.2855, 0.276, 0.1615]\nstate[eef_state]: left_x=0.3248 left_y=0.0455 left_z=0.0534 left_yaw=0.0767 left_pitch=0.0075 left_roll=0.0594 left_gripper=0.9981 right_x=0.4675 right_y=0.151 right_z=0.2144 right_yaw=0.0116 right_pitch=0.0409 right_roll=0.105 right_gripper=0.1615\nstate[joint_eff]: [0.4034, -1.4017, 3.0564, 0.6862, 0.442, -0.2076, -0.0171, -0.4581, -8.0752, 9.0872, 1.6972, 0.1538, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:842e07cbdfd59bedb8578a8a23b470c5d9817b38f375b5b9679d8f23c82b9360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c10cb82c93c8dd5ddf380326af83dc8977fccbe0f309fc94886ae06a905dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8511e63c3c6a34bc2173ce98a0f6ff10bb05c68c0bf2bd8021d813bdad0ddc9",
      "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 20 attempt 0 · /responses · status 200 · 4.691 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1145, 1.1133, -0.8482, -0.2462, -0.1761, 0.9981, 0.7719, 1.7523, 0.3092, 0.8085, 0.6094, 0.5045, 0.9949]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2276 left_yaw=0.1309 left_pitch=-0.2544 left_roll=0.0787 left_gripper=0.9981 right_x=0.3056 right_y=0.1614 right_z=0.009 right_yaw=-0.0059 right_pitch=0.0545 right_roll=0.1051 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -3.2205, 6.5573, 1.4432, -0.1392, -0.0464, -0.022, -0.5538, -2.9744, 1.5111, 0.4762, -0.149, -0.0073, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0257, 0.8162, 0.2733, -0.1337, -0.0254, -0.0303, 0.9981, 0.7708, 1.4014, 0.379, 0.3985, 0.593, 0.4934, 0.1568]\nstate[eef_state]: left_x=0.2721 left_y=0.0151 left_z=0.0749 left_yaw=0.0464 left_pitch=-0.1121 left_roll=0.0067 left_gripper=0.9981 right_x=0.3032 right_y=0.1619 right_z=0.0681 right_yaw=0.0114 right_pitch=0.0561 right_roll=0.1098 right_gripper=0.1568\nstate[joint_eff]: [0.3624, -1.6479, 7.6923, 2.0049, -0.0024, 0.0952, -0.0171, -0.0752, -5.6684, 7.9795, 1.58, 0.3199, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1349, 1.2732, 0.2321, 0.4858, 0.012, 0.0578, 0.9981, 0.4065, 1.6264, 1.2388, -0.1581, 0.2855, 0.276, 0.1615]\nstate[eef_state]: left_x=0.3248 left_y=0.0455 left_z=0.0534 left_yaw=0.0767 left_pitch=0.0075 left_roll=0.0594 left_gripper=0.9981 right_x=0.4675 right_y=0.151 right_z=0.2144 right_yaw=0.0116 right_pitch=0.0409 right_roll=0.105 right_gripper=0.1615\nstate[joint_eff]: [0.4034, -1.4017, 3.0564, 0.6862, 0.442, -0.2076, -0.0171, -0.4581, -8.0752, 9.0872, 1.6972, 0.1538, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:842e07cbdfd59bedb8578a8a23b470c5d9817b38f375b5b9679d8f23c82b9360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c10cb82c93c8dd5ddf380326af83dc8977fccbe0f309fc94886ae06a905dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8511e63c3c6a34bc2173ce98a0f6ff10bb05c68c0bf2bd8021d813bdad0ddc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh5vG0bDStag6mEtkBxVlFcFcmZav9LMqk0eN6exIVpINilnwQh-jhKtP_5aF3Il5ZGAe3dke9RlUcLPhnTTCLlKk1BTbdW0vZBiakaCrkmw7BFToD3KrELSeHRPRUOIV_UnrrZefPR8ehUBidyMjBlXytuiu8vlqaNGZ-gGW30-g1YrHn2EVoVcE2DjJ-pL5yYUibwTqa4BhP8oMtn9qSQ7tcKQK6a89Eq9Z5UaxJNesyjdYfRGc_C2ARtiwmm0lH7VlL5Vqy2xJwOKwZc-r5Pzq3lnzcep6kFX3GN2rVoR6D43HvrZ__1Fh60RqgACACBe_alhO13lRibej-x9SUZ-QffyrDBxcRXH30Mn8onAuLZZqDXWqRVw_8R7c9B0HuEcrhO2zgYAPhCeNfZRMPzWuD-KpdZi4YZNJkksLA_FLuP7yZgI10xG51QzXdP6Kc6e2Ybiwb1wP2M594AMYrLUaDapxZwG33xHS7HhI7iwebruap3k41eO4K6G1Hm6H4_dvvX2SHEM5RW0CxWJqQQW6SxRmGXvyF7D8KFhHdDrgSAxJtrzCvbXpGmji-ZGm7DX6BN-0jiGCKk3sgaSmeQn2t2dv24zxiq8QEn2dhwnJha9IElUDw2R6kY4HgxsKJXUDFd-cztB4MX8R2rUteCeluFkV65fE5V43mh4TtFUbn49RF0T0Jg92pQ7uDZ_YE7JDnkG91Z8-eIxrRjQImnmOZqEXMXLNWo1O2_7aHiWfzT8Cob4N0nkEhd8gqOceZNmmTtjvDUy6hQcJ7BtW3NUUxAdOeHhp3VxIfnPoAyLXhkI7TzoQcSTKROgE0b5qSMQtXW6SlLDO2wpZpuEdeX6FVBZ7nCvXXAU5UhU6L20Z6nJ1eBvdCq-ZT4_Wp52mWseqHWGok2VoR42cbZz8ZfSg2Y5LifEv6ZxEMoakd8r-qtTQW3hY1MRGPJ074D7ZF6ENYBWYs4bTFGc9Rd7-GAGBY2dKwKFymAedPykw6WkMz2rLk-Aoca-Sj8m-DhFWObGwsd-KR8iSVG2eCo5F_CXPaO_2AVyS88fM-2BwbGEmXZwLITx-6sQzcNnTHYMCPcuiMRjMfUc2W8zleX6ZfWBmf7yuNfVRuwfMXG8mdnve7I22yCPLl-jnexlkKX4jM3MdzzhlGDDJSYYp5RbuyUgd1qXYVzqVBFMjuu1of0jGwPKStMOW6y4fhvBJjlD-AZJBBDgTXh97HqY9lP56w4w8WFYwICnwABQgktZpAnJ2xKnjvakwwgCa8Kp04ilrbvN0xtg4VlBMVTqJ3K__D9mzGrejeCR1NcIUmRVSApvB3KoXRkP4MNjQNVDWwo7SQJvc3VVZtpfREHR803-Dj1fV2jDfcEtCKuDzKtdA74o7HJoN5k4Q3WLcvli_VS5Q9uP88Iar8bUj1TVHON1NkI7cOjYRhW1RkWyFB6DxtAMLvDbEg3uNlARdwtdXumSpM_Kt1E9Eh5bt_QytBRPm_NmXU5jK4ULYn-HMEWpAlwjjelE-JhmL2NiXqgGDDH5UUqXVu8WJJ7UcqPgmGsbkeTR6bz2TxT01_kGEzCYN_4nlTicSpzWrLmYLvXD2GB77gdMAOxHuofc_rnK8sjb1lEdpZuhEFfQtpMzalx92ABzebjEZawdlL-py-fpCU8-JYtmBqvPtUPnJob_jiB53L37NQBudkr3WajHFjHEWy59mrPjWNZED35ko-Aardn7RytC5czKe84tUyAKsc3fC91nl45wu3otgROpgbbrre8-kpStUu51zBUyrubkg36kcAym792_d3-nd1ZsQy4hndr3TczWEc36Fa9Ww7-OKLlbDKtvEePh8YnSuNTlff92SwESQpsxR_AqSnbEusJ76HjOKYHcLyJCWy2gVCyGVCUPrMdG9pxwDXSNIjTCMQ7fPwZy2pq3xRyR3E7o4yRh9lfPtgfiGxY0tztkgtm9RrjouBp_QWFKO1Mkj2YSyvaq7Qrx6fzAlVK20B35uuxviCYy7MeXpkzj14IOvy8wM-Vn4ljYuNDgxRuL-2bXiud6_T5E6Fvb-oHYPCrESyVnElMdCQH_6aHf4VSe9N4Kyk3hSRAlHM_sMzqBa52WTEWcMPq9AVSqn9ymGBjDb6UnY3nOK4W2Pio2lD-R_hI1wEmXRiTpHiHmxoZ-Yfj2u60ROoJN27bB0o_znYLUTJLd3azxUz5PQ9GnhmV2VSn2iX_nUgJUZC9BjTwr3loKFowLLJ1qxd048hNfXhMj-6l92bDuKb-TqAu0UExcEv0gD1gt9uEsfxChjE11z5uOzos8j4GlmsuhukZ5DjW69exi_RuLAeE3GZ5kGy6WX7Ex7gVDI-VyaGXEUQbJP_qbUwTVuaq-6ilygf7R8p9HaS5WaTZD0EKXbW746u8xml8vflH2U0=",
  "id": "rs_030d801d443668c4016ab45874a5d887d0a47162110affbeed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.16},\"note\":\"The right gripper is holding the blue pen, whose long end remains visible in the wrist camera; I’m lowering it over the right basket. The left jaws are positioned around the gray plush, so I’ll close them now.\"}",
  "call_id": "call_a7fueUhDBqY5E14AkDw2kUsG",
  "id": "fc_030d801d443668c4016ab45877fb9087d088676332e2e834b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7fueUhDBqY5E14AkDw2kUsG",
  "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]: [0.1345, 1.2678, 0.2329, 0.5381, -0.0051, 0.0574, 0.0139, 0.4046, 1.6745, 1.0798, 0.0189, 0.2756, 0.2691, 0.1645]\nstate[eef_state]: left_x=0.3314 left_y=0.0494 left_z=0.0665 left_yaw=0.091 left_pitch=0.0654 left_roll=0.0706 left_gripper=0.0139 right_x=0.4637 right_y=0.1502 right_z=0.1565 right_yaw=0.0219 right_pitch=0.0113 right_roll=0.0925 right_gripper=0.1645\nstate[joint_eff]: [-0.1846, -2.6462, 5.5043, 1.2918, 0.149, -0.0024, 0.6471, -0.0479, -7.9385, 6.7897, 1.9463, 0.1294, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df22cd95470e379ab36d3fd73206a79a9280c67ff2deb696a6bdedcec63bd448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b264ba9cf70a9162fb9eb35ef7f843d1ee42a08adb4e821a7db7c9f566a129ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b0ef2e8d73ab36d5965d5e5e12fd2411923b5572ba44cafad97073dd5b78b2",
      "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 · 5.797 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 1.1149, 1.1133, -0.8486, -0.2462, -0.1761, 0.9981, 0.7708, 1.7561, 0.3058, 0.8322, 0.609, 0.4969, 0.1503]\nstate[eef_state]: left_x=0.3117 left_y=-0.004 left_z=0.2274 left_yaw=0.1309 left_pitch=-0.2552 left_roll=0.079 left_gripper=0.9981 right_x=0.3068 right_y=0.162 right_z=0.011 right_yaw=-0.0033 right_pitch=0.0665 right_roll=0.11 right_gripper=0.1503\nstate[joint_eff]: [-0.1573, -3.2205, 6.5436, 1.4139, -0.1245, -0.0464, -0.0171, 0.0205, -5.9692, 3.7128, 1.37, 0.1587, 0.0317, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1349, 1.2732, 0.2321, 0.4858, 0.012, 0.0578, 0.9981, 0.4065, 1.6264, 1.2388, -0.1581, 0.2855, 0.276, 0.1615]\nstate[eef_state]: left_x=0.3248 left_y=0.0455 left_z=0.0534 left_yaw=0.0767 left_pitch=0.0075 left_roll=0.0594 left_gripper=0.9981 right_x=0.4675 right_y=0.151 right_z=0.2144 right_yaw=0.0116 right_pitch=0.0409 right_roll=0.105 right_gripper=0.1615\nstate[joint_eff]: [0.4034, -1.4017, 3.0564, 0.6862, 0.442, -0.2076, -0.0171, -0.4581, -8.0752, 9.0872, 1.6972, 0.1538, -0.0562, 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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1345, 1.2678, 0.2329, 0.5381, -0.0051, 0.0574, 0.0139, 0.4046, 1.6745, 1.0798, 0.0189, 0.2756, 0.2691, 0.1645]\nstate[eef_state]: left_x=0.3314 left_y=0.0494 left_z=0.0665 left_yaw=0.091 left_pitch=0.0654 left_roll=0.0706 left_gripper=0.0139 right_x=0.4637 right_y=0.1502 right_z=0.1565 right_yaw=0.0219 right_pitch=0.0113 right_roll=0.0925 right_gripper=0.1645\nstate[joint_eff]: [-0.1846, -2.6462, 5.5043, 1.2918, 0.149, -0.0024, 0.6471, -0.0479, -7.9385, 6.7897, 1.9463, 0.1294, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df22cd95470e379ab36d3fd73206a79a9280c67ff2deb696a6bdedcec63bd448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b264ba9cf70a9162fb9eb35ef7f843d1ee42a08adb4e821a7db7c9f566a129ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b0ef2e8d73ab36d5965d5e5e12fd2411923b5572ba44cafad97073dd5b78b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh-oWopB7irNtbDpLNoPAirQhZlyKj9D431bBqITsEde8TY_9CAVVF140TveNJyD6kBP_Dn0qS2gG_hVx6F136PBavmF3jf_12qAf0U14bKJ_hU5JEfCYIWSeepl8_eiFugQ8B0fDxASN7bLZa35EuoWVyNTXMGMTvFuVkxf8Sb5QZijywpQE2JhkUjMbDHJ61q6tOckGjfoNzyO5xR1Dt6Ekx8DFqnR-gjN6DRgiW6zI5HFK28EF_NG8y-OIXG_BLA2ed5fW7vNOG2FSg-ON3KESqE0oTNKWnty3GaJ23_1O4ivGddu7Fg9nKG41GcGDpDeAPXZoUNoHh2cNAxPg_RZ-KOtb5NfOq_Ton1jVIKh4KXtKGFRTN1Q2CSXnENInH66CIx50-1Vc5iPKGWt4-ReiITKhhPnkQv1QuTLQ09MWxqeEXneNU1iQ2Xs8FiPxzK_Jg5cXohNemGw4dknHbA-vo0xLIlbf_SXOkPNMa5-yBrJSBCdim8OpP7tDnpgbbn9XKLewniJTUJBaAwCgfIaA9pyOwwxyGW3vlmuLkBcujFeImIsXcOnFbCL98y-Nd-NkoQyP5iCG_1ZV-UhNKScbGAGie5zgswwbdx5qiFiDhHZHTc0MMZ73lZbsm7qQKDpqfXZ1uJSei8CVcZxcI4RT_bEnmDyDfNTJMQeHkbrPJ_0grM792R3r1D_KXU5ZAiXWtAKWtbBdv2i4TKhEshtw_0chD0qIJHEbcXwCQiZsOpL8c53l0ds0z42UG-3vPUQZJMaI-VDlecBwhXtrJfEvgGuc7a48VuoWMWjv5KRiO-rChA1mPo_7Z2-RDmygBwltV1gfNgAvaWLM4i-Vx0SwbwY1PGi_4SBOYA0QOKkzU1pGqadBYcZw4rPS_ZhLitf8fchIDLzmsLVP5y1wBlkuSW4FDoSjtV8bsyIIxk7O5dhw7izIO8mNocDYytoqXUpVqKOdi5Wv85IVg6Ud6qVyvCQnHC8kwUcyonHXLbd0o96Fm9PuXGbCRHGCA4dWZCn4wXWGSmdP_PzAu5zcOl06bjzJmux_wyy0-TeuppdXnC3A0GIkY81tEzmeLVWkEUDE_AF-sh20qjWM-8T672VcS6P2TUByFoR8vNcA6r7WAE8BKp_ij_18iGoNcIK4_NCqJETFYvHi2QWlsb2tNeeOXfqgEU8pMYlrk_xWxa8905ZEPSqabUNcHQ7B-vdTaFcrDp4GCY7_a5gI8AhA_KEsWTayoYsuyZaUlPkcrwYVyXKmiu-1CwpoD-Qu_yTITokCtEEaBWp7jJ42H0NKCulaa3ICmuJtY4hWGqmrXvWnvNQEWou43TjR--yJl7pVEeEqGdzT6uZkKAcNxd1QzPH6lljRK197Iuu-leAW2QxIowoYhuaTG17Lu3PdxLas21vGswJKTO941_BAL7VvevJ4MCVxy_nZhl19G7hfYRFDN0FueFtxVQHc6Y-skM3xVnF1Yj66ZzLV8XHV8hXL-iyQloOFLS2Kvz7VjGuLbmQP-nbajEwK7lpT-ognlKNCf6F4EvDYYvUjVVM75ZchJS3NsSMjSsdG43OhmHTuPKjPTV8PFu9h8LUKxRp-RufwEVPF_mNPPpNHSprtV_Map8pGBRE41NqhgH4dHsbuZBbbd_g_OvAD8IOn8Ta-2IBCbgKpcZbFE5Y1TyoqmOcbOz7e-oPMiru6eyvovy7X9TQuv-vc5ul4lv7QzE8upDYykRycC0eemLHzyAo_uLFOyGQQYkAhIblgCH9UjcOkTWFRYXIc2vq2dnXIU3NUfCYjcPZKL_Xa_aZ96lReoRgUidCNT2kebhqgtJoUo9Mw8mE_Q=",
  "id": "rs_030d801d443668c4016ab4587b854487d09bfd07fb0cabae93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":1,\"left_x\":0.28,\"left_y\":0,\"left_z\":-0.01},\"note\":\"The pen is over the interior of the right basket, so I’m releasing it. The gray-plush close was empty and stopped too high; I’ll reopen and move inward from the table edge to grasp its lower torso.\"}",
  "call_id": "call_tFUD71B9wMwhiBRgHVv65cIn",
  "id": "fc_030d801d443668c4016ab4587dbe4487d0aac0fe1697b6a1fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tFUD71B9wMwhiBRgHVv65cIn",
  "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]: [-0.1833, 1.8313, 0.0326, 1.5017, -0.3019, -0.0151, 0.9952, 0.4046, 1.6806, 1.0718, 0.012, 0.2756, 0.2653, 0.9954]\nstate[eef_state]: left_x=0.3245 left_y=-0.0031 left_z=0.0452 left_yaw=0.0718 left_pitch=0.278 left_roll=0.097 left_gripper=0.9952 right_x=0.4614 right_y=0.1492 right_z=0.1488 right_yaw=0.024 right_pitch=-0.008 right_roll=0.0815 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -0.7453, -0.7179, -0.823, 0.5446, -1.0281, 0.1441, -0.0752, -8.8684, 7.3504, 1.8926, 0.0464, 0.0317, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fa3667bfa66b69fa12d97d478342a291076d33e31b3831f306efa72982a254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f77360c33499397a0f7c21b6487267c453587a74180f5296fda1d129565177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2bf0ab12616d8b6b2607e6fb516fc5f09141aca9f998e3299f3471491f76ae",
      "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 22 attempt 0 · /responses · status 200 · 5.767 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0257, 0.8162, 0.2733, -0.1337, -0.0254, -0.0303, 0.9981, 0.7708, 1.4014, 0.379, 0.3985, 0.593, 0.4934, 0.1568]\nstate[eef_state]: left_x=0.2721 left_y=0.0151 left_z=0.0749 left_yaw=0.0464 left_pitch=-0.1121 left_roll=0.0067 left_gripper=0.9981 right_x=0.3032 right_y=0.1619 right_z=0.0681 right_yaw=0.0114 right_pitch=0.0561 right_roll=0.1098 right_gripper=0.1568\nstate[joint_eff]: [0.3624, -1.6479, 7.6923, 2.0049, -0.0024, 0.0952, -0.0171, -0.0752, -5.6684, 7.9795, 1.58, 0.3199, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1345, 1.2678, 0.2329, 0.5381, -0.0051, 0.0574, 0.0139, 0.4046, 1.6745, 1.0798, 0.0189, 0.2756, 0.2691, 0.1645]\nstate[eef_state]: left_x=0.3314 left_y=0.0494 left_z=0.0665 left_yaw=0.091 left_pitch=0.0654 left_roll=0.0706 left_gripper=0.0139 right_x=0.4637 right_y=0.1502 right_z=0.1565 right_yaw=0.0219 right_pitch=0.0113 right_roll=0.0925 right_gripper=0.1645\nstate[joint_eff]: [-0.1846, -2.6462, 5.5043, 1.2918, 0.149, -0.0024, 0.6471, -0.0479, -7.9385, 6.7897, 1.9463, 0.1294, 0.0317, 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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1833, 1.8313, 0.0326, 1.5017, -0.3019, -0.0151, 0.9952, 0.4046, 1.6806, 1.0718, 0.012, 0.2756, 0.2653, 0.9954]\nstate[eef_state]: left_x=0.3245 left_y=-0.0031 left_z=0.0452 left_yaw=0.0718 left_pitch=0.278 left_roll=0.097 left_gripper=0.9952 right_x=0.4614 right_y=0.1492 right_z=0.1488 right_yaw=0.024 right_pitch=-0.008 right_roll=0.0815 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -0.7453, -0.7179, -0.823, 0.5446, -1.0281, 0.1441, -0.0752, -8.8684, 7.3504, 1.8926, 0.0464, 0.0317, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fa3667bfa66b69fa12d97d478342a291076d33e31b3831f306efa72982a254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f77360c33499397a0f7c21b6487267c453587a74180f5296fda1d129565177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2bf0ab12616d8b6b2607e6fb516fc5f09141aca9f998e3299f3471491f76ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiFhwLyTz8ie-b7uhdw-Noh-vgfsTG2bS6fjIedMTtwRlD-t0rEIvXgacWI86DfFLRcMTw-_-iYAy5EZMzlMAAQCqf6_q29b8z7YMfDjfM6XErFynChEbQPBuJirlWatf8SZ5wYhf5PIAAVv7SMS1hdrUhGgbjqXCwjcwNr1KyVUHfN7DE_zLuv1T1kCquaezxwqzcTdJPoTLRlU6tj1enZCINV2SCj2qBK6dXdZBPy_Jg-uGXCIvj4l4zdfM0cuxdyQcFpXqN2-fTb5e2_e64F1XhDOOgwL_hfNXxvC5OVffAOd39Ky3ZWrDTBxvU60GDFjYjeeQTpWvOqkKi1T0w1J_PBQJeYTDijLb_kWp9-vf2WwWU0atRsVfImV-LjlTJ04yxEyUn1oA-1s085UVuEVGZNQxfy7ficMKtnjpSezyEVb4qAuNDPQJlN2MfZLfBiaGV0l0Jm7ZtX8DNVNmDy2jUF-QtXCWRxrnc8_7W8Q3G-7phcJMoA2EKzzivRrUE5fJpSGuL_SmlNcfB2Egiq1wNJ1yH0oqe6P6FLBV_uGOu6xXEqTtiNY9OxV2Wkc5aLkDt2zJOs6f8BDAgZKZO171WHr6REdJj6izlGaMkI7l8-y8cMy49tEkEH6x7fHuKafgZqEnAbKTYKuybAe1joBpS_oicqAEUxNRdeAK3nFSy8Z1KnDSaLy1Jr0EZhuMGO4c625pX-NptDiPQwrFMOE75BvuZ0UBRiH2uiyv8s1imknG0qsmAjLQG0hxrwuYxwpugX0ccfglW5-vqLAtER-Ocr3iVGfmDK1cmhZv2cMU_ahPD-LpO7NbfD2Z5Q334swhJ3BKn0ULarXhulzIt3xJUkJqlVK9qeUHIFcedcdtZ8RBPSRkXNoX1wPSspqKlXE3JQvf1tCN9bsnDXbIfiufZXAmVM0lBu8hbOEbAjMGTtPabW2e_6P6SoBj0Tu3z6cbC3cQcMKTYh3LVNGxDnaH5edYKaDafd1X6JeBb6b_uD33v26xDDnMHc5YnX_it_8rW3GYz5dNEXnGqSycyxYLUN7LpSt2juD7urSZb8FjGP3dqbVWOe_iawC1_1JYHvM4CPUWfXRT0HWPZrl54sBKxhyi1EK-fknxLL7YuhAlCiJQV_hHLPZEaa3RyDXzI-1C-H1t4QdIVuZbdYQL-Z2GZaV1SyrFbwxAUsyZ26xoZlp-G8j08IRKaIPvjKo3UFRF2cucO3hp6-tNBfWNUb3g6i9zllM_iUs8n1_yy-wbwa97zVj_vNluEwGf_THjBpYV3x5j22kpAwzNPHkEKkjz_m9gfAg8kxVBmg-WgU5UGhdMhm3nXzC04NWTbbVblhqnEbqxTEFrHyMbtV2FuE-sga_ZDCWOuMIHlwOtXk7F09Ov5zFA22Xv7LB5PjGXby5sBZEeqYGc8u7zJypV2zmSmMDq89RgDOnDAiFescGN15KH-YxkTewzKLWRgfGwuiMplMsmTwjk5nKYM0hthxEQbQdj1ezpEIPw-k3PBeHsgC32ApTA0KTKV9HuZTxOza8qL59OEuvqBlBJJiHLxoEjQgUYdn2X3HOh2tOISQrK31RkDj-I9ouTBTMWljQWovgeLyZqRXkVZ61jJaBBpY2g-caY1sUF-STjncdX2XYFud_8RX6LW7uxClzzXWKxf6pzPIlEBkse998ilDZNl9Ud5srb5ksYEW-_jvg4rvUeMLSRwAsSoeDkmyJKUJUOpMhHsAUzyyH4vuEtlUj2dA6bVZXvCL60TNSCA_P9ZdN05mmfGjPJG1bQ4Lfn5lwbWSN2PaJm9e7JSxLepmC-mWmYiGVcc2TmyI3eYr06i-BjxzYJ94HYU8qReY_9nrldNdVFPwz4vndJix6B0s2BaQKbafZm7mNlDg9IFMtizU1MReUYozqlVl3oozGXrBMDo88JNVMx6SmG4a2jbfzzr3MIbi1b9LYZWIXNHqdzPelc-sEudvCUcWhvAVt27aAMyz29RZnPt5AztEBNuQ2wwk1YTkkGpmfGhuqDUyE5EOQ3WJqUQfVOwWHAH_rcA3pXQF",
  "id": "rs_030d801d443668c4016ab4588187cc87d0877a313bae17113f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.23,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.26,\"right_y\":0.035,\"right_z\":0.13,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue pen is now in the right basket. The gray plush is crowded against the left edge and the arm is not tracking the low target, so I’m backing off and approaching the cream plush and the remaining black pen instead.\"}",
  "call_id": "call_WBvES76dnXKXdnmkHtASGrgL",
  "id": "fc_030d801d443668c4016ab45884123887d0ac136130a125597d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WBvES76dnXKXdnmkHtASGrgL",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1965, 1.4517, 0.8738, -0.5148, -0.9279, -1.0351, 0.9966, 0.255, 0.6411, 0.374, -0.276, 0.2005, 0.1226, 0.9963]\nstate[eef_state]: left_x=0.2474 left_y=-0.2332 left_z=0.1344 left_yaw=0.0461 left_pitch=0.003 left_roll=-0.0164 left_gripper=0.9966 right_x=0.2682 right_y=0.0373 right_z=0.1376 right_yaw=0.0134 right_pitch=0.0344 right_roll=0.0151 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -5.7915, 7.6376, 0.6716, -0.6032, -0.0366, 0.1343, -0.2803, -0.1573, 7.2821, 1.8486, -0.0122, -0.0611, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c30064a0971a721642b4d17b66c20b0c85c659da79cd91a9aa7af1f4e6c5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed374882e49b4ae75286307d9e909df04e4c79d57f0903f0188a6523b95e217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7486a6d81a075001e692da0502e489d784ccfb972a1f52b729e31ea7d48295c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.309 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1349, 1.2732, 0.2321, 0.4858, 0.012, 0.0578, 0.9981, 0.4065, 1.6264, 1.2388, -0.1581, 0.2855, 0.276, 0.1615]\nstate[eef_state]: left_x=0.3248 left_y=0.0455 left_z=0.0534 left_yaw=0.0767 left_pitch=0.0075 left_roll=0.0594 left_gripper=0.9981 right_x=0.4675 right_y=0.151 right_z=0.2144 right_yaw=0.0116 right_pitch=0.0409 right_roll=0.105 right_gripper=0.1615\nstate[joint_eff]: [0.4034, -1.4017, 3.0564, 0.6862, 0.442, -0.2076, -0.0171, -0.4581, -8.0752, 9.0872, 1.6972, 0.1538, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1833, 1.8313, 0.0326, 1.5017, -0.3019, -0.0151, 0.9952, 0.4046, 1.6806, 1.0718, 0.012, 0.2756, 0.2653, 0.9954]\nstate[eef_state]: left_x=0.3245 left_y=-0.0031 left_z=0.0452 left_yaw=0.0718 left_pitch=0.278 left_roll=0.097 left_gripper=0.9952 right_x=0.4614 right_y=0.1492 right_z=0.1488 right_yaw=0.024 right_pitch=-0.008 right_roll=0.0815 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -0.7453, -0.7179, -0.823, 0.5446, -1.0281, 0.1441, -0.0752, -8.8684, 7.3504, 1.8926, 0.0464, 0.0317, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1965, 1.4517, 0.8738, -0.5148, -0.9279, -1.0351, 0.9966, 0.255, 0.6411, 0.374, -0.276, 0.2005, 0.1226, 0.9963]\nstate[eef_state]: left_x=0.2474 left_y=-0.2332 left_z=0.1344 left_yaw=0.0461 left_pitch=0.003 left_roll=-0.0164 left_gripper=0.9966 right_x=0.2682 right_y=0.0373 right_z=0.1376 right_yaw=0.0134 right_pitch=0.0344 right_roll=0.0151 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -5.7915, 7.6376, 0.6716, -0.6032, -0.0366, 0.1343, -0.2803, -0.1573, 7.2821, 1.8486, -0.0122, -0.0611, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c30064a0971a721642b4d17b66c20b0c85c659da79cd91a9aa7af1f4e6c5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed374882e49b4ae75286307d9e909df04e4c79d57f0903f0188a6523b95e217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7486a6d81a075001e692da0502e489d784ccfb972a1f52b729e31ea7d48295c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiNDME-YVhkUi96GtH4eL6p9bdkoroZaQzhfmo0L6tv4J3-RvshkrJMw04ZWMJ0dU6-15lSvb_ttX5iXuaZkJ3EVoTQ2T-6xJR-xVC6g0WOg98t9qBHj6f1BIleOKj2kCgwPxXputEfdoLRXgTSw_Iu9wSluidO4kR131v4AkfGISAnhOcqlk114iCOR4eSUxzXt13dvYuyzbTY8uLwPWrM1-0By2tHZ-2FriK6wUntL000diLGC-fVHJLQrGVadEAvfP-LLxEtQXQ4NAYsSv-QBj1o9u8YdQK2C63EeUta5Nh0ha1peyJZNIos5faJD8zwMI4M_b4F4YLkU2pu73tmMTtCGT1rt_Ru5eq_RfJHjfXJ6MYp-jQU07IAx9tFYEObFe8pVNVHFRav6z12iDDfirmaV2-_YK-Z7KFDNkwND3n4_HmkTF34BvR9YY3q7ZWS9DOcm9eySAtDUTHxel1Jh6b6f-fp2Hh7_hxo0_UrNUDOAAP9sR6iLTT4kWehJEwJD_drDUr73_nA-egRS1gTEbyoqvJD4dYl4wCIjDXPjQtsnL-JcKUkt8rq2VAYxF-7xh8qD50g0qxH8J03uznIRKUwuxlBUFDNDdDhKu0GUAZZSK6qOTIIf9sd5Y-9hTdSkEfVNzg7nn7f0I8LQ1yn_LG-4BQQnnFrapDgjjA64YVMM0ETJ8c_d00FL48BlVZDN63jT3JRyHBfnD_J9lye0DpZfSCx8QfDU9XX67I6JDwXibCe5oOaI5MqxRUopNBp7_rrLYFkT5TBI0a1FM_0FwxZV_TzXMq38PZiXqnB9o152IJ80L3dWtAn9PF7UshOWbdbAKwb6TZcUk0oiZvof0a6ZLaNFkxEGYs-5WcSzgdDdvvVAQjghnTHbH0rECA5ed0ccAn_UkR3L9pKq_QdRuUbF7ukZK4VmmufwFZAsYzrFx4DmVla5wIEAK8QjKMCCiSnlSTcMQyULNXDcQKcSGViLWJCinBhLNmZsSx6MpG0JflMx9jKTvc5Yt4QmiACnYrnjLhrKQNDtQOIV96J6Gi5NJdkM4T5nGp48gewNjYpLvYFLB8F7EvqejwLG1NkUVAZoKXCs74jIk-kBVdkIhoTm7wXwbH8cuLPIykQg6ILWAJs5RnWVhGpUdlCDwySSUToEVYPrGxFTMjVi9x0il_OYAYldS2AYsDGJscEYD7eDs0S9DUYK7vcwYttmiK9O_hojhdgt_BvokAe-o-QU2HmxcctcFUBo_qKjAP6Lv6zVICau8HxC2nR1kQQo1UpUb5D9lrKBYFzxnfeKeJxiNFklmrpySacXk4fk7qKUoEKmRdetbXaY_Ck607Wsq3nLeGOhYOe_Y3tLtPQqApKagEGWDtMnsiACzoNHLmph1KMOEwVTFtRRj5pVVkNBJfzzSk1EK8he6qE_vJecuF-Kg-rI5hTBG8NTjzfacNwx8EQSWggCr1rvnz-vX-ZKRxBl_JKYh4mmGuaOVSNWXhQ_Ys3JgjFzxrNrMEd1LRIThXWtn4XN0J04PNpMsi0C10jUHf6WOzvHX8V5Bsi8HGapWCBiASvT03gey_oYfaYkYFMdq0kjz6BPG1OTnZYz3vmxBCQodxTqgykD4n9AjX7Zk0nYpGhM6PRiHhE1VQkwpyH0BMs6a_m3xgsOIU60K-H1QEj_XegLieYXkNRxUOC4axqM-Vicb7x3k6nJoFMpRbfgGaOBV3svWOg84E7DkEq7BquMlmF2omhXZRSwxAChrp2-znHFUBPZI9AasfHMTaj_nNKHyDFaHFJNULr6WpAOrxx4ap48DaydIbGIlJWEIy7le1OP9ooCNFvC5NALZBXMO7-Gas3iWNW2ClTRng9ODjKbgoxh3NrvGIU--5fU0nJJRlfw5nWpPs_VJWbxzYDMAp8Zukw3wCwGqm551mGI7SXvP7iGg7CxZ0acGe3rh13N9RxrS_nceAZj0E9wK4lpw5aneSsp6BGSncqsDZXr1sDszrAYUHB0bzkAI7Wtt71OXLA11F4LZebVr_4k6sMMaSsyrneMWMUWlwClBRm",
  "id": "rs_030d801d443668c4016ab45888dd0087d0b787a699f9ab90c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.245,\"left_z\":0.025,\"right_x\":0.265,\"right_y\":0.012,\"right_z\":-0.01},\"note\":\"With the arms clear, I can see the blue pen actually landed just in front of the shifted right basket; I’ll correct that after these pickups. I’m lowering onto the cream plush’s body and the black pen’s barrel.\"}",
  "call_id": "call_n2C92CpWJ9KsvYVZZzAMjiem",
  "id": "fc_030d801d443668c4016ab4588c222c87d0b672df51bac4cd18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n2C92CpWJ9KsvYVZZzAMjiem",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2835, 1.7119, 0.7143, -0.1329, -1.0172, -1.1923, 0.9967, 0.0631, 1.4246, 0.0196, 0.8486, 0.0338, 0.0399, 0.9966]\nstate[eef_state]: left_x=0.2353 left_y=-0.2535 left_z=0.0528 left_yaw=0.0808 left_pitch=0.0665 left_roll=-0.0946 left_gripper=0.9967 right_x=0.2903 right_y=0.016 right_z=0.0114 right_yaw=0.0063 right_pitch=0.0092 right_roll=0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.2872, 2.7009, 0.3297, 0.2125, 0.1978, 0.0024, -0.4308, -2.6325, 2.1402, 0.0171, 0.0317, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6649f7e846bde72388d488e9b0aad6497484b0c4c5947298b6bdee25b5b21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ce47bae6353b043f6f3e15f1cc047f20de56a63de84096c28342e4ae44c51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2279a6d5af5f61fb7c35dd42d6bc7575e3bbb9aaec78e3a5be65ef5f043180",
      "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 24 attempt 0 · /responses · status 200 · 3.542 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1345, 1.2678, 0.2329, 0.5381, -0.0051, 0.0574, 0.0139, 0.4046, 1.6745, 1.0798, 0.0189, 0.2756, 0.2691, 0.1645]\nstate[eef_state]: left_x=0.3314 left_y=0.0494 left_z=0.0665 left_yaw=0.091 left_pitch=0.0654 left_roll=0.0706 left_gripper=0.0139 right_x=0.4637 right_y=0.1502 right_z=0.1565 right_yaw=0.0219 right_pitch=0.0113 right_roll=0.0925 right_gripper=0.1645\nstate[joint_eff]: [-0.1846, -2.6462, 5.5043, 1.2918, 0.149, -0.0024, 0.6471, -0.0479, -7.9385, 6.7897, 1.9463, 0.1294, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1965, 1.4517, 0.8738, -0.5148, -0.9279, -1.0351, 0.9966, 0.255, 0.6411, 0.374, -0.276, 0.2005, 0.1226, 0.9963]\nstate[eef_state]: left_x=0.2474 left_y=-0.2332 left_z=0.1344 left_yaw=0.0461 left_pitch=0.003 left_roll=-0.0164 left_gripper=0.9966 right_x=0.2682 right_y=0.0373 right_z=0.1376 right_yaw=0.0134 right_pitch=0.0344 right_roll=0.0151 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -5.7915, 7.6376, 0.6716, -0.6032, -0.0366, 0.1343, -0.2803, -0.1573, 7.2821, 1.8486, -0.0122, -0.0611, 0.0806]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2835, 1.7119, 0.7143, -0.1329, -1.0172, -1.1923, 0.9967, 0.0631, 1.4246, 0.0196, 0.8486, 0.0338, 0.0399, 0.9966]\nstate[eef_state]: left_x=0.2353 left_y=-0.2535 left_z=0.0528 left_yaw=0.0808 left_pitch=0.0665 left_roll=-0.0946 left_gripper=0.9967 right_x=0.2903 right_y=0.016 right_z=0.0114 right_yaw=0.0063 right_pitch=0.0092 right_roll=0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.2872, 2.7009, 0.3297, 0.2125, 0.1978, 0.0024, -0.4308, -2.6325, 2.1402, 0.0171, 0.0317, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6649f7e846bde72388d488e9b0aad6497484b0c4c5947298b6bdee25b5b21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ce47bae6353b043f6f3e15f1cc047f20de56a63de84096c28342e4ae44c51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2279a6d5af5f61fb7c35dd42d6bc7575e3bbb9aaec78e3a5be65ef5f043180",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiTNpswBVaHP6So9i2nIbSMm3kof4NzW98g2OAFlhTHm2d-A0Ln5pxqMCqGdSQRsd1hjx4a86wL2lswNmXdVonU9SDyOme197B-FEaNeC5bXO9SYxBaH9oenDsLOUvFIY3BkEtVOONjOyokMp_siW0CSx_T6Dca38Q7khjq7eCs00_NqmA6mkyKEFMHJwIrHuurXSgpU9BrljxRpZzQWf7jC69GCZvV1cIGtgiqkXzfkE9Zd0qIy7WIjfyXczGe8Fi0_eiJrRbhAyiU8UgO1wzDlV-w37kxMsCyjm9Aucdd-CFO7bphS_QT9KM0fV803E9eC37mty6YE1p4Pp2N7Xktz5e22CgUYeQkrlFAgThjCw2NuZ8RjwonVuPA34XJg8MJh-mpmaA8ZmbXKriDvD73hoOa72TMIIVZ5K4qfHeFKgMcp20FeJU3tda2c0Ekq47DqamvM00ip2OfU6qIW5ucR2aE7qkRllC5BWKsf4Z0Bro2-ZWQ7lPsPVcp1sKwajELWh-BBt4wTsb1_Y-s5STRcOggx_s0HxMUhp5BGqrvkBWhIdUfwkFjdZgupqkvPhXUFdMOSYa2aqfma9ESvlssyHhE5tgyggNv78f0pNWuyYnJdsyw2qgfsIIiGc0lZfQ1SSQntsn0huezfat-oNWHCwvpzBQn7klsGQAYSMjp4N8O3E6YHDKTrlrCfEGepDV_l1hMVf8e8Af12S04NGKDqF6bBpIVzuoivygoo34VNVvxqvjllhl6dmr--MTU2LrmHdG3XyN4cKpjBBcmBvlbA306GoAKacFN4N2jz2ujrUvv-B95KcBR5EsYX8LpD4ER5Yix3Q_w09vyEkNctY26UAPGfV8KeB2eDwsw19K6g-JXWeTp7RFQa3Ci_hPrC1Ojl86KnklLV64TZ-GD4pOi4gcGaRx9flbpjMxB-PDqfRh1tzT9M3Es-_O3YIeL3bSy-GKQctOYPDQnA7nnKfIoR-NATG1xd29Qc0f374HhrSB9mX7LeazO1hPRIEzeoJ647xy3con0lZlw06JSSXPTxb9HiW1P3lgdpCcxurG6oMZVHZcOXa71heNh93T0jwztnu4h-N0kIZEWCWvorEiOds-7G0FO_2p4UKatf0H2MzHUsxH3Ds4vk8lIcD-87PBs70WY9BG0i2dva1f7qHkk5JH3knUegObBqjkYLUvmvp6efgsRLIkMPMzDYcJJHx9AcuKLcD4ls60RkFyflaisQt7H623kDG6OK5DUBPS4MH5kSd7nJMQa7cXiRaOn4LWiCjXpVrPAC96XT3nDYcHZ8D6slJEd5c7LEfbkUjkTaLOTFjf47mAAmg1ktq8a5PmM3xqbVakH4hRDkt_UStxFuQHVyqSihE7aLOFjrqqKKP4=",
  "id": "rs_030d801d443668c4016ab4589188a087d0866bd549d7849ead",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":-0.018,\"right_z\":-0.015},\"note\":\"The cream plush fills the left jaw opening, so I’m closing around its torso. The black pen is still right of the right jaw center; I’ll align that arm before closing it.\"}",
  "call_id": "call_3yEZJSdjq2kGaaGL1kWOn0Jb",
  "id": "fc_030d801d443668c4016ab4589276dc87d0b083846a46220992",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3yEZJSdjq2kGaaGL1kWOn0Jb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2846, 1.713, 0.7132, -0.0887, -1.0409, -1.2041, 0.0107, -0.1635, 1.7824, 0.0093, 1.3235, -0.1677, -0.0841, 0.9968]\nstate[eef_state]: left_x=0.2384 left_y=-0.2574 left_z=0.0586 left_yaw=0.0995 left_pitch=0.0948 left_roll=-0.1422 left_gripper=0.0107 right_x=0.3065 right_y=-0.017 right_z=0.0121 right_yaw=0.0173 right_pitch=0.1227 right_roll=0.0096 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -6.9675, 5.135, 0.525, -0.2613, 0.1197, 0.8034, -0.6222, -2.1538, 1.4838, 0.6081, 0.1636, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9453fd2616ec014d5d43ccc6c45e6d80ded579065dc9149979764a7acc14b07f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4a1d5a0d5d0e8c4b4f7d6bc69022a93464428749f6938e1c44a8593141bdfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ff1298fbca5947a8e11685e7e0c4c9893ba8f02cd7d80db270b80a1b441e32",
      "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 25 attempt 0 · /responses · status 200 · 2.493 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1833, 1.8313, 0.0326, 1.5017, -0.3019, -0.0151, 0.9952, 0.4046, 1.6806, 1.0718, 0.012, 0.2756, 0.2653, 0.9954]\nstate[eef_state]: left_x=0.3245 left_y=-0.0031 left_z=0.0452 left_yaw=0.0718 left_pitch=0.278 left_roll=0.097 left_gripper=0.9952 right_x=0.4614 right_y=0.1492 right_z=0.1488 right_yaw=0.024 right_pitch=-0.008 right_roll=0.0815 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -0.7453, -0.7179, -0.823, 0.5446, -1.0281, 0.1441, -0.0752, -8.8684, 7.3504, 1.8926, 0.0464, 0.0317, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2835, 1.7119, 0.7143, -0.1329, -1.0172, -1.1923, 0.9967, 0.0631, 1.4246, 0.0196, 0.8486, 0.0338, 0.0399, 0.9966]\nstate[eef_state]: left_x=0.2353 left_y=-0.2535 left_z=0.0528 left_yaw=0.0808 left_pitch=0.0665 left_roll=-0.0946 left_gripper=0.9967 right_x=0.2903 right_y=0.016 right_z=0.0114 right_yaw=0.0063 right_pitch=0.0092 right_roll=0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.2872, 2.7009, 0.3297, 0.2125, 0.1978, 0.0024, -0.4308, -2.6325, 2.1402, 0.0171, 0.0317, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2846, 1.713, 0.7132, -0.0887, -1.0409, -1.2041, 0.0107, -0.1635, 1.7824, 0.0093, 1.3235, -0.1677, -0.0841, 0.9968]\nstate[eef_state]: left_x=0.2384 left_y=-0.2574 left_z=0.0586 left_yaw=0.0995 left_pitch=0.0948 left_roll=-0.1422 left_gripper=0.0107 right_x=0.3065 right_y=-0.017 right_z=0.0121 right_yaw=0.0173 right_pitch=0.1227 right_roll=0.0096 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -6.9675, 5.135, 0.525, -0.2613, 0.1197, 0.8034, -0.6222, -2.1538, 1.4838, 0.6081, 0.1636, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9453fd2616ec014d5d43ccc6c45e6d80ded579065dc9149979764a7acc14b07f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4a1d5a0d5d0e8c4b4f7d6bc69022a93464428749f6938e1c44a8593141bdfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ff1298fbca5947a8e11685e7e0c4c9893ba8f02cd7d80db270b80a1b441e32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiYB_mEvnksfRboZOegLnfewAtkkoY7mKOa1kpBZw-S9P6piS3mwSXZM4s73cMkS4ACIC2QTeJ9xVlAe6KuL2Gr9vdkuq6dttT_q1ECm6fMq8AIjT38FwebAuJ4pPnMbWVZeWd0CtObWVOE8SYwoPxMQFES_UAw7b2tFCypoLDumzmkrzuSWl98nahM1SdtDhXNjHw5Ke25eNTV-FiuYGEUjKywWXcee4w6rrNPGc6iluN_aqRa1nYq54e-dYuhdu0k4aSKO0lEGHGiJzQqgE9-2_dtIKKdzZZO4SGaeWaFr_5eUQFAQtR---tdCXZfJo-p4oZC9g4wTiIlKN3o6lRiEkXE3US_SdFowykWFt8XBNeiLcnUiygeJf7clkUuYO4bryIOjoA0O4462qKnpJ6LfI3exVxP8tjUzmOmHkds9ZOusVwjWnhh_3vASSqHbM-9LPrzaY9Yl4lDMuFu2DsfU2We_fr8953-s_bcL9ng9z9adA_fecwHTKfMtlgtHYsZEZetXFffS8Ho3XrxD11BBWUrwtuantKUQSH7UCdRTT6d0t-HSXlmn5GUSuR74pJdY_KuMst74HDgnCFT4K9sLGtmXcAO_Fo4gBf8oqxaWtLxRnJQe31bpiSY6wpq78FHqDbbpGzgDF8vJA5PnJNuRlTbIAd1Q8CZYJR6-VKi9C67UiryMJiHAuToTt1GxKNo-NkupEExMYAjUTEC_OgFSV2NoYuWmQty7DA2fqpCSqa3QcmhDJ-7rSvCDee_UmJSHWyi6Po24nMukKVk950cV-w9nn8_J_8TWCu-Ih1R7-z8AzHh9ZOyNqkOU009wLKwWB1aDjjmdC2W44rh0ibFT5ErCl9vsQVqpjoHDWPfVzRbzLjCKKT5VJ8YiT_mwNcfNgC8ollmwzvc1KRhdHYekXUjpGft5nkHwVCPUR0kzuSqC1Q0pQI4G8efJdI96v87KyU7I_lykC3Hl_Fk6MDdfvihAPZ8qhVgmlOW-4Vnyx8LkW3ubjex4bdHPc4jJID8A6KFw7v3WYi4DnfFqfORct-yNAZuTmcDfVz51pnQn31EZgqUvFuq1ZPDujzHXE-2Qqp_F6hEkPUiLopO2yuhSxGO7NHPI9UwsLkowpJeUGKrrbZZo7nEqak1GKz2f-MgZOwvw7myXju4gPspBjRN7J__zw5L2PfW7xYyZ9I-wJRFbPSKHzJJ7dtoAJQdtmBhJGVoQfnRSGRQ5g9MFMOI6vJ6NzbwFYDKiuawMfDplgUURoJ1sR0zhGKrFPvujJAEhk13oDLJ5VJi-EoN5pgJzn3LIXld7pwEishXMhhz8FBx35067VSTaXZgXPChsoadKm_4MPhYupeOUqy1sPWzKgqAHOnVwptHBPj0JaTaUS1zS3PHRcLa4CrwrZVjYK7L",
  "id": "rs_030d801d443668c4016ab45895e91887d088105a23115a9796",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_gripper\":1,\"left_x\":0.275,\"left_y\":-0.22,\"left_z\":0},\"note\":\"The black pen is aligned with the right jaw column now, so I’ll grasp it. The left close missed behind the cream plush’s torso; I’m reopening and moving forward toward its neck and upper body for the retry.\"}",
  "call_id": "call_iD76p9mba2uHrUPL4Elk3NDE",
  "id": "fc_030d801d443668c4016ab45896d25c87d0a2b7085d11c388d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iD76p9mba2uHrUPL4Elk3NDE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1294, 1.8305, 0.551, 0.6006, -1.0363, -0.9619, 0.9938, -0.165, 1.7813, 0.0109, 1.3293, -0.1734, -0.0902, 0.1389]\nstate[eef_state]: left_x=0.2861 left_y=-0.2412 left_z=0.0494 left_yaw=0.1842 left_pitch=0.2118 left_roll=-0.3233 left_gripper=0.9938 right_x=0.3077 right_y=-0.0167 right_z=0.0141 right_yaw=0.0241 right_pitch=0.1314 right_roll=0.0049 right_gripper=0.1389\nstate[joint_eff]: [1.6068, -2.5915, 0.5402, -0.2515, 0.6569, 0.0415, -0.2564, -0.1436, -4.3966, 1.7162, 1.7509, -0.0122, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f7e3f7ad4b8b79f8e4c70084f70bb54d6cda314e77e6409fa18513bb9ce0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6b546b38fc3c2a3b1cd6738239c22006d90579a762e7a5d27ab1809e2581e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4053d97d679cea3cc26e13bbd37ce8de4b037e4aadb7108041f014b50ca9e8",
      "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 26 attempt 0 · /responses · status 200 · 8.961 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1965, 1.4517, 0.8738, -0.5148, -0.9279, -1.0351, 0.9966, 0.255, 0.6411, 0.374, -0.276, 0.2005, 0.1226, 0.9963]\nstate[eef_state]: left_x=0.2474 left_y=-0.2332 left_z=0.1344 left_yaw=0.0461 left_pitch=0.003 left_roll=-0.0164 left_gripper=0.9966 right_x=0.2682 right_y=0.0373 right_z=0.1376 right_yaw=0.0134 right_pitch=0.0344 right_roll=0.0151 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -5.7915, 7.6376, 0.6716, -0.6032, -0.0366, 0.1343, -0.2803, -0.1573, 7.2821, 1.8486, -0.0122, -0.0611, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2846, 1.713, 0.7132, -0.0887, -1.0409, -1.2041, 0.0107, -0.1635, 1.7824, 0.0093, 1.3235, -0.1677, -0.0841, 0.9968]\nstate[eef_state]: left_x=0.2384 left_y=-0.2574 left_z=0.0586 left_yaw=0.0995 left_pitch=0.0948 left_roll=-0.1422 left_gripper=0.0107 right_x=0.3065 right_y=-0.017 right_z=0.0121 right_yaw=0.0173 right_pitch=0.1227 right_roll=0.0096 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -6.9675, 5.135, 0.525, -0.2613, 0.1197, 0.8034, -0.6222, -2.1538, 1.4838, 0.6081, 0.1636, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1294, 1.8305, 0.551, 0.6006, -1.0363, -0.9619, 0.9938, -0.165, 1.7813, 0.0109, 1.3293, -0.1734, -0.0902, 0.1389]\nstate[eef_state]: left_x=0.2861 left_y=-0.2412 left_z=0.0494 left_yaw=0.1842 left_pitch=0.2118 left_roll=-0.3233 left_gripper=0.9938 right_x=0.3077 right_y=-0.0167 right_z=0.0141 right_yaw=0.0241 right_pitch=0.1314 right_roll=0.0049 right_gripper=0.1389\nstate[joint_eff]: [1.6068, -2.5915, 0.5402, -0.2515, 0.6569, 0.0415, -0.2564, -0.1436, -4.3966, 1.7162, 1.7509, -0.0122, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f7e3f7ad4b8b79f8e4c70084f70bb54d6cda314e77e6409fa18513bb9ce0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6b546b38fc3c2a3b1cd6738239c22006d90579a762e7a5d27ab1809e2581e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4053d97d679cea3cc26e13bbd37ce8de4b037e4aadb7108041f014b50ca9e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFibBQcqyWxfe3m9DvoFDiFj7xfgHSTfN0aSAXi-UtTdDQQqQhpPkExXc_iXNwDou-LKbnVibQs2ZDpHDUxgSlryIBVGailtL7nrhkjdZwbro6dSFsxGEiKKHxrmcxR2QmmGC268i83wf2loVqWnAqAwPLX1YAtozofnsQiCo7bxh_3iPmH59PjmUvwkhJTcUAyhUpWpMJH5aZB4W72S19TLk_gsVJXj0kNomtVkMBUHKHYALEUJm4ZSLCpD_SGVKyK3vhS2-bnQ9QDj9s7AF5oWK7aPpTcw39Sn14sJMOuMBhVlIPw8U83D1bUgr93Gn3PuQHJNkYEowyZarwxPtmRjo0zzfq0LB4odzh0px1JUy8f2oX60Ov-BOdGmi4q3Rx1hH7G1fChQdlr0VjQ8yPOo0bKTDX6tRPt-LjJe5mH3L45ew5Q4JK-VAQFPUljFANuyYBB2E3qx99xJuMx4O38rlLZnM3m4Ljlo8BjbbR12ZmYsWZMPPExa8yogaB5MWRuSEPYrVWQ2g1PcavPF0rENoQtU4vDrLyTYl4Qv150DHftRt0wxPqX6ywPwMBhiuJ10PWtG5mpTD49f6shaJCg0Yj9YgDtQ7Du0q4LhdlvMWkVffjrbmYCuizoiiO7n8JPb985F4aV-XTlFAah9zedjmSokdrNYiMJJ7WXfrAHFtMYGWjaxsjp05SOh3-WTtwkVPz0OnkQV7a_Et73_PgSRqRho93hTZhuk67VKly1PQp1FytB2NMU-BuwCLYQULescUukWdSX9volUgn344L229wnpT7eLEdslCUALA37CgVdYMGPQIqo0PtMOzs8sYrvmbeBigXU3lHrwn1jtVZDyOnNFUPz-WtbLZ5QnoUPgAusgeLh1VghgSoQY_baxL-v_wrFgWGrWymsAvW0gdMq-s8NvjGw1HUzahc8C7LTw_2OBijFW6AkdDwh477vYy1tWJnM6bPpYft1_1sHp6N9XoPgcNx3rw-p0GEwWS-2KDDIYEfNXRnjN7G9ytj0PaSdRWpGvKwwhhKrOwfPlTnp2V1_wQCBb1GIftTL5LsdXfDqKlW-qqHNqk__uY8AbM_E2YLlwDM1MSUIR3GzUS7M7lgPEhNAOfHnB8G0l5G_-Nht4s41mFfYa3UiBLi32ZWCgw6PTdmfghDZmmQD7pbKG3_-shR0l5y2qjeZpw3lzhq0ixZlEoYKzseQ-RAH2Cq3CNWg53WUwhSfTOqzwtCrGLF1PdAJjjKQ5ZnEwVqUgcK4=",
  "id": "rs_030d801d443668c4016ab4589a400c87d09257a5f1e38cc9d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.09},\"note\":\"The black pen is secured with a nonempty gripper opening; I’ll lift it to verify. The left jaws are now around the cream plush’s upper body, so I’ll close for the corrected grasp.\"}",
  "call_id": "call_xr96kGX513ZNtJMcgpMQsxkh",
  "id": "fc_030d801d443668c4016ab4589a7db887d086b3478e96d595dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xr96kGX513ZNtJMcgpMQsxkh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1297, 1.8305, 0.5514, 0.6449, -1.0634, -0.968, 0.0155, -0.165, 1.0084, 0.131, 0.4572, -0.1772, -0.091, 0.14]\nstate[eef_state]: left_x=0.2886 left_y=-0.2413 left_z=0.0575 left_yaw=0.2175 left_pitch=0.2374 left_roll=-0.3696 left_gripper=0.0155 right_x=0.3065 right_y=-0.0158 right_z=0.0859 right_yaw=0.0283 right_pitch=0.1523 right_roll=0.0018 right_gripper=0.14\nstate[joint_eff]: [-0.0342, -7.0222, 4.0821, 0.9353, -0.0513, 0.0464, 0.6227, -0.3487, -2.0444, 8.8, 1.8486, -0.0415, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3b5fc4c94b0a7e77517f7556b9c193193433dad82727198fd2d316933d4290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6f05afae7647e77efb874d21629950681e3ef5f364285d869823d2ff713f65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49a79d52ae24e5154824cdc1677e9b15c5d2c73e4cfacbfe6ae2d3dd71181fd",
      "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 · 3.861 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2835, 1.7119, 0.7143, -0.1329, -1.0172, -1.1923, 0.9967, 0.0631, 1.4246, 0.0196, 0.8486, 0.0338, 0.0399, 0.9966]\nstate[eef_state]: left_x=0.2353 left_y=-0.2535 left_z=0.0528 left_yaw=0.0808 left_pitch=0.0665 left_roll=-0.0946 left_gripper=0.9967 right_x=0.2903 right_y=0.016 right_z=0.0114 right_yaw=0.0063 right_pitch=0.0092 right_roll=0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -4.2872, 2.7009, 0.3297, 0.2125, 0.1978, 0.0024, -0.4308, -2.6325, 2.1402, 0.0171, 0.0317, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1294, 1.8305, 0.551, 0.6006, -1.0363, -0.9619, 0.9938, -0.165, 1.7813, 0.0109, 1.3293, -0.1734, -0.0902, 0.1389]\nstate[eef_state]: left_x=0.2861 left_y=-0.2412 left_z=0.0494 left_yaw=0.1842 left_pitch=0.2118 left_roll=-0.3233 left_gripper=0.9938 right_x=0.3077 right_y=-0.0167 right_z=0.0141 right_yaw=0.0241 right_pitch=0.1314 right_roll=0.0049 right_gripper=0.1389\nstate[joint_eff]: [1.6068, -2.5915, 0.5402, -0.2515, 0.6569, 0.0415, -0.2564, -0.1436, -4.3966, 1.7162, 1.7509, -0.0122, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1297, 1.8305, 0.5514, 0.6449, -1.0634, -0.968, 0.0155, -0.165, 1.0084, 0.131, 0.4572, -0.1772, -0.091, 0.14]\nstate[eef_state]: left_x=0.2886 left_y=-0.2413 left_z=0.0575 left_yaw=0.2175 left_pitch=0.2374 left_roll=-0.3696 left_gripper=0.0155 right_x=0.3065 right_y=-0.0158 right_z=0.0859 right_yaw=0.0283 right_pitch=0.1523 right_roll=0.0018 right_gripper=0.14\nstate[joint_eff]: [-0.0342, -7.0222, 4.0821, 0.9353, -0.0513, 0.0464, 0.6227, -0.3487, -2.0444, 8.8, 1.8486, -0.0415, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3b5fc4c94b0a7e77517f7556b9c193193433dad82727198fd2d316933d4290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6f05afae7647e77efb874d21629950681e3ef5f364285d869823d2ff713f65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49a79d52ae24e5154824cdc1677e9b15c5d2c73e4cfacbfe6ae2d3dd71181fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFilzb6jSbHOa5sZgabBuRkJev01VWnZrdJXzsNMwM-3UFJKzxMsYnP8TYn2bG4Y8hSILE_txOgdfcaWo1SDqcFnYRtI2TKn3nOVw5TzIVYX1dh_x3ijTDzre5nYf50UCuC31hbH2zYb05a9vdcW46fZSsOpiNO7WIQwm60Mpwif_GScpSeC0B3lvWEGzPVkmlR7C7dpAMUfS4CxP0f6ZnPsKmAyxxhnU1cz85FLokPMxUWDdcMOx0iZKNVvILwcxgaUb3wppGxj9a5yIQXY5ZpBBxy88P8EdG6c4CJ2xbRnifKtQz4XFK7FvnjfyIE3McPeE8Tas0fWiPIc8O4prQcZTCP8Zuy1wjfCH4-EVTDA5xWCIYYrhLMb5cus-6ppTzALIoBFhaYBNQvfIzrRlL9-ivHqBfK7k-e5MtcEXkimHAntgvSwJJaHOmJGrcAEbkZBo26siTLDh4G6OhDLiF277TsM_cTys9pBICzOAkFBEc9L7CU9zbHitaV6u4rNzH3DpGnX9Yc-pWEN0vVWPwCnXkx85bhUr73hwrV2_4jy3MmYm9Vp821WLPoscLHka_yoj4pL_Yfyf9dHA9RJG6hGZMHNuQFTKl-C74x2tEEj-E22ATlorzpHqL040KTqf1LOVyaIoO0n-YNg5qUbUJ3_LTwwA3bHV45GGt2oQYEgVq5n1ptKoirLe4POaCtRku05nhVdcUwAAzvt5apM6kRVhk6Rir5JZIBIRF9Bsty-ySoIM3yL0ig3zeXkgudkIVFNbGF36ZQ14isJr5clMghFHDxLJSEZgHhzHbseGI5d3qPyma6JwdabPmIQniClEmFXFRo72U-Zlx2Sj3WR7BEs-u9kY2LOQUdaBpOWDbaVg4Glx6Mp6Kpo03CWSBCkx8_xvBo0guJpyTeTWHzf23alA_bAFdNcU2JrBROAbGuqom-M4CtL0jtthZhovS8WNqw7bN5OBc1EdJLZ80GtcTLD-r1J4KVU75N3rIYUywC-D5pnxPVy4hLgwHtmrd9pLaMVMn0UTSgb98vTOsXjMFPxq4O8xyhDMDiAt_JrS9KGot2kEU9VxEGo55N2aMi7VxMsLmit7hTcPXYu5IVScVzXDC1JjRoetPiQlQWKmBXblvkeiY9uzZQoHFnBGMkdulE4GrmE-knEoFBk1Dt2YXsvkJta2x6xXKOtIn6mPXi2fOsmF6iYU6kZHmQVGXs5YbkgckoOOBlaMqzgF7hNFzPDE1dZv_t2KOT_hbYWZjjyYgVBNa1E097NybvxanhVkEbHdEC36MfmTQh-rnNmSN_pn7019VPFOIUsDabd_stoDxBez069lXwheLc8pEs3JcbEkGFBmStGiVHUK7Ja-YnpIqGTTMmcQ-Yglvg-sef6sKDS33emqqhYyige1ixsLLL0orUJ8dUEs9i45gmCJlo6evSElPrQNR-ll25bvHW-jBYdmk1_e80NZsIh6sugbPQRSKeFZQRBMI5MRuMCfkQCKM_d-dK26--mgluwYJ8vOVmYAESCZr6LAoyPk8K6onkU4aweIE7u2s6hb7ZSniodg_irzQuN7fAcYjf1PKQpCe9o1oaWBoRSvVlGsFWywHGceDeWTrSwAQtW6hkAeyIqhKqx-nR-6IY1NicO6lQ7G-onb8M9PeijEbWUrK1IpiCN3s8-5Vb86KnzoybPO7lwhCrEzrUJJtgnGVn3TyzDTZ9GPJC4-GlKPHIGG_cKHNNw6Niez0AZCxuOj1tvNL0M98fJ4hjaCl22sz3vedVtYB1cc9pjHB2m5XeECAxfa8Q6esNKNIeLBMm187U-L4qGZTGnAuHKG3RyIoWsYGuVMpfuBwJ9d58-RUuMhI2H992xKxinz1_xVTfeO8oRqazEH17QRO-72ELZNM6FTF4GC-vrJ3xm7JiN0lME4oJ9ZkjarsVXN6UdXs3WKLllUaIIHc8jgmBZZnh_lvxK76SFbLVJGzzaB4AQSVqY7QjgMfcKvXhcw2RaeG8ZyAc1cSwuFd6iRl7KwJ_kvvqNuIkontlkbduoOY8wpQRWsSd-es8U035yyuY0A3H5ZgaIAyntKr5CI13DICf3xblujsdgNOwbECn9oVmlyxdF83pbpdPiBZ0m9M-fs83t7Yp3bMxUxXhbqpVEmdiu9DUOrk45rEVefoNezpvGf-Ey9knobMMZogOVRutvFpdeEXV1P3UwFkOEgx218gRmAHjg33iGMOe2mokbG_9ygbHSc7M6JB4f5PjaKa3BzW8vwQLLBj2SX7BIJ1Rsykp5CfZ4ky-zSI8IhIRMPQj0nPoOgh8HvKFArXP1lNRBJpbK3nJYsbkqnVWYHmlwZjaGF1Rg3lfP-811uPO0cj8YJ8CpUyXEbwjWDnjGOin2aAfUiL9tMpOD0kHwdIGfGjujXxgEDCaKdyyh6NBWRJslFzii1pJWZBRH-qcX_P09z2C_THP4qzuGPPb83JH7lBVuAXg81PFSimdb1SiGyAWNLAImPW0aTsBt3NB5FsHRlhuX31Ex8WXrYokmadQJwEkzf2yeTtbtdNIls0qc3gPNaX4ZkmKDRPv4IrBtqlM_rATzzZlmY22Le5A6lH0qo869bUDrMwqPYERfBegMiSX2rGEgD9p1HCMf73yy-I0ujW7uGcqU7OW8EkLSsHmmZyub3DktxoEglp2LwUAG5Ix0piuySHWN46zzMR0QdBoFqthmfuOdyMEOkX3bllDLqPTPVLU23i8wGMPDfG8rLU-d2xr1Eclb424U8jyqcz7VG8sMTcFEHjCi9XGKfi1aazhVKAaNH5wIGxfdRGZ-B0luMfe7JYvHHqk6M4qDsQ48UBe6e3O7rgvxkvb-xx_IWkTCPT81QxeAQxeRdlpEj3wP9h99G53OVMJ2LjKLgLpZ7WZU0romE__opzekhw1dpnZr7zuMLdttu4TaLc0Zr6xpk2iHHxO6l7ObdWkV2SNX6N5e1zVhfATswOJevSH4mpiYPnYr1ZOwcNe4lwAG75aSepQoainiUjVc",
  "id": "rs_030d801d443668c4016ab4589dec8887d0b6a285a68692b212",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.215,\"right_z\":0.23,\"right_pitch\":0.25,\"left_x\":0.3,\"left_y\":-0.065,\"left_z\":0.14,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The black pen lifted successfully. I’ll take it farther into the shifted right basket; the cream-plush retry was empty, so I’m clearing that contact and moving to the yellow marker instead of repeating the failed grasp.\"}",
  "call_id": "call_6Y0wlEjdorRXqwrNoYIuBGUU",
  "id": "fc_030d801d443668c4016ab458a3d88487d093f1d00a38b4f067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6Y0wlEjdorRXqwrNoYIuBGUU",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 0.9314, 0.4503, -0.1406, -0.4213, -0.3355, 0.998, 0.4828, 1.9686, 1.5005, 0.104, 0.403, 0.1215, 0.1467]\nstate[eef_state]: left_x=0.299 left_y=-0.0607 left_z=0.1291 left_yaw=0.0623 left_pitch=0.0039 left_roll=-0.0262 left_gripper=0.998 right_x=0.5491 right_y=0.2136 right_z=0.2158 right_yaw=0.0623 right_pitch=0.2317 right_roll=-0.0122 right_gripper=0.1467\nstate[joint_eff]: [-0.0068, -2.441, 9.8393, 1.7216, -0.1929, 0.1538, 0.0171, 0.2667, -11.7265, 9.0188, 1.58, 0.359, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4a463e87c953cb75faf7c92826449265a2bbd0ec588b52e158104a2ecdc760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599a62d3200d6b2bcbc292157307213461157b82a0ab6f681e22513be543d103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efeb8ce6537d8668060869e58bcc5b77d0db76acbe07484404ad8472f49b348a",
      "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 28 attempt 0 · /responses · status 200 · 7.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2846, 1.713, 0.7132, -0.0887, -1.0409, -1.2041, 0.0107, -0.1635, 1.7824, 0.0093, 1.3235, -0.1677, -0.0841, 0.9968]\nstate[eef_state]: left_x=0.2384 left_y=-0.2574 left_z=0.0586 left_yaw=0.0995 left_pitch=0.0948 left_roll=-0.1422 left_gripper=0.0107 right_x=0.3065 right_y=-0.017 right_z=0.0121 right_yaw=0.0173 right_pitch=0.1227 right_roll=0.0096 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -6.9675, 5.135, 0.525, -0.2613, 0.1197, 0.8034, -0.6222, -2.1538, 1.4838, 0.6081, 0.1636, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1297, 1.8305, 0.5514, 0.6449, -1.0634, -0.968, 0.0155, -0.165, 1.0084, 0.131, 0.4572, -0.1772, -0.091, 0.14]\nstate[eef_state]: left_x=0.2886 left_y=-0.2413 left_z=0.0575 left_yaw=0.2175 left_pitch=0.2374 left_roll=-0.3696 left_gripper=0.0155 right_x=0.3065 right_y=-0.0158 right_z=0.0859 right_yaw=0.0283 right_pitch=0.1523 right_roll=0.0018 right_gripper=0.14\nstate[joint_eff]: [-0.0342, -7.0222, 4.0821, 0.9353, -0.0513, 0.0464, 0.6227, -0.3487, -2.0444, 8.8, 1.8486, -0.0415, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 0.9314, 0.4503, -0.1406, -0.4213, -0.3355, 0.998, 0.4828, 1.9686, 1.5005, 0.104, 0.403, 0.1215, 0.1467]\nstate[eef_state]: left_x=0.299 left_y=-0.0607 left_z=0.1291 left_yaw=0.0623 left_pitch=0.0039 left_roll=-0.0262 left_gripper=0.998 right_x=0.5491 right_y=0.2136 right_z=0.2158 right_yaw=0.0623 right_pitch=0.2317 right_roll=-0.0122 right_gripper=0.1467\nstate[joint_eff]: [-0.0068, -2.441, 9.8393, 1.7216, -0.1929, 0.1538, 0.0171, 0.2667, -11.7265, 9.0188, 1.58, 0.359, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4a463e87c953cb75faf7c92826449265a2bbd0ec588b52e158104a2ecdc760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599a62d3200d6b2bcbc292157307213461157b82a0ab6f681e22513be543d103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efeb8ce6537d8668060869e58bcc5b77d0db76acbe07484404ad8472f49b348a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFir6JFo1GS5B5U4i8JlSYJSChwqP8dmTCBFmWKByaHkAqgLFhvlfz_ksZPQ-SytdWBEfppsJ1C95chfSzU5xEkAxjCIVwCFLEPeILgMC109kMMf_W3CLJVwRttw0BXFHt2v0gaB47IqbAw9ViAlPu2zbQlBVOraHdVpTZ_czT4EyCIMvo_S_uFYVUwzRtfA4AOWtyyqjGxqDoGkgo2tMiE2SOmLTZkUE7PFOrB-fChwBd1pmgENM_-tXZAeDMu-tw2qmF1fN48hM0S6Q46M5R9UAESvbz2qAkCwcQers-k46vBfLw871PIkfs5cnVyMtNPAqkAPefd9vRjAiJQfzO8Ydbuq_IyiG1IqP2vxOVvBEaLKnypnSbfIWoGqAvbUjgM7dcGYSLvRcpLc7vmtpNqV3zohL6rxtawUWja7r4UqDXkKGoyf7wcus6qRr-ynyroWbuXBifxiHrMjV-QFmZHdYSI3cD6nfaqC6XJR2cgI-k81H9474CgsssKqCLn3rjLgD1358OhclotHm30ZjX0LhRmuuUZJL2V8N1Zzxazswa-e1znkc4c_Li8k3PgK6y1Sr1HMywoMMbPNs1KAK5SfD0FZeDi69loDNZD-OhwHdC_p2OjGSa2s_JQxm7bv2qRnf3x7hoKr7bB0_mg4XDc_Ze_BPCpsm0RJjW-O9RZSZTCsp04L-SuCXl-eLIEjRi2t-Qa5r_sPH1-__a6MOJ9IJcEAB96VNqxP-1fOUyWDFEhlqaQ50CKdFFd5TqNFtbGuwpIkA9Fs8xWvjUobLGpBQDF7nmZ6FscxJcUeKwITeef3JnZoI_InOlGAQBnVwY3WI2KIoz0c-1heYwc6RwrkuKYwH8ETh8GlIGJsQR3bQRlEP3u22CKPGOxxMMvAM0pHTdZiKv8MH1wnwI2UUyeJTpMYXXb9LW6hXkGp-btrMfYSn6Px3skeVHY3hiQdyHLGnca-9Wtbm-gTldILpd4spDjFFeoI8lUgAneEQyCKy0I6SqQm2TAvXbk2yp3Fita_3xxYdVSedgwUQm-pfbi6F64vOzQIaob92TqtnPC_6Xu9OdLeJhmQkwdjihMdDV0iTJU3lcbC6LyGYYy7rtNyEX2NFWRQOW7Kqp6oP1BYZ8sM0MtAPoE-cvVhAuSgi7qXU81Oqx7QEtKK44ZyJVMdaP5oXqWaVc1sTwboqg6Jkb1F37dbB8sVNI0vLTJUlQNQYrqzhlICgaW4ne4QVgkbOYck-RoFQ0xZV1Xkmp3rZ2kbAq0iP1rnOKTd_clPD4BPWIMhTqnWgvME3uynumKczywIDwlvdLfQLtA_O_R7kaDrQsE5H_rFKaFdCwF79ZNXMiVf_95BkXMnvMFHj8jBkT4C6bARiLlmL7YjVWItBQa7B0rlQPRqAkJIQbeecD_rlv-cK_suhEX1T9NoVora9GGpGcBeNAFwMhPlehqeTspqO4gVxfam6IJXtXYWx_4U9IKKtCwkzAXqAM9NOQYzFin3VZAVZtLOM0uWKJdQsWWs3t4DwH1spsOqdqjh8Sd3KRlfIrnDoamVV66ZXubnZzJj34FFcTr8kern66TFSwk=",
  "id": "rs_030d801d443668c4016ab458a8ad8c87d0a8cd0f61976a3cd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.295,\"left_y\":-0.04,\"left_z\":-0.01},\"note\":\"The black pen is now centered well inside the right basket, so I’m releasing it there. The yellow marker is visible just left of the left jaw column, and I’m lowering around its barrel.\"}",
  "call_id": "call_mBO9O6hi0UgBXxywn5HDC9NO",
  "id": "fc_030d801d443668c4016ab458a9f73087d0b51e648621977f36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mBO9O6hi0UgBXxywn5HDC9NO",
  "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]: [-0.3485, 1.6409, 0.0849, 0.9401, -0.3885, -0.2596, 0.9981, 0.4843, 1.9862, 1.4948, 0.0872, 0.3931, 0.1135, 0.9952]\nstate[eef_state]: left_x=0.2994 left_y=-0.0337 left_z=-0.0035 left_yaw=0.098 left_pitch=-0.0001 left_roll=0.0185 left_gripper=0.9981 right_x=0.548 right_y=0.2159 right_z=0.1993 right_yaw=0.0802 right_pitch=0.1934 right_roll=-0.0329 right_gripper=0.9952\nstate[joint_eff]: [0.294, -3.5214, 0.4171, -0.3248, 0.7399, -0.398, -0.0024, -0.212, -12.8205, 7.4735, 1.9707, 0.1294, 0.0073, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e18c2d988d7ec215180e18dffa65b71c180e7eb52259f617944f7a804cd75fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:135a2fa9671585aaf428f973d0c098f6d6e48cb363ccb49148054522598105b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea0f14edc23e36d42c53c0238293dd28b7d83f9310427d97ef9f4911869eef4",
      "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 29 attempt 0 · /responses · status 200 · 3.186 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1294, 1.8305, 0.551, 0.6006, -1.0363, -0.9619, 0.9938, -0.165, 1.7813, 0.0109, 1.3293, -0.1734, -0.0902, 0.1389]\nstate[eef_state]: left_x=0.2861 left_y=-0.2412 left_z=0.0494 left_yaw=0.1842 left_pitch=0.2118 left_roll=-0.3233 left_gripper=0.9938 right_x=0.3077 right_y=-0.0167 right_z=0.0141 right_yaw=0.0241 right_pitch=0.1314 right_roll=0.0049 right_gripper=0.1389\nstate[joint_eff]: [1.6068, -2.5915, 0.5402, -0.2515, 0.6569, 0.0415, -0.2564, -0.1436, -4.3966, 1.7162, 1.7509, -0.0122, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 0.9314, 0.4503, -0.1406, -0.4213, -0.3355, 0.998, 0.4828, 1.9686, 1.5005, 0.104, 0.403, 0.1215, 0.1467]\nstate[eef_state]: left_x=0.299 left_y=-0.0607 left_z=0.1291 left_yaw=0.0623 left_pitch=0.0039 left_roll=-0.0262 left_gripper=0.998 right_x=0.5491 right_y=0.2136 right_z=0.2158 right_yaw=0.0623 right_pitch=0.2317 right_roll=-0.0122 right_gripper=0.1467\nstate[joint_eff]: [-0.0068, -2.441, 9.8393, 1.7216, -0.1929, 0.1538, 0.0171, 0.2667, -11.7265, 9.0188, 1.58, 0.359, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3485, 1.6409, 0.0849, 0.9401, -0.3885, -0.2596, 0.9981, 0.4843, 1.9862, 1.4948, 0.0872, 0.3931, 0.1135, 0.9952]\nstate[eef_state]: left_x=0.2994 left_y=-0.0337 left_z=-0.0035 left_yaw=0.098 left_pitch=-0.0001 left_roll=0.0185 left_gripper=0.9981 right_x=0.548 right_y=0.2159 right_z=0.1993 right_yaw=0.0802 right_pitch=0.1934 right_roll=-0.0329 right_gripper=0.9952\nstate[joint_eff]: [0.294, -3.5214, 0.4171, -0.3248, 0.7399, -0.398, -0.0024, -0.212, -12.8205, 7.4735, 1.9707, 0.1294, 0.0073, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e18c2d988d7ec215180e18dffa65b71c180e7eb52259f617944f7a804cd75fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:135a2fa9671585aaf428f973d0c098f6d6e48cb363ccb49148054522598105b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea0f14edc23e36d42c53c0238293dd28b7d83f9310427d97ef9f4911869eef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFizLxYFowTK8QSgqR3w3QkUUxn9bfz6ghlhCy7yGNoGEi6dB8-pHd0jayVy3VCCAi6wmbrxIf3mLxYpojraYrT7SHgH05sbdNiBTXpwpL--YEB_WftJYmOCkXG3FXPo1uf2MYgBCGPND8O-pgAZfr1uVo0pM4TFMf_7OBfD1MuOLO2gO0W2XhAHNChPhg4lHVN5DdzetG-hAYMb0G0lQNa9AI5eFf0ty0H9ziNMX9IrpBPVoS8XClN5Si-b86AzI4GemSYXdQhXQte5wzCB-6zMwQO7yLtUZYu0rmG6GPMfzlvg2LuKzjNrDOvVEOxNJa-KDHPSG32NiKryk7lu2jPzdq5y_ea4Eig-bSCnLCNqxhlsBqItoYjhzRyhVG607LcUNquvdM4JlZwgMdNlBRDFRlc8wH-XqSR89IB0B_eXgtUA6f2W0t_mzYAC2aTpFJw47PTTEdrAVFFW_dYr0dGXT-hIS11hl1yjFa-EEUkdM8ReVjo8jxc22cdrlcUVTTHKF_MB1MEZzpSkGv3h32_Bnb3khjWs98t7eKnhZRrdoPvl9Tpp6OsQtCprfjKGy2mtySyWZsoYCbGIL7l5ioiEpdhhto5RTBYXEFGuv3iMZz2nVThqEqDxiA3y7u9pcw5B7I8b8Wp1hOEUIvIbwO7hhwdCNDUXqHk6Z7fvVH4AtfwLaBnCSM1JUWvXgAIxH_T4lQYSujLbW3kvHK6ANOqFgvnA0LG-ykYuIhyz4fusoBnMoto4GAUcDFGtfMceuiBTBnbcbjUhkiV7fIcYfWHukOHp1dR-0I5NE6_99CkUC8Ig9bbfIdBdyShS0HKl4DhMqcZz6hpiXXz8NizF6oHeH2jhuclgb2vHmKZ84kYb9nkni4VEzRUEVjAIqVkPIDOB8TjBB3atwOqaeqTkongwi6Z6U4v8pdaIeWNoitL4xB15ns1ddZtr-Z2An2v2EMR1q0eWczWRzJa1UoKwDGepev2EZHNNqyz0eGu-wgsjTplaqpWAVL8yjXgIofaQ5dxEHcmawfdDW0V0RvI9QkvTqMf2hiTrHKE181xzGaZpu-rJpjQhErGmWY6WAtDl1sCWnyMgXaWrqJSl4-IaONMOcxQow3qm67QpxXCqILzYnywvzC3YxYBVuCYxBgokCFsF_KMZ7sh1gMMAfgtjVjL9eSau_8gOgR5hJWBhOM-q_995_ZPLA3Ieht4p4fbbjkcuuoYQqIN8Ctx1nLk2xPNeCr72ln6LPvIhoiXpypyEXIkk487DUBVP-issA2J7DmT6VANSWCfQ7mZYMvutl0nGgLAMixFxw5lAsBYb81dWfA5lJgint3vu7xI85lWYuURl8mZQx398Avd-Yf3n4SWEC6Whcf01FWDnt3IpWOg3pLRwOicajQQ47h1midvrLqbl7yWF9tJ1FUhype21_uy0Whs8y8n5qxLnHFcOW4s11TZhn_MfowdKZFs-VadRemOEOeFfKk8AMph14e3KZH9f0RJJTMeRjjOn8JpOvI_sAirJoFBf8Yl7pA2wDaGRHa_yDSxpBjy1noz5LcGd1VDemmymx_JZMbkePpsE18_uEmoSpNZzx7zbEhGtT3QPkqD1I0rLO8O1nJsFFOfQgdz_qniOsqE03es_NqHNdxj5wVwgHAOtdkSD3gZBkMnGOZg7aAB2YZPtGbm8pUbl1QlOjEQ37nRrZVo_vGQN9C_-Ij66xhMtNtwovUHPQgUi-HYofVq3R3i7YGxUyYFblJfRcno8cu970nzx0NlR2XBN_DBME8gQpt9uaYyjB08mRgITGBFx0RMRgbTzWFWOf2mKxchgL3NLUnmFoH-oWtpfnKKgAcI1FV42btlOVRbW76MXBzWtVwafgEHa7nOGRsUVNG8tTos4h-ur9A06nRiIDj49QKVzUB_Xk5x0aGFCO7_HOfM2FrJ8qMvwKUw2s-o7VmOoYfdMD4eQ7ku8d-kEDku8cBZ73_LRuHdVxj8dWX10eJSlKcsZCy6DYebqXtNpuBRV8q6-jTHwCYjz_H5lUnHe3pSyx3Mw_NFxmvTmkF-VkgYbo3eMMpa1g25DQDHQr_KCjoy482qpZ_qELAA-RMQYk1d0JF2WujzTpEFYeVDC5DG-UvfoW3PDpxP9RW1OC8tbFjYS47O4tyXmHpCOwHhJVJhxDa_dj5x-X-QOqx6x8w5r3blIXZnwdRdTS5ac4qpRxH4FCHNxLIZv07EeMJ7R2-AzxsKhRRvnbTt-TnW7sPy9TgLdVcfurlwe9tZ7ty1t9OWsiZtr46lsSPR3nrSLbDCD2qzA0NXaX-LoOfh1gPgQKJ6WlMPY6QJUhHGAfnQ38WhvjwDjOG1RXCT9u19-hIlJCvuyFF5wiLKOdXFnhTkqYVaM2NtuXlYCNz_FMtAfXyMJy9wgLUsXDCbPHGhD6zhxjANGompCNDwqv8pk7FoJm-amG9pWjGDsU-Up_6MPfCv-jNYDIS3Gsb-UedWH3tFtVJIebDG5B77B4NzpY32SYKIyxJbBQRorxLkrUSUflAwPJqdwFdlk1i1E9owQWRjK99hNINnAp_uvg1yKGNgU61UkM1Bdj0fmBekZtqCsRDzXUDNOY3YoR21nLyd0Lul3Qkb71nSBpKLliBnf-MlaNpBduc5x48nUDVn3DFxRTKBPbC2qfETpMs2PyE1795UnysEBdzaHB2AeGdBctQiVFcroOHhCBgKv-MIllp8Wt36MhAXMdpOKDTwu3h40eNC9zLtz4Q3TLyc7qqZjtPBhWXWz99OCpoeAhDkTR9kHgbMJ04pM--WYJEPXq1iUGgxmtGBky9A8s7CZ6A5eR0W64m8XIo2ZV0Ki_w2aSrgznMsRCP7TQbAIpkx7t3RMtWfJYLVqVmjHE4rC8CoC9LSxYDEWif1DXVQj3jM78HBIabzIMym2mqOrfDgbNXA=",
  "id": "rs_030d801d443668c4016ab458ad6ff887d086bf13a005ce1be7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.42,\"right_y\":0.16,\"right_z\":0.13,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The black pen is visibly inside the right basket. I’m grasping the yellow marker and bringing the right arm back toward the blue pen that missed the basket earlier.\"}",
  "call_id": "call_P7PFSQDBl8V3pWhmn1SurhhK",
  "id": "fc_030d801d443668c4016ab458b289e887d0927d1a0bc2de729a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P7PFSQDBl8V3pWhmn1SurhhK",
  "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]: [-0.3481, 1.6451, 0.0803, 0.9714, -0.392, -0.2619, 0.1551, 0.49, 1.6329, 0.9173, 0.0925, 0.3622, 0.1734, 0.9986]\nstate[eef_state]: left_x=0.3012 left_y=-0.0337 left_z=0.0003 left_yaw=0.1025 left_pitch=0.0211 left_roll=0.0085 left_gripper=0.1551 right_x=0.4264 right_y=0.1606 right_z=0.1229 right_yaw=0.0871 right_pitch=-0.0127 right_roll=-0.0515 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -4.3282, 3.7265, 1.4042, -0.0904, -0.022, 1.0281, 0.294, -9.4291, 7.0496, 1.7753, 0.1343, 0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda04d967480d497d75938d77e2bde5564ae10e0f689205346ced43d1237f78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193c3c8006484cc4643904cc38e5a7014323c06e0abec3a2c6049486d3c42021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29cdf9550fb4189d37cf5799a3add191c0b5e5fe54f3c2f22e07d330942a40f",
      "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 30 attempt 0 · /responses · status 200 · 5.251 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1297, 1.8305, 0.5514, 0.6449, -1.0634, -0.968, 0.0155, -0.165, 1.0084, 0.131, 0.4572, -0.1772, -0.091, 0.14]\nstate[eef_state]: left_x=0.2886 left_y=-0.2413 left_z=0.0575 left_yaw=0.2175 left_pitch=0.2374 left_roll=-0.3696 left_gripper=0.0155 right_x=0.3065 right_y=-0.0158 right_z=0.0859 right_yaw=0.0283 right_pitch=0.1523 right_roll=0.0018 right_gripper=0.14\nstate[joint_eff]: [-0.0342, -7.0222, 4.0821, 0.9353, -0.0513, 0.0464, 0.6227, -0.3487, -2.0444, 8.8, 1.8486, -0.0415, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3485, 1.6409, 0.0849, 0.9401, -0.3885, -0.2596, 0.9981, 0.4843, 1.9862, 1.4948, 0.0872, 0.3931, 0.1135, 0.9952]\nstate[eef_state]: left_x=0.2994 left_y=-0.0337 left_z=-0.0035 left_yaw=0.098 left_pitch=-0.0001 left_roll=0.0185 left_gripper=0.9981 right_x=0.548 right_y=0.2159 right_z=0.1993 right_yaw=0.0802 right_pitch=0.1934 right_roll=-0.0329 right_gripper=0.9952\nstate[joint_eff]: [0.294, -3.5214, 0.4171, -0.3248, 0.7399, -0.398, -0.0024, -0.212, -12.8205, 7.4735, 1.9707, 0.1294, 0.0073, -0.1978]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 1.6451, 0.0803, 0.9714, -0.392, -0.2619, 0.1551, 0.49, 1.6329, 0.9173, 0.0925, 0.3622, 0.1734, 0.9986]\nstate[eef_state]: left_x=0.3012 left_y=-0.0337 left_z=0.0003 left_yaw=0.1025 left_pitch=0.0211 left_roll=0.0085 left_gripper=0.1551 right_x=0.4264 right_y=0.1606 right_z=0.1229 right_yaw=0.0871 right_pitch=-0.0127 right_roll=-0.0515 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -4.3282, 3.7265, 1.4042, -0.0904, -0.022, 1.0281, 0.294, -9.4291, 7.0496, 1.7753, 0.1343, 0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda04d967480d497d75938d77e2bde5564ae10e0f689205346ced43d1237f78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193c3c8006484cc4643904cc38e5a7014323c06e0abec3a2c6049486d3c42021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29cdf9550fb4189d37cf5799a3add191c0b5e5fe54f3c2f22e07d330942a40f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFi3Zadc-jXY3cnm4RxiQMZt5Nxf8GjfYmXfX_iasyfPjDz6x0YfjVlnVXez3b3x-LsZrtC3yFfqx3seKRKPRx3zO1ZXjfSs05ujjAOWyLSCsOXnUfv3v_dwBu7RqMrciNtYwYA0L8jbAC-5mS_lxcToB9e-PtvrhyHtigrBzkDagP0wFqRP-8b2vKAlq1Lk3u4ygL9qbDfN6CmX0ML_EawigUd4RKGCmldksS6WbqQGZ81B3UGclIjVq3KAcle3UJeeEE3HoPYVwsE-ze03SpmOkPTifvLIBECPaXKoLaybU4P7HJhp6QrtFJlA23CAqcfGoDYsrvQ5__FdA40wQ3fa-3o7yAOD38BUTwetJAiBiLDqFtL4ORi1NLI_jkEMwM7mnf4ePgQNhwyo42MqhcqtSNDbA80MYIgqqyNybBVN8IpubH0QkI17uJ_-S5tg5HYbgF-Z-Ap-Wr-b69_KGUHreBZrZQh2Ubgs_qynwnddyOqjuIQxmxaq0sVf-5BKGWiPXJOZ52c072ZOGDCa0H8kTwV2xvNmcNuG1MALRRls3fVIHLXlKzZ-2yKTMilAPJ9gTRDaKHpPAd8D-vtTysnP_ejZj82bY4c4BUvUN-M9H0sfaGqGYEt51r7U6gOQPLLtEDd9IG22VU70PYGNf02JRgFGtybrUfY-DFa8Q1LvF-fSsZHXpq6BUmNjnEvSJuaBGnWdbAX0N6a7ojoR9XGaTBQnvFjAU4xFV0xVU8tlDqpn9Q3ru2sAd6BpyGmSw5ZQCvWQ3L3DL3W_rO-Ca2DQ0l5rk9fuzNeQ4FME2jFEfm3LiRSV2ghYhCzuza1dDNEKn2-99vg3hSjCWAHgeXPYdb5IsovJzC-lI9XJv_0Emm1v4xoEou-xZtBrvjsyPq7WBidw01xQZH0vYe1SCduOFu6vkQi3BLNFOKvY7jU_wCDtG0uzVHi3LUvB89dvKmYU_rXem0QBWW8Ujc7SEZUyfdZj4uBHXUJ9nK8G_00sZEXaDgsvgN0efumV6DdONfimpUvFBRIOmdnYN4M6cE09bws8SYielOwYFDdgCK6Er3EKDKQ2ioowWB2hEqwNv2YOdmbNH7i1WlFWW_8V7sgHRmXoB56ZRLnNIRQvX-Chm1Ft8GKHI6u1dGnaqHO0k7qIg4rXtMmxzBMfEQzbazrgtC1vEIIKjFrfDgz7xZ_Wfx9LOXTV6-T5eQG0TZ6dk0qyYwjYAC-GI52OBRVywD1MQsxdYnyds6SUmu3nEOgiEqvnHbZR6b7I09n8lfitsN6jmRlPNbps2YlZhK0B6DGf6RjWkJ9n8kPEzsYJpZ81cMQqkmFqQ2A0xp27hpnl9BTMJMIOQAcGBV9ohg2h91kYTkmGA4iiNSj7zpaGG_0UoQbjS4QyKzKQHstc41Q26x7OALn_kw3Ifrln4V3uNqtNQdM9Fnq43Izi_X3nqEjQHYrOlAp0PC9ec6aZ5045wQZoCsSCexWIe8zL5hKlF77sxA==",
  "id": "rs_030d801d443668c4016ab458b5d18487d097aecaacaf5937eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10,\"right_x\":0.40,\"right_y\":0.145,\"right_z\":0},\"note\":\"The yellow marker is caught with a clear nonempty opening; I’ll lift it for confirmation. The blue pen is on the tabletop in front of the right basket, so I’m lowering the right jaws onto its middle.\"}",
  "call_id": "call_QI2tNTWrQezBZiGjmrO482BA",
  "id": "fc_030d801d443668c4016ab458b6a37087d09442fc150b4206f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QI2tNTWrQezBZiGjmrO482BA",
  "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]: [-0.3481, 0.9821, 0.2802, 0.1493, -0.3885, -0.2623, 0.1608, 0.4889, 1.879, 0.6323, 0.6571, 0.3759, 0.1608, 0.9984]\nstate[eef_state]: left_x=0.3044 left_y=-0.0354 left_z=0.0968 left_yaw=0.1006 left_pitch=0.057 left_roll=-0.0112 left_gripper=0.1608 right_x=0.4084 right_y=0.1478 right_z=0.0203 right_yaw=0.0814 right_pitch=0.0209 right_roll=-0.0562 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.0581, 8.8, 1.6484, -0.188, -0.022, 1.033, -0.4171, -5.5179, 2.8376, 0.569, -0.0317, -0.0317, -0.0317]\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:2913eb7eb727b8189c5570b1e4999cf2e0464066f0fd9964bf312276a0257db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91f86d4f8c46895ff801b5a6c7d16919d5797749f88af372be060e1e48c1ed51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0551a43a947e9ec4145df3bc7e460c54dfcd6b1443756407e7bfdc89bf0ed5cc",
      "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 31 attempt 0 · /responses · status 200 · 5.158 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 0.9314, 0.4503, -0.1406, -0.4213, -0.3355, 0.998, 0.4828, 1.9686, 1.5005, 0.104, 0.403, 0.1215, 0.1467]\nstate[eef_state]: left_x=0.299 left_y=-0.0607 left_z=0.1291 left_yaw=0.0623 left_pitch=0.0039 left_roll=-0.0262 left_gripper=0.998 right_x=0.5491 right_y=0.2136 right_z=0.2158 right_yaw=0.0623 right_pitch=0.2317 right_roll=-0.0122 right_gripper=0.1467\nstate[joint_eff]: [-0.0068, -2.441, 9.8393, 1.7216, -0.1929, 0.1538, 0.0171, 0.2667, -11.7265, 9.0188, 1.58, 0.359, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 1.6451, 0.0803, 0.9714, -0.392, -0.2619, 0.1551, 0.49, 1.6329, 0.9173, 0.0925, 0.3622, 0.1734, 0.9986]\nstate[eef_state]: left_x=0.3012 left_y=-0.0337 left_z=0.0003 left_yaw=0.1025 left_pitch=0.0211 left_roll=0.0085 left_gripper=0.1551 right_x=0.4264 right_y=0.1606 right_z=0.1229 right_yaw=0.0871 right_pitch=-0.0127 right_roll=-0.0515 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -4.3282, 3.7265, 1.4042, -0.0904, -0.022, 1.0281, 0.294, -9.4291, 7.0496, 1.7753, 0.1343, 0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 0.9821, 0.2802, 0.1493, -0.3885, -0.2623, 0.1608, 0.4889, 1.879, 0.6323, 0.6571, 0.3759, 0.1608, 0.9984]\nstate[eef_state]: left_x=0.3044 left_y=-0.0354 left_z=0.0968 left_yaw=0.1006 left_pitch=0.057 left_roll=-0.0112 left_gripper=0.1608 right_x=0.4084 right_y=0.1478 right_z=0.0203 right_yaw=0.0814 right_pitch=0.0209 right_roll=-0.0562 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.0581, 8.8, 1.6484, -0.188, -0.022, 1.033, -0.4171, -5.5179, 2.8376, 0.569, -0.0317, -0.0317, -0.0317]\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,$blob:2913eb7eb727b8189c5570b1e4999cf2e0464066f0fd9964bf312276a0257db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91f86d4f8c46895ff801b5a6c7d16919d5797749f88af372be060e1e48c1ed51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0551a43a947e9ec4145df3bc7e460c54dfcd6b1443756407e7bfdc89bf0ed5cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFi9nSSL5ffubcksz2L-nvod7ST9760Eyn_XhPkdj_pVgdGny_iUZhGiLTAdRsCiY91D0TVT_MmUHv8Qgazmmx8siyfDELAayklsEJmTLtqjr2dOofQLcwSTO5H7AcLSthnVyT0rSZIEngrZt3QBXSGSfGTvLPujsydNg_-W7XAkZdWF3ES7cpPBS7Tom31UEXqtAgeHoYif0SWRvolKZVHFW1llEcH3diBfadyeUEmwExbzCn3KPUA7Clhfi0G1PmCeQ7-v92j5tmJG-TTpCDDW8dXd_n5Fgsim6t1zATdSycb25wWRIFixp3Db8m6ocLZHEI02eY4r_o128996qRpgyc22jxhsCOhE0O9120zinxsAqQw612F-mYyAcwgImzImUdsVDYAqvp3ibRPNczk9OfZKj6JW7rKOMr_JruASok816QF8oBadDGu3EiDJ8LlFpOWVxepIgZlHkuVU27TAuoSiuaM_G7vwIA1OJb15I7QZzbAoSgwgJV4KQLjpzjMkhX0dU4qxiJtFARfxE_kFKZM9oIxmyHIfvNYw4SFW4JSXKMFappVwwzqjS8Uhb6XA7P8X7QLVTY-PDHrNz8x17EVy9ssjuLcHfq88gq23XQry84VfdFIr6XW0C2cMXzbg6jXoYmS6qbItjHDX_1KjA1gl7d5i8NqkFVgL2oOrAWZl-N9eeKqRK3nPwtiO0BZBzHEu8SwAZ_4Uuo_42WJViOD7jln3Op3xRvswbk0NJq93vDNYefz9rMcLRloWNkX_UcHoVm_FnSOPDhljqjAueLqYK3rMMB8E2UIXOm9JYIfxAR-elgP-03Xh1nbrJSAqbulegKS0ivtvwjOX4t8xgCewMQ81rtGc8_PS_WSUh1CuNmC2GbkNoiXqyCqEA5dMbEh2ooW-IFilFAFm8O29NnHAkFAOwNlaBh87LgyAkpKdCSdhtdvtQZtexcA1Sb1Bwl2UrJVIWXxVTTJkLhrmNVSyMrdqfWx-e_fFypjWPzl_VzsTh7fshdxNXK_d7z8lYo3CagX4M5BVA2eBMWaYZCBRnMZ3STCcp0O7apzuDsqVWxb7_AzTDyO6MjKgRRi7yopsVu8WThOt9izvCj9kKie9zd6i0ZwgY7uhxJrb6xKmp-2rG8LwlGvjaxLr_ggODHbiRd0YfuffAaXCss_Jge76-76WhoZBSY7GY1WilHSHoPkNrx1QhhMEg0NodwwstoJLjYmjGWGDnJGAoZYBGveb27qHrlzdyaQsWKsvTxtZ3AbNR9OhTXGcJsZiGJBjLgB3KWuYe1fpoHNGE7snZVyFxjx-sWHNa4trI53eAPF8Le18_lldc2kMfqLrLKmxRTBHOLk7wv-maxX0TwWteh85iBVu0ta0EGFkKYz0FeukT3gbhuMiu_uXF4PRLNyp7dVIZbff3FondLbks69chpovHulkL8x0P9WMMDOZM5UPbnRom3CbjvZ4Lc3bhuRUW25n0zjZSPjPl2BiGABMQQhptV1gar53ptf127Y-sh0n3LrdUXURxqCmpG4l9DebxPrlw4CwR25qMpJvXHWuOqKKRWfXT9zsW9XTzoY704dDwTdAWsO6Q6k7-Ak5c-UagBRun16WJrfwmJ5EWHqTFoBiaAKYVZcplTqJTHEQRgld30q5WetNpbthrmsm2-xQRKZprN7klneyd6rMlQYl6w==",
  "id": "rs_030d801d443668c4016ab458ba8ddc87d0a5b9c841b5c60592",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.53,\"left_y\":-0.4,\"left_z\":0.25,\"left_pitch\":0.2},\"note\":\"The yellow marker lifted cleanly, and I’m carrying it toward the left side of the right basket. The blue pen lies across the right jaws, so I’m closing around its barrel.\"}",
  "call_id": "call_gdTG2ecz0heYvwr5dr6KHOwY",
  "id": "fc_030d801d443668c4016ab458bc249c87d08fb79e3f6eff15a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gdTG2ecz0heYvwr5dr6KHOwY",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.8494, 2.7064, 2.8246, -0.757, -0.8867, -0.551, 0.165, 0.4892, 1.8866, 0.6254, 0.6655, 0.3737, 0.1577, 0.0095]\nstate[eef_state]: left_x=0.5292 left_y=-0.389 left_z=0.2036 left_yaw=0.1401 left_pitch=0.178 left_roll=-0.0075 left_gripper=0.165 right_x=0.4065 right_y=0.1474 right_z=0.0165 right_yaw=0.0853 right_pitch=0.0147 right_roll=-0.06 right_gripper=0.0095\nstate[joint_eff]: [-0.5538, -15.788, 7.6923, 1.1795, -0.1294, 0.5104, 1.0232, -0.1573, -8.6085, 5.1077, 1.5702, 0.1441, -0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e449996faddce61bac03b535ec92b629b5b07aa70f13429b90b967f1181434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e843a071f9e3a52f168b485cb04d2f43d2df3589e9fcd62e7a60be2518b0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b397bbb0227a64448ca211c6691fbeb1f563fb87cc63e15b965530280f2343bf",
      "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 32 attempt 0 · /responses · status 200 · 6.315 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3485, 1.6409, 0.0849, 0.9401, -0.3885, -0.2596, 0.9981, 0.4843, 1.9862, 1.4948, 0.0872, 0.3931, 0.1135, 0.9952]\nstate[eef_state]: left_x=0.2994 left_y=-0.0337 left_z=-0.0035 left_yaw=0.098 left_pitch=-0.0001 left_roll=0.0185 left_gripper=0.9981 right_x=0.548 right_y=0.2159 right_z=0.1993 right_yaw=0.0802 right_pitch=0.1934 right_roll=-0.0329 right_gripper=0.9952\nstate[joint_eff]: [0.294, -3.5214, 0.4171, -0.3248, 0.7399, -0.398, -0.0024, -0.212, -12.8205, 7.4735, 1.9707, 0.1294, 0.0073, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 0.9821, 0.2802, 0.1493, -0.3885, -0.2623, 0.1608, 0.4889, 1.879, 0.6323, 0.6571, 0.3759, 0.1608, 0.9984]\nstate[eef_state]: left_x=0.3044 left_y=-0.0354 left_z=0.0968 left_yaw=0.1006 left_pitch=0.057 left_roll=-0.0112 left_gripper=0.1608 right_x=0.4084 right_y=0.1478 right_z=0.0203 right_yaw=0.0814 right_pitch=0.0209 right_roll=-0.0562 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.0581, 8.8, 1.6484, -0.188, -0.022, 1.033, -0.4171, -5.5179, 2.8376, 0.569, -0.0317, -0.0317, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8494, 2.7064, 2.8246, -0.757, -0.8867, -0.551, 0.165, 0.4892, 1.8866, 0.6254, 0.6655, 0.3737, 0.1577, 0.0095]\nstate[eef_state]: left_x=0.5292 left_y=-0.389 left_z=0.2036 left_yaw=0.1401 left_pitch=0.178 left_roll=-0.0075 left_gripper=0.165 right_x=0.4065 right_y=0.1474 right_z=0.0165 right_yaw=0.0853 right_pitch=0.0147 right_roll=-0.06 right_gripper=0.0095\nstate[joint_eff]: [-0.5538, -15.788, 7.6923, 1.1795, -0.1294, 0.5104, 1.0232, -0.1573, -8.6085, 5.1077, 1.5702, 0.1441, -0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e449996faddce61bac03b535ec92b629b5b07aa70f13429b90b967f1181434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e843a071f9e3a52f168b485cb04d2f43d2df3589e9fcd62e7a60be2518b0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b397bbb0227a64448ca211c6691fbeb1f563fb87cc63e15b965530280f2343bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjGD2a9g08eUEQpZg1Dck7WImTAvSrb24PFBVUc_oZNL3pjsDn0HZUQnIYz2zrUB4Ta27lmKKfhy9HqZC5kEDFyekB5L55haC3LuXrsJVsd4ycay-jhxf1BHk_OL4IVZBnVnzOZW1wWhQq5_Mh14J_WxYIrc9w29XcOUhna1hexV6Ycf0o9p9cUlrGVhKjouWNnm23mMEfq7Z4eTwT5ecmvVo3m7GhiIufISrXGiYGMhT73ZeO_PydZCmK9WZkJUMQvzvQq2q1JxUPSU6he9JFB6D4TpJKZDo5kaeTwsdKYtBAk2ztaISWWXKOKV5iuNBp_s4FBCXvYnQkJfc9FF-NrLXHoH11cJD7xhopBo7jI5R5ja8RUI8O8ln6Yb_jwFQiwTMWpeEgOECXlpIMqQK9Ds49dp20Jb_kTh9tnUBtUD9ItRykp2EJbZMPdFAMDY_obNcBuM7gsYL7lQGkUB49xWjQiQUaZRt65b-TkRNikq4DGkCdzLD3HqUrv5hSB3mqatRkTM8Ws2SYZfjsiEB-GYRx24U3lSYrsyL7QLiAkkYfVtvy5eI6d2PX9LnMRbARUL73l6ouMmYwbud5BTkKgayp41xVS_jKmszUWUoQ7_qSz86QEaG6M5IxaMOqk79tebdxlo_B4w6Jn2aA-2JAR8dTu8e_FRKlrG-9dWlQv6hB7qJvVMNNmIqtJgQNwAKtWg2AKd7b7_LwM4Ga93c1PIBcLtJIgTInFc3mQVsFwTwzhVmCaeg8E42u-VjDkeFDi3UWNrB-MzVef8t3e91rzVZb4Geo9bucNRWm4NFIIAgKnkGDvKxeAFidmUIxhSSRfa4k-WC7D2jg3IWaOcppAWDBR5X55VZfjyOzCDlfYeRLU_EmpCXhrlDf-YeOcRKxtWIDykUrS49dHQCmdfdFaw0ZkRtWoG4JIhf1GlOsSDiO-uBsvD41PvHurV0uI4Sy9IsYbx6uENdr0-5mz18NSp8--86fUcN_-sWQzf_PvhljmJ3-Y-8lZFAgCEZ352oDyro3Gly9iay-Y7hR_S9pA0ZhklxQq0eaZUmZLPBV6MfIXNUoniEC-ldinJLrEQVU-fnbN6DitTZE0dwyLa6WiBqxHL1FAflcj3hYvDcG4TxXt_Q1RNSuiVegtPpEdyv-J0tXDrEkuxgcZRxcgHmJBjtrLwvaCk2DdEDVKgQGrXPAoSdBf0bcsjBizaILVERrzEc6GJtvudZtBPqGwGudtMaxByIw6D1844W3Op4kJkFEY0GRGLvKRLWTizEuTZbtsME-K4Q2LlUeGEkkpXytuOBCWwSuxoaaBn6Svtk-lLz9oFd14LIEMu-qnTyEMUfQnAhazWgt7AWS5EcCYpu-FZXH3stdC-EvQIEPz39g-rFXAyfksnfh2SYWTTOJ3TRibOrmOcgJyNIzDQr2ecrzPeUd-KglkkB7usGTQt-Dnkttk4JEFnAj5LuMMH-FUSj_x8MDtjRHWRcU4hTTe_JYEUh2CBmSWBU0L1fANWLzM-Ho=",
  "id": "rs_030d801d443668c4016ab458c2c82887d0ac4928e000d9a462",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.085,\"right_z\":0.05,\"right_yaw\":1.57},\"note\":\"The yellow marker is over the right basket’s interior, so I’m releasing it. The blue pen slipped sideways during closure; I’ll reopen and rotate the right jaws to grip across, rather than along, its barrel.\"}",
  "call_id": "call_T9PLdXHr1KB9gkLPutZB05Qt",
  "id": "fc_030d801d443668c4016ab458c3ee9487d0a116fed936008e49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T9PLdXHr1KB9gkLPutZB05Qt",
  "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]: [-0.8471, 2.7647, 2.8231, -0.7731, -0.8837, -0.5735, 0.996, -0.1722, 2.1651, 1.4113, -0.3103, -0.9539, -1.3159, 0.9944]\nstate[eef_state]: left_x=0.5316 left_y=-0.3899 left_z=0.1641 left_yaw=0.1423 left_pitch=0.1349 left_roll=0.0347 left_gripper=0.996 right_x=0.4894 right_y=0.0647 right_z=0.0563 right_yaw=1.2414 right_pitch=0.0103 right_roll=-0.2817 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -20.3282, 6.5436, 1.5849, -0.3785, 0.188, -0.0366, -0.212, -11.3162, 4.9162, 0.4322, -0.7302, 0.0171, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4776faaa99db7f7b07c0e71e527145a50906b1017615387cac849f166a18547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cf6f66900e3a4e723dd0e0ba8595216fa756649c13bd9261e1cc3fb36e8eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2465cd506d8bd54754051af3f61b917c660390c366f056f2b82a9ea8a960bbf5",
      "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 33 attempt 0 · /responses · status 200 · 9.1 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 1.6451, 0.0803, 0.9714, -0.392, -0.2619, 0.1551, 0.49, 1.6329, 0.9173, 0.0925, 0.3622, 0.1734, 0.9986]\nstate[eef_state]: left_x=0.3012 left_y=-0.0337 left_z=0.0003 left_yaw=0.1025 left_pitch=0.0211 left_roll=0.0085 left_gripper=0.1551 right_x=0.4264 right_y=0.1606 right_z=0.1229 right_yaw=0.0871 right_pitch=-0.0127 right_roll=-0.0515 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -4.3282, 3.7265, 1.4042, -0.0904, -0.022, 1.0281, 0.294, -9.4291, 7.0496, 1.7753, 0.1343, 0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8494, 2.7064, 2.8246, -0.757, -0.8867, -0.551, 0.165, 0.4892, 1.8866, 0.6254, 0.6655, 0.3737, 0.1577, 0.0095]\nstate[eef_state]: left_x=0.5292 left_y=-0.389 left_z=0.2036 left_yaw=0.1401 left_pitch=0.178 left_roll=-0.0075 left_gripper=0.165 right_x=0.4065 right_y=0.1474 right_z=0.0165 right_yaw=0.0853 right_pitch=0.0147 right_roll=-0.06 right_gripper=0.0095\nstate[joint_eff]: [-0.5538, -15.788, 7.6923, 1.1795, -0.1294, 0.5104, 1.0232, -0.1573, -8.6085, 5.1077, 1.5702, 0.1441, -0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8471, 2.7647, 2.8231, -0.7731, -0.8837, -0.5735, 0.996, -0.1722, 2.1651, 1.4113, -0.3103, -0.9539, -1.3159, 0.9944]\nstate[eef_state]: left_x=0.5316 left_y=-0.3899 left_z=0.1641 left_yaw=0.1423 left_pitch=0.1349 left_roll=0.0347 left_gripper=0.996 right_x=0.4894 right_y=0.0647 right_z=0.0563 right_yaw=1.2414 right_pitch=0.0103 right_roll=-0.2817 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -20.3282, 6.5436, 1.5849, -0.3785, 0.188, -0.0366, -0.212, -11.3162, 4.9162, 0.4322, -0.7302, 0.0171, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4776faaa99db7f7b07c0e71e527145a50906b1017615387cac849f166a18547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cf6f66900e3a4e723dd0e0ba8595216fa756649c13bd9261e1cc3fb36e8eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2465cd506d8bd54754051af3f61b917c660390c366f056f2b82a9ea8a960bbf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjN5WgXGiA6ZfgClk-aH3eoAXlJYT0mUH2-BFPuBa_QlBPvYyW8CoYnleQ4pjtDQ81KRHFdNphoSPWJnxvhsXqkpRFd5p7wmY7kHrNbMtKj_90K46qHJEk1lqiQ0kxAMw5HDCn1dQLZd5NWszM0UvFZmhbmWIRUWH4pF7zWqKB_rvgWWn_ZJxIv_mcNq6JtZVF8qEgKz7moTp5x9B8q-ab9tTqHdWg6DD9khu9r2f22c3R5DQ8hv-Yyp2Mx8m4aAQeO88Fmyw6Bo5O4NTRs_Cfptd7kLcPlafMtaRNPGF047OkWwevLwW1HYlon9_5HZfHXx-eMC1pWvEHfLpI-KnvlheMpBJWMyVjFG5DwjLmbrrej7Q4uCTEGKhkq-ZvKg9fHlfhiv6oax_2cG99bdR24Clr8SqMr-qFrwAm_Leri9qNqq3GRNbXHHcnwHfOlQAXW1AfKl25fezvOL-NurAystV3jYLbmqsJuIcI26b8pIP-Utkq-L3jun39JeE6sP6dZo_oRV6lCWTKn_W1xmkS9Hox5TwEL6aqKwDMw7c-ezv0UEa3kaTXtXRVrxajqAkVik_7qSoIHebf7fboAqsa7WE8rsvqs6gZFU2zBkbSWq-ayK4HpdE9_WpFaPsWxAwKSs1PmmGLtdCrSEXv9oomroMPKvxalooPch1Mvg7ihK7dkf6pC5wk9ay-5qo5gGNCEFSPV1iIILlFqdd_zI-3Umnfoj_Lc2um94m-tMGEBRv6cHAQlXeNo_P-vzSnLiW8helyLQIRaTK7fU2YE-r6uf7QGLp4G5dpB5bIdvxfkxAsYG3Cx0LHMNQBvdXXG22pps9xjdna0w7_pM_Q3pLAr4lv8idC28wH-IyI7r39lrCTAU3QFEtF3TlBNGPR0VdrdLqLygj6Wm3iXM1bqe_dotGiMVzdMw-klkIrJaHLzWvkjzEVpNf4Kc0KSsBtdhb73I4x8egwhyqP3Xk6k1eW0_zMfYgWy6ErDQLWYLtnI4F_HHEJIbykJBM4dsdRsQountivJqUVizSfDZuffnjMGvnQ6pxkcauS4sAeQGZw2ezd39J4ac_iCjyXGzNQA-Oec1PTmkG7Ee4SJ6b0tDhiGspGaBnE7Q4RXuS5jMJ2roiLMbKwnEbIdTXZGalBOL8wcypvVkdeecz22Xz9K83FM_Ic6-q7l9FECbvaMKaLtwfANk6ZihiCRtyPlgJOiPIsh8xAtsQ7B7e90WCzCn_RvrJcqoCgx7YVacQgtXLs7t0S6GxNFemBg5uaoZdjX8BqHVu9fFn5gdIfFmUSjWrIJeHZDBtgXlawgsSBLN-a-U8F4sJsOf-sxlTpsw7SRo8aOTcDp5ArjJ-nRv9roGXPQgMw8rSEEgE5XQYQkor0zL0OGCsUYmL6FeuEiAxjpZWoTKbCsAidd7R0Sbg9AZmKB5U07ud8gTJSLP839kLbAuIQF2k5SSrmp7PTHAw995z93DdL2bwvlQwiiYIquFnAnJ1OPrMjAfY7_u1aF6xey9kZgQfioKoMwqarNttIjwbFJQHbBOBrw5hIZ6nd0MuFGOWz-Y7vBbBiAZ6NEaP1Ef8SqcBNYRxhz7NOzVl4XR8wVHR5IbHeYBwjgiAloC5mBFEUZeI7QzckDxCVFuNOy2BnKa9k4wW0UmqFZcQP3QQIrPWibMkH9VeOZLwAfLiyyIYH0d0LCM1JL3duQzfgUmiRo2pB-M5wJI0TLDtfxy8NdXflAIqycT8Kl4QvbOdjURJblF38OJb5jtq2ivNftDR0yFtvNAGQrenzRx0BCDOIKwZXsF3XEdHkj9jNZ9EIOTQT7CiPXwinABZYtlDbe1hFtIVwDfAF__fqINksbl7jl5bAPFqUJb32LD-SSgsXBmOr_3JacTVWcJLtMGqLC1NCIlLvMfzahqXCRfE0RWsO2zLmovu-yKrBaVY3Vc2Tzbw==",
  "id": "rs_030d801d443668c4016ab458c8761887d0bb05ae434cd78f45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.21,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.34,\"right_y\":0.07,\"right_z\":0.1,\"right_yaw\":1.57},\"note\":\"The yellow and black markers are visible inside the right basket. The right arm overshot while turning, so I’ll raise and recenter it over the blue pen; the left arm will approach the cream plush’s upper torso from above.\"}",
  "call_id": "call_yccSMDa02LPFItquOwEvSvRn",
  "id": "fc_030d801d443668c4016ab458cb868487d0b675d904759cf79e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yccSMDa02LPFItquOwEvSvRn",
  "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]: [-0.8864, 1.5158, 0.8486, -0.139, -0.728, -0.6041, 0.9967, -0.2569, 1.9297, 1.235, -0.638, -1.0012, -1.668, 0.9948]\nstate[eef_state]: left_x=0.3309 left_y=-0.2139 left_z=0.1255 left_yaw=0.0057 left_pitch=-0.0049 left_roll=0.0185 left_gripper=0.9967 right_x=0.4045 right_y=0.0512 right_z=0.0879 right_yaw=1.3563 right_pitch=-0.0162 right_roll=-0.3076 right_gripper=0.9948\nstate[joint_eff]: [-0.4034, -7.0085, 6.8171, 1.4969, -0.3297, -0.0904, 0.0611, 0.9231, -9.2786, 5.2444, 0.6081, -0.7595, -0.0659, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605553182efdcd2fdcfdc9e0c2172ec43eb2c667be161b093899c60154057360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db9b0f7dd532a8ab589db69fe23d9e3b1107eeebb1c0aa1f34b07af6545c636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3e876bb9b3b24382f51d5d2b74546d5c39bbb000dfdb07a8445ba8c112fda9",
      "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 34 attempt 0 · /responses · status 200 · 3.677 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 0.9821, 0.2802, 0.1493, -0.3885, -0.2623, 0.1608, 0.4889, 1.879, 0.6323, 0.6571, 0.3759, 0.1608, 0.9984]\nstate[eef_state]: left_x=0.3044 left_y=-0.0354 left_z=0.0968 left_yaw=0.1006 left_pitch=0.057 left_roll=-0.0112 left_gripper=0.1608 right_x=0.4084 right_y=0.1478 right_z=0.0203 right_yaw=0.0814 right_pitch=0.0209 right_roll=-0.0562 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.0581, 8.8, 1.6484, -0.188, -0.022, 1.033, -0.4171, -5.5179, 2.8376, 0.569, -0.0317, -0.0317, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8471, 2.7647, 2.8231, -0.7731, -0.8837, -0.5735, 0.996, -0.1722, 2.1651, 1.4113, -0.3103, -0.9539, -1.3159, 0.9944]\nstate[eef_state]: left_x=0.5316 left_y=-0.3899 left_z=0.1641 left_yaw=0.1423 left_pitch=0.1349 left_roll=0.0347 left_gripper=0.996 right_x=0.4894 right_y=0.0647 right_z=0.0563 right_yaw=1.2414 right_pitch=0.0103 right_roll=-0.2817 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -20.3282, 6.5436, 1.5849, -0.3785, 0.188, -0.0366, -0.212, -11.3162, 4.9162, 0.4322, -0.7302, 0.0171, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8864, 1.5158, 0.8486, -0.139, -0.728, -0.6041, 0.9967, -0.2569, 1.9297, 1.235, -0.638, -1.0012, -1.668, 0.9948]\nstate[eef_state]: left_x=0.3309 left_y=-0.2139 left_z=0.1255 left_yaw=0.0057 left_pitch=-0.0049 left_roll=0.0185 left_gripper=0.9967 right_x=0.4045 right_y=0.0512 right_z=0.0879 right_yaw=1.3563 right_pitch=-0.0162 right_roll=-0.3076 right_gripper=0.9948\nstate[joint_eff]: [-0.4034, -7.0085, 6.8171, 1.4969, -0.3297, -0.0904, 0.0611, 0.9231, -9.2786, 5.2444, 0.6081, -0.7595, -0.0659, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605553182efdcd2fdcfdc9e0c2172ec43eb2c667be161b093899c60154057360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db9b0f7dd532a8ab589db69fe23d9e3b1107eeebb1c0aa1f34b07af6545c636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3e876bb9b3b24382f51d5d2b74546d5c39bbb000dfdb07a8445ba8c112fda9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjXHeYwZSAdEhpIqUA3N-QWPKb_SJUAfuHd1fK0UOTSjUoQ9YNZee4kZ9glAwhrdTAigDmm-MFxRsbEyaMMpfUWnLNnEz-beEyxs2Qklxp36iTEPonEP81L4KYRIEsqZFd2XBvexsN7fit0Z5mE0kUGCnomc0rqzhvcSs8V0g4xRDI6BlP4IAwJelfvZJIGTEaNWRFI-enayjasi269r7iG3FGMsT-4KBfL2n1YACEjWZHytWOn5ou-dKvpMZlZGU_BRTuThPnwZz4poJqkILU2uxla1-j3Q6QYUjhyQAfabU4oYa267kgvpBCA1W_ijSS83YQvD90xyd45Skjr0i7OeJJDI1AmrD_O0Q6FZPZKWnWaVLJ4JQ3RUTF_R0dCrAEdv2Y5_sSSUTvVAZgfVetoOelhUsg_O_47NntZ4pCMOVibhdZ95OmjYQqk5HvnK8rbgwsYyd8QosqyKqMG3crAOOriZ77EX5zIMsgqaSVZOfkgYdnmu3C8x-WQmyLWM2LE0eqnFQK07LXxZHdsXVpmGAPd2152apTLl8DjmIbRXJnduXm2ThyZmThnRlRnmdIUPeg5gqzHaWLpw_cxm6MYoprjvAIkojOXHQwx9QNY6akz3W-lLN9EmGGbz2RDOoa3TPgeI4JaRx04TraTY5F_ZRTCXxBX66HRaQ5PFMCWRr4m4S6RDUqle6wy2TQ5d7h4UbajPN7e5fp95Qxrz_nQYY_Pey-xSUU9cU751aJ55NoFgVs8Ywq3sUmhYzd2_3YAI92VX6fxZXGBqrluSlDz6-IkldmGod-HyncbEXR6GYL6hpckkNBp-vYi_l-FwGbXRMrzf0WdhzxXEPI6zcojfOLKbRMwSOY5eIGtssFr5dtg7fec_u4mLYAqEHTEa_qW7lloCOW1DLft2YHG2YSW850IJ0GYS24tGJwc9--Tk_owBEFhNBKU7mwhoeK79ya9gikb1jLCmVGuovRXSg2HhKjww98YXWx9hpMeVeuTlvyCJuVRhsZ2rrTfqGJcCuX5FzKdN6XUMgWN_POU0GNE2FAgl6V1UG6GM5uxJGxKrXLJePkN2n__sjjdIwHFvgNyXsidFso0JmlT1Mwve9Y5nZL7z8Ff1B41rY0WdWTRDPG4TYsQK7ILODocjQrWd-faQtdjBSm67dZ0a9seXaKMfDe_QXBLioVj762-tnzBOZsLyTIMF_kulMRukp_AMMrFu2gw5yOSUpMnkoHm_MRgNGPaHCSEWzp06AGc9sP2WxvGFi9yXyyeQ5bcCilpGtfkUn96G9Uxld5sNskn5pQJMWX_M6DLD5TwLCpA0ajo9jwlRGoSPdDfYEVjIQ5gxSgT9nDPPLiF5NMocC0vckNLBnzaleehA21TBeWVUK3Xh6cLFm5sRzgqrs0wZ_iaktgGfB8-yfmKaJBmTtyuGF1do1Rw8XLi035PJSXpmyeVUCn8u3wQCS1G-0QKczKD7sHYN3K6VbLyd4tP3if0A4z-FPwnCcuqvfBm8wJUvU7faHIp1q54sGkLzmiFjBh_PrqfrL6Tv5sbAkJ4978n3KFrZHylFuFzo03qUb4vLJLrxeiJUw9Q0Yl6ldxXco6I1HKABTGTRlsyFJqTNQVPn83ImNRU7YBDRVYSSqgraTBCT6sCLWpAf5g0del6zQKqoybZvJlejaw7gCL5jlut1Bqf5cREJsHrSY3WQOcQsQeZFKQj-FtYXAgBysWMazW6anWgSQOIwJ9pJbLW8gZKscbUkRW2nzpTfJdasdNO8NgKi6LaEMMMUKPosMFo6IzSMciGHmN41UkcRaNkG954YP_prhoBuAx8kEJu67MAUJkarLuooKvf_U9ESAAD0S4-wrL_0PcTZSE43pCqe2GT_Fh6LJ24b-N1b2YJclm7dVrG5KW8JIc6RAxVFRDfWOj4XAeYXTlJ6tk9gYftXX1ROuUkhGNQglOg-Nu2TfU-lnZBpkqaxvX9wx-TNRI-nkcyWF6XDP0YMkWiVA83KlzdW4SRgi0NxqWIIeRg_D3V3zQXF-U1aJnIHRVH6x0tWCf82zHxcIrUESUtyelKSnaDJSc4Aapg0hFbQKgAx2IaK64Cndpc95Pr3vH5oo49Z8H-9I3KfJ5rBOnnY0-ebVkT89F9xHxTlrHthUsPz4lfCCi-LqxuMRdGdniccY1hkFXU7iOYg5DtIeiNkUglfIUwbeYi0NCuBE6TBRSYecoeaF5yxWvorlkleMMUDwuVm6kp5HRFT9DvQ700SLzbHjeplZ2CD3p10EIQt7rdGwlUx--wJK1euFbCi2eDGRLvaYs8WlJ9hive787qNNy3ZFkaQO5EsTxWGkTdFxBK3FbU-CVOyPH0EXYiLmUAsRN61clQwhB4C26OVr582r-wEEJTpWaMuxQyRTBlhHJDU9fEht2cHmJGUX_Bl9n-dW2d-5Sw0jCcXg8rMVubQmRAz3Lo4e0QI68CYk6XCbHesieXYyB0d10O0FVSI1jjmhCSK_zt_3LokTuxHGPgwd51wYzadlspR91lbddoKLvfNtIJqhB7WnBa9g7cNbhbX37eCclSjt0h",
  "id": "rs_030d801d443668c4016ab458d0af7487d0805b53305805e9b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.19,\"left_z\":0.015,\"right_x\":0.355,\"right_y\":0.055,\"right_z\":0,\"right_yaw\":1.2},\"note\":\"The cream plush’s body is slightly nearer and left of the current grasp point; I’ll descend onto that narrower section. The blue pen remains horizontal, and I’m using a smaller crosswise wrist turn to avoid the right arm’s awkward full-turn pose.\"}",
  "call_id": "call_O3tzfGEHADFlTykar1tPIpfg",
  "id": "fc_030d801d443668c4016ab458d6053c87d08dc023683d23a539",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O3tzfGEHADFlTykar1tPIpfg",
  "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]: [-1.0027, 1.6173, 0.5095, 0.384, -0.8581, -0.7147, 0.9967, -0.2642, 1.8904, 0.7486, -0.0422, -0.9947, -1.4548, 0.9948]\nstate[eef_state]: left_x=0.2957 left_y=-0.2081 left_z=0.0605 left_yaw=0.0436 left_pitch=0.1143 left_roll=-0.0951 left_gripper=0.9967 right_x=0.3506 right_y=0.0624 right_z=0.0109 right_yaw=1.2373 right_pitch=0.0127 right_roll=-0.2766 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -2.441, 1.6205, -0.2466, 0.3883, 0.0562, -0.0122, -0.5265, -6.2974, 3.453, 0.8474, 0.3346, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e24496c316ac2b9b16ead1b9e85de4bcba6a72c530e493d86a148a539f7b474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa05693e729c1088db2e835ecd5a99bdb795ade8ded28293597d8e967045145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b5987d9133038b2f75564549994be4c72474f74c5f342169a423f4a7dc1960",
      "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 35 attempt 0 · /responses · status 200 · 8.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8494, 2.7064, 2.8246, -0.757, -0.8867, -0.551, 0.165, 0.4892, 1.8866, 0.6254, 0.6655, 0.3737, 0.1577, 0.0095]\nstate[eef_state]: left_x=0.5292 left_y=-0.389 left_z=0.2036 left_yaw=0.1401 left_pitch=0.178 left_roll=-0.0075 left_gripper=0.165 right_x=0.4065 right_y=0.1474 right_z=0.0165 right_yaw=0.0853 right_pitch=0.0147 right_roll=-0.06 right_gripper=0.0095\nstate[joint_eff]: [-0.5538, -15.788, 7.6923, 1.1795, -0.1294, 0.5104, 1.0232, -0.1573, -8.6085, 5.1077, 1.5702, 0.1441, -0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8864, 1.5158, 0.8486, -0.139, -0.728, -0.6041, 0.9967, -0.2569, 1.9297, 1.235, -0.638, -1.0012, -1.668, 0.9948]\nstate[eef_state]: left_x=0.3309 left_y=-0.2139 left_z=0.1255 left_yaw=0.0057 left_pitch=-0.0049 left_roll=0.0185 left_gripper=0.9967 right_x=0.4045 right_y=0.0512 right_z=0.0879 right_yaw=1.3563 right_pitch=-0.0162 right_roll=-0.3076 right_gripper=0.9948\nstate[joint_eff]: [-0.4034, -7.0085, 6.8171, 1.4969, -0.3297, -0.0904, 0.0611, 0.9231, -9.2786, 5.2444, 0.6081, -0.7595, -0.0659, 0.022]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0027, 1.6173, 0.5095, 0.384, -0.8581, -0.7147, 0.9967, -0.2642, 1.8904, 0.7486, -0.0422, -0.9947, -1.4548, 0.9948]\nstate[eef_state]: left_x=0.2957 left_y=-0.2081 left_z=0.0605 left_yaw=0.0436 left_pitch=0.1143 left_roll=-0.0951 left_gripper=0.9967 right_x=0.3506 right_y=0.0624 right_z=0.0109 right_yaw=1.2373 right_pitch=0.0127 right_roll=-0.2766 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -2.441, 1.6205, -0.2466, 0.3883, 0.0562, -0.0122, -0.5265, -6.2974, 3.453, 0.8474, 0.3346, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e24496c316ac2b9b16ead1b9e85de4bcba6a72c530e493d86a148a539f7b474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa05693e729c1088db2e835ecd5a99bdb795ade8ded28293597d8e967045145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b5987d9133038b2f75564549994be4c72474f74c5f342169a423f4a7dc1960",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjc25jaBaygHJnem5cF-qmoGrYjFtdotZFG8ItBummb_54yaJJuvEYMUUTMMTGkpNpY6hK0xchazAPpmh1uQcIKal3_Mx_1aQzJ7cmSkLSMFfgxeoSCEdZSmFx01H_i3PEJuZv8H9uwKeIo9ctW0Fq70HmboTa_tUMSHdpb7E7lmLNJ3OXlmkCpqk04VX8fWEY6iQVuzXaF4NVXlZIkdzWmpGBKAVpJQz5OJPuCQTGLak9BrcaKvt84JjvkL-WgyWYnXjpEOS5I5UYy0OgthbG_4MA8rp9_5EpPJYmx8dV4DshiX11RMujHp4jM3_8BByZPku4WVQhNZkYopRTBF0xb54QKVtVdH_cJXH4th-oBHCXD7MuMLBIpYXYtWZYnTQdLNVKRXFceSCIFgIzzA02c-sZildywotZ5wgz7q-zeGz-WpWCo-qEjvmAukNZp8UMNg2CEnx0zzom2uBmtyFbB0m4bgr_OlNv2RsUCMz6iz1MXcVbTxuYL46OLwRYQmdmWyRkxULRPtRPsJ19sjEyq4gH6CrjFUx8NABI219AcGUVZRiXvjaJE3I7r7W7eVgG7fD0x_A0NJiiM-9SkTDFxdWUXJ_xH43Lv5XkaE6YEE3ChWfxpZ8hbIsY_KwKkWgsj0J7IHYo11YUoW8a5dNCc_JDCqZvbl1HogUbyuDjXg6veOIQQ4J9qBnrXWQMeJQ51Qup4OF8uvtWHuRPFvL4-O8P86QCLIc4loLpuPQDA6UnMQYO5uDBlAPyqmUR2P-Pv580BTDq2Y9AF8-u1WBiSHQCcGICoWhke99yN5H9BF23DQMeZ9UTPWizFYIuAYgRW12k9q79elJ5k98T5oVOP3TT2hVV8qe6VmZlAEzFnRgnvLDNcHev5TFcOaSpZGYjVVulV4OAiLJTxudT8iUTrDCim7BQUM6SKUHQDJlTqX89C66-nbTEI299MgDeEu5UfHRJZmw9a4_GpjFQe_u6KJ6d1bSBYI7NUR7F2bB8A95DrvmnKJ-xffSWELwxwA9nr-kuLv5pw2iYH48eJDPssLfF-6mp6XQOoBylqAMLDO8BA5I9QV52uUTOUERrZyesPm-thaFXkCS0WQr19Lvh5yK8jF7vdk4Mcp-_F7NhhZOrhh0_fwmLiegjO1IfbWC8Uo6Izl6TWCHvhelqOWgzFCjKhZfEQDmzv2yzcJ29quybj32hn0m7iDC6U8C3gdjaj8e4ZvQue1tW-OZ85UxkN3IHE3QVdKf4uLjqri5F7L4XF4NZRP9YYJaEvw-4vuAuHH9ZQYukKiuk0wajuwTduBr43rJ94zD461j3hB7-brPBinWnErp86ap3a4rMuTN15dlzbPEEPbPpA1YFNaQdgMZPuEViCFirf-SBar2ebemY-FCYnmw6dLyYPbYDEuHWV2hdzFvFktoaTI_fqbINkx4VPKBoQnOwaoJdfI7Q_1Vx01sQWqW6Z7r0iVk48859iJU93mPTgUPamk2pEfsLkzj-L4O5okR3F9EviTngiY3cpoPAF246InzG8j_2mRUoLovKLdf5xTWpG1mctSCEwj5-F7IVQVWuJ4qLUu-iw_kq0IhQhJWH2WH6bAjCFsHawbnntZRJ3ULe_C4CMYeLzEg==",
  "id": "rs_030d801d443668c4016ab458da10ac87d09b2f2cfcc872980d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The cream plush’s narrower neck area is between the left jaws, and the blue pen is centered between the right jaws. I’m closing both grippers, then checking their openings before lifting.\"}",
  "call_id": "call_InIFk4FJS0NABeLtMwEyp1oW",
  "id": "fc_030d801d443668c4016ab458db742087d09f16e2dd766e89f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_InIFk4FJS0NABeLtMwEyp1oW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0096, 1.6176, 0.5087, 0.4335, -0.8722, -0.7258, 0.0116, -0.268, 1.8908, 0.7341, -0.0177, -0.9962, -1.4582, 0.1326]\nstate[eef_state]: left_x=0.2978 left_y=-0.2129 left_z=0.0684 left_yaw=0.0584 left_pitch=0.1454 left_roll=-0.1433 left_gripper=0.0116 right_x=0.3494 right_y=0.0615 right_z=0.0094 right_yaw=1.2359 right_pitch=0.0143 right_roll=-0.2889 right_gripper=0.1326\nstate[joint_eff]: [0.1983, -5.9282, 5.135, 1.0085, -0.1929, 0.0855, 0.8327, 0.1573, -7.7333, 5.3402, 0.6081, -0.4469, 0.0024, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2f8f6226bcc358cc758da916eb007555eeeb536c94bf38cbcab0185399ff61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0277e59ce7bb266b33a21456d1cb3a121b609e4746a4e8e69bd230188935a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f20599f05b3ca3346ec04a1e27252ec608ac58caf85ce039495304a898aa1d4",
      "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 36 attempt 0 · /responses · status 200 · 4.304 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8471, 2.7647, 2.8231, -0.7731, -0.8837, -0.5735, 0.996, -0.1722, 2.1651, 1.4113, -0.3103, -0.9539, -1.3159, 0.9944]\nstate[eef_state]: left_x=0.5316 left_y=-0.3899 left_z=0.1641 left_yaw=0.1423 left_pitch=0.1349 left_roll=0.0347 left_gripper=0.996 right_x=0.4894 right_y=0.0647 right_z=0.0563 right_yaw=1.2414 right_pitch=0.0103 right_roll=-0.2817 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -20.3282, 6.5436, 1.5849, -0.3785, 0.188, -0.0366, -0.212, -11.3162, 4.9162, 0.4322, -0.7302, 0.0171, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0027, 1.6173, 0.5095, 0.384, -0.8581, -0.7147, 0.9967, -0.2642, 1.8904, 0.7486, -0.0422, -0.9947, -1.4548, 0.9948]\nstate[eef_state]: left_x=0.2957 left_y=-0.2081 left_z=0.0605 left_yaw=0.0436 left_pitch=0.1143 left_roll=-0.0951 left_gripper=0.9967 right_x=0.3506 right_y=0.0624 right_z=0.0109 right_yaw=1.2373 right_pitch=0.0127 right_roll=-0.2766 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -2.441, 1.6205, -0.2466, 0.3883, 0.0562, -0.0122, -0.5265, -6.2974, 3.453, 0.8474, 0.3346, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0096, 1.6176, 0.5087, 0.4335, -0.8722, -0.7258, 0.0116, -0.268, 1.8908, 0.7341, -0.0177, -0.9962, -1.4582, 0.1326]\nstate[eef_state]: left_x=0.2978 left_y=-0.2129 left_z=0.0684 left_yaw=0.0584 left_pitch=0.1454 left_roll=-0.1433 left_gripper=0.0116 right_x=0.3494 right_y=0.0615 right_z=0.0094 right_yaw=1.2359 right_pitch=0.0143 right_roll=-0.2889 right_gripper=0.1326\nstate[joint_eff]: [0.1983, -5.9282, 5.135, 1.0085, -0.1929, 0.0855, 0.8327, 0.1573, -7.7333, 5.3402, 0.6081, -0.4469, 0.0024, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2f8f6226bcc358cc758da916eb007555eeeb536c94bf38cbcab0185399ff61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0277e59ce7bb266b33a21456d1cb3a121b609e4746a4e8e69bd230188935a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f20599f05b3ca3346ec04a1e27252ec608ac58caf85ce039495304a898aa1d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjlPaIpkUKIyisa3kbO4K7Z_2qHpX96x1-YG0xYklOJnnZuC-Niv7FM9qNnI_N-FG2oy-5JgJ84u75oikJz6mAuBjhaXJHq-jnA7VwH3LMK7CowZlyHXB68XzafHfe23Srbc0UCsv8Xs9NYWk3P5fQ_3HVFLD892MZ_SJc2ZFjIuco3u9SmrEfMIGmnuwyzKaF49EuB42lI_k9ck0zQHY9Y6urQI3duwwKKbmcoGMbzlunOL8rJDA9S2xuxqU4SFsH97sMLVdfKbCYb8rkIOkSbxKqhU-pGR1u7Y7zscRwMkz08xLSYRmGZQLh4tSRyOrRSL4aQvFSoXKH2Aj9Mjb4kElVmR326c9xH6QD0vaZrc-cDMCiLHCo31vpU3glW7M2YChRiRlNQZ0b35MaVHv933tP80GZGwz4WMbUzLnjdB0CD16orCUdRPs5iq10CCQrLILMQU4iYbOcRYdk_c3g5MOXcu3mAfo1vj5KcHd2I6-uN7h2Yn_H070NhnzpUdrLNkqsOIMPCnN8s4u-qY4BS9_CZisXdKlWqknVkruCa5rVozF94-jR9yHDng2HTVEEWBrwJJhNBD9EdGbcsy1j-CAY-fBxM3WFKXjnWAqZSwwa5bLb5hcijxLnsT5RX3cmPZWMj70b9PiR_Wf1ptL0yc9xEL_IGuh_eD7rcSWdcUt83AHK9KPKYs8Kfzl_ZE-LBPvChJgEz-1Hdl5nUXqkq4bhWC7tmYzi8vrR1TO8LZHMn7G2z1iYSzGL_BwrYCAGNztpmetqG9P2JV90Qlh87-H68tFPl9KEiXme0IFFxQFZStiJ3vD_6Vp8eTPMr1bXc9R0RRn5xLgYMjEb-wsoLNVnMmahGJiA3DiwMd9LuuGk4aUmG0rZ5Pu1aoXuvE9RJAPYKWpfy-VCnkgwWOHvBt7aO3GZD1ViTTMVMzrdngdJqzbLwxzRonHnloxY-Hz9ILIA0da-A8yYJMGOJsyJCy6D9iZkA2LP0ooW0BD9tu38nXf5hblprAqd5Y8FW8yjwbq1w2rdUgI21cuX90X6pCaN9qEU_nROtLteMdTvYulTLLfbVaUUONSX_tyV4cXbNLCHs2MQXGQi05_8k3pSIyHGdHpHNrAIU21ang_IXwlKceETZ4DN_ucCCLDAQjIZ4zdp_WAKZIKXYvuauP6hQhGTKt3EqSN4tT9X_j21EPmGjnZbATPqTUEBSeDvLycj1dNv3t4C-y75fZuqvy1tpmFUGkVa2ov2syl-CZ_hWo4b6gHFfe0KKcC7uMj42DcNttcdOE-I4yanSEWaWXW9qrHThZpe33ItWI1F5PI_JFvzFrt9A6Hvr9XhYgnhEp__iOOpKjRr40m249BFyMhbTKbfhZEJNbR9p5xkwvWIHUwOs06wZkzQ9k1RPwgyqq7szNZakNDSC_JIP4X92tjKbTHIdMwA3FvowdGL5Ivomvb8Yu8pV6Ne10Q377mN6nPwVfDq2TXzDpV3Ng37cbGGbJBNGReauFEFjPwUwMtr0-mcfbBxpoF20qLmoI4A31ek8rte8TnYc4t13XcGkLzIkE7yARaS7SP7xljjIfugWe1ug4Ssl5CUBekO6ppzMIupoGifVGuvuwDmt1Uo4DBNhCxVVQaXVBOMGVDBQ3IDn1lhzuE8F_aM9s2oPscNtSgDyHoqbH5qF3drVtEF6AVDMfJlzQcuhWnnCn1wrQnIMDwDqchkcD1ViD4WDicg0ShpNoSTSNAFgJpw7r20JpXADOsPatnf_0sraeJYbv_fyMMUOhfh8ww0USEkOcimH_lJBtpyc2wcNSx8aKrSnKzeows6GpyWfr8qqPGg_PS0W84oyjq8UM0gR5_QNa2fxD3fk0ASlXDOgZJxo4mSVMv8so86ftLLYLtrgYgMBEbpGNtwDk6qteUq919xuk6iuhX0hlzPBkfHSaCVDtcr8XfJevdjaxQeIZb1w4ZbB5W8HnSRG5ASWz_7KOSoQehyRe5ieOJGFtUBcXrgSjBmti9Gmup_LHyAGs7p2uJJy2Si03Yek194Hjzpx1TK792inpVTSuxk4nuax5gZeueKSBzc_m482xXKrVT5U3QZo-FqDXYO1lspiZBhflw_Eu_pXYy5IkP0yI5ryIoFNxpHezSprVeO2EPeyt8tJWTKq-FLu8KMPtT66Gpus0NyLuBw6EhhFXcOACMl1rMx4dQ-9bEs85c9gMqOheuLst7PcVQY025sZQgRi8e3UacyPZh0SzaVkWuByb2v5XYV2V9tJwQ_v5Lx5h9mHflubvIwzRpr3QamUTQTG6Ao5RGPU0bNEuUajQLWIx1yd9EFV0x2u64PNMsHp44GSC9iCldvN0LYuVOHYJavvsMdiD52ciuQoqo4BzHvhfsYQe3R-qYgE1WlFv7fTjBfbd8I_1Z30yRvyoRC-Q1pcK_3zrZ5ZjaSp8CSa96qe1oV0ULovaa1uDitWTLVSa9XhV8FTnt5kWF8dyIlDLcvrEs-bRrG0ORmdXXC65Pglo8D0QwJm-WJQygLzDe9BxMtQ7Q0qE7kjx8lQjC-CCwMcrJbqVXCzAeyQFOcnCByB0OXqzw7yXl1D91I1KmRN4xRvfjAA7SzS4VSZUizP3cQ687dTYXDeMiyXREJ9EmziApA6TZn8MB1A6vtw_W6dnH9WRa2M4M_3dCSDhuWbCzx4cdUJWXsDm0dBZh8H2SZQgn4rxVo4T0gznyvdAJp7-dv97by3LK9vt-fKFu8dQmRCdo309Zowne92L46vPZ9-_3XTfp4VIAYAjQvi9-zmrMCNDttSO7UrBf1VxCQT9b48EYY7XVZejrPb0ZThC8ego3oQX04W7nD5D5HOJs_4SD5MGuSJrsy8rKOBPlgvzPgmLhpgWweKUrTNFv11nhNsKKvRQwBLfMzNGzm6p0uIZRleyrnJGrrgQS0173irwYjd15qQQlU3Bq9HW7PeuSdA12QQHflYWlqW4wt3x_hjQ-xS0Ln-owPjRB5PXPhoQqRtZ8AdCHl6FuBfqkGQM5hxmNF7gtm5TQFcxaEhZHN7T68PPdIzYRuYwJTOJ2my5pcNHZa5kYvj6KwpATcWLVgDvwNzx24Z5xOwN8Nfs50sj32-94E7NmK9AzjyDfxZrgX8yfHS07-nMgPA66ZJ4b1hxxBjFhJHBWcG6S2tj6u964kQxjP5t6Fb1ABTOb8muLFkk_4GmPLLlbgIDqzbdcg67BdlvpSNGaHdk4Gx_w==",
  "id": "rs_030d801d443668c4016ab458de8aa087d0ab40aa2882e30800",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue pen is secured, but the cream-plush grasp is empty again. I’m lifting the pen and parking the left arm clear rather than continuing unsuccessful contact with the plush.\"}",
  "call_id": "call_0UflnGddKlXfLEZHxAKY3o06",
  "id": "fc_030d801d443668c4016ab458e438dc87d0b4fe2ea17d70fe7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0UflnGddKlXfLEZHxAKY3o06",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.8509, 0.7742, -0.4961, -0.1993, -0.1677, 0.9978, -0.268, 1.6405, 0.8783, -0.4232, -0.9886, -1.4597, 0.1328]\nstate[eef_state]: left_x=0.3018 left_y=0.0052 left_z=0.2199 left_yaw=0.1297 left_pitch=0.0042 left_roll=-0.0179 left_gripper=0.9978 right_x=0.3484 right_y=0.0611 right_z=0.0948 right_yaw=1.2337 right_pitch=0.0063 right_roll=-0.2797 right_gripper=0.1328\nstate[joint_eff]: [-0.335, -1.2103, 9.0188, 1.5946, 0.0708, 0.1929, -0.0317, -0.0068, -8.7726, 8.2256, 0.6764, -0.5788, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7eca65282bf3a9c5955facd62bea0b9030e8639b3df288aa3cd7a98041b304",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5260dcdbd98c45470d54ed9d51b8fc256d73a977eb10037b6a917b6015aa12c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb9b6c4304edd6c3131ab204eb7dc0cb09ddee7eb64f2e0af4a99ec30df0067",
      "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 37 attempt 0 · /responses · status 200 · 3.722 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8864, 1.5158, 0.8486, -0.139, -0.728, -0.6041, 0.9967, -0.2569, 1.9297, 1.235, -0.638, -1.0012, -1.668, 0.9948]\nstate[eef_state]: left_x=0.3309 left_y=-0.2139 left_z=0.1255 left_yaw=0.0057 left_pitch=-0.0049 left_roll=0.0185 left_gripper=0.9967 right_x=0.4045 right_y=0.0512 right_z=0.0879 right_yaw=1.3563 right_pitch=-0.0162 right_roll=-0.3076 right_gripper=0.9948\nstate[joint_eff]: [-0.4034, -7.0085, 6.8171, 1.4969, -0.3297, -0.0904, 0.0611, 0.9231, -9.2786, 5.2444, 0.6081, -0.7595, -0.0659, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0096, 1.6176, 0.5087, 0.4335, -0.8722, -0.7258, 0.0116, -0.268, 1.8908, 0.7341, -0.0177, -0.9962, -1.4582, 0.1326]\nstate[eef_state]: left_x=0.2978 left_y=-0.2129 left_z=0.0684 left_yaw=0.0584 left_pitch=0.1454 left_roll=-0.1433 left_gripper=0.0116 right_x=0.3494 right_y=0.0615 right_z=0.0094 right_yaw=1.2359 right_pitch=0.0143 right_roll=-0.2889 right_gripper=0.1326\nstate[joint_eff]: [0.1983, -5.9282, 5.135, 1.0085, -0.1929, 0.0855, 0.8327, 0.1573, -7.7333, 5.3402, 0.6081, -0.4469, 0.0024, 1.0476]\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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.8509, 0.7742, -0.4961, -0.1993, -0.1677, 0.9978, -0.268, 1.6405, 0.8783, -0.4232, -0.9886, -1.4597, 0.1328]\nstate[eef_state]: left_x=0.3018 left_y=0.0052 left_z=0.2199 left_yaw=0.1297 left_pitch=0.0042 left_roll=-0.0179 left_gripper=0.9978 right_x=0.3484 right_y=0.0611 right_z=0.0948 right_yaw=1.2337 right_pitch=0.0063 right_roll=-0.2797 right_gripper=0.1328\nstate[joint_eff]: [-0.335, -1.2103, 9.0188, 1.5946, 0.0708, 0.1929, -0.0317, -0.0068, -8.7726, 8.2256, 0.6764, -0.5788, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7eca65282bf3a9c5955facd62bea0b9030e8639b3df288aa3cd7a98041b304",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5260dcdbd98c45470d54ed9d51b8fc256d73a977eb10037b6a917b6015aa12c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb9b6c4304edd6c3131ab204eb7dc0cb09ddee7eb64f2e0af4a99ec30df0067",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjrPjAiy19oPYWMmOy5YprPq3B-P2cicovztsTOJI3OnB2kClpSIJm1ceEBr1Fo8LZvKR0hv25LcT7SY8lIe_BnWmpjZKSALbMHdnICnE7EoduUIII0d333xYDn1cMXlLZVwmO14aowBrgtuIRQS1yfObEI8KBxY3A77KebMRh1Vfhtzh92x8ftcX_rTYPjRjilAPGX6IV43Se0ONja4GORwsWMPm_FkPKxaRk2ncjPQvZ0kzG_tbwlg1A6Iv1yM9L_5Y9YO1fWCEMv04n1hOkNUDcLJX-H7-BfB_0PEtleZHb6XHVZ2-WqxXhvNqJL2kqoUnO9enGsoeoIAqZVNd5gBQM5p8ia-qv0FV-JgeMY4CrUIgDesXwkjGGL8rdYgeLAK87mIQDwzgzI0LxTfgulu1Bige2pGMXzEEacekyOVn4y_P--ol0AB_MpiHbvBLlzYQZXt3T1AP-m8SDBwneGthegU9njBhMq1LtW5n_H4jT_shhyzfxn215x5gpWp8c8mhLCTU3Uwkn94W9OspOa9s3xssR5db6zYuLFhJ51UrOu-XKiAhVtEyg-xVr1upUkTANxS4CNYDjVZxSDC5DmmvIWloPXaKbYbEhq-35Dp94HuCBoRatcPH4FBlETSpVTHyfyVFjtEtVCJ4ujVGMUpHpHwQhiPgNRlpdAwk-bfana2naQ9RcSEAAOVC_2jt24ww4r85y3rTfQ445aqH_GCa-U109OjWU7kkS7nDjge3ITbm6bE_Pcji8EtCYjMNxcRbDTeCrDqC5ykZOjEPQnYAeqvgaHLsvG4im7Irkc6LMNt6fFxW-X3IiD7xDG5WwELQCqWl43ZsjXlv0Oek6hL_EwtHJDGKumYHGEG0IzKAWddkpRcvhy9HvOcvU_wSyFmEd8i6xgM9_KrsCBGTvH5tqNIOjlIIW_-n7_AmhIPghc2UVrIn0K1Z7lwUpwcN0f0KRfvwbalDZuRL_cHTQkt_SnvIoEEN1iMz1eU6_HY34wsMgFESaEEH1wikeYAg6NkckKNDXjihylm3qp87c2-M7tVphTtk8lnJ7p6yFdINQugYv1Jz-KrKXqgDwx7bblwTQWZ9Q0vOKibDlzaO3wsJ3ugkrOzStUWdwtP9cFKq2vv2w2mX5KHk4cBPtkbbUYIeGHpbsURU7NI6QPEPGYWlmYMRAioH_80x_av8H7neNZNQfNXctSK4RGrHJaUJ2dvsdD1-5NJd9xizn64sduBXQQyBbuwfNP4wPwqTGAdGSivpquy_1UpTVbAW4osziTYG3kfQcNBvKD443IGcTBZvfBU7T2sdTya7IYEIzX2LE3U_345a04EtoyrNjDfik0zYQ0qz790r6qaQcFr2g9sCeZO3AxkOVxW-GzMoSMO45QODdugSBNpD-1BPbI55UX4xMI7uwsxuWnuc1VT6Xgv2MkNJILWFHHARfDJ1S8PKJO1NIbj6a24ffJJSCHkAl2y831Qk8UzBoCJRRB7MobMFj7DsSe9pZGfyLRjIU6zeoUf5NcNuSmqXczOCIizHqdYnIj_4G50T47FovJ0vAoc8fCldMPczr2ffdhNTafQjXRdR-oP9GCBatftfWfVwuw3XSNN2Qy3dB11u_dD1k1FhURjuBoQCOnjzsupDOSFi4=",
  "id": "rs_030d801d443668c4016ab458e8f8bc87d09a0ac1df046c8d4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.21,\"right_z\":0.25,\"right_yaw\":0,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The blue pen has lifted with the right gripper. I’ll carry it over the center of the right basket, using the successful black-pen placement position.\"}",
  "call_id": "call_KfniwtF5GS254Ema63HHAuWG",
  "id": "fc_030d801d443668c4016ab458ea7ce887d0be7fd9145978c5d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KfniwtF5GS254Ema63HHAuWG",
  "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]: [-0.1108, 0.8562, 0.7757, -0.5083, -0.1871, -0.1722, 0.9981, 0.4782, 1.9461, 1.5932, -0.0677, 0.3283, 0.0891, 0.1379]\nstate[eef_state]: left_x=0.301 left_y=0.0032 left_z=0.2164 left_yaw=0.1219 left_pitch=-0.013 left_roll=-0.0245 left_gripper=0.9981 right_x=0.5432 right_y=0.2215 right_z=0.2326 right_yaw=0.1434 right_pitch=0.1682 right_roll=-0.0373 right_gripper=0.1379\nstate[joint_eff]: [-0.1573, -1.9624, 6.9812, 1.8388, -0.2369, 0.0024, 0.0171, 0.253, -11.6308, 8.6906, 1.58, 0.315, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8188be62fb6f352072e9abdc7fcd67631c90f06cc0e9bb639bf5622306b6543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a896ba9dcd009f56848dc05654fb74bd3dcc3c2122b163a09e2182cee24cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1418bcc4820da35df5ba831cd7a86fa29b4a18da05c2e65f7696cfcfc5466c",
      "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 38 attempt 0 · /responses · status 200 · 7.322 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0027, 1.6173, 0.5095, 0.384, -0.8581, -0.7147, 0.9967, -0.2642, 1.8904, 0.7486, -0.0422, -0.9947, -1.4548, 0.9948]\nstate[eef_state]: left_x=0.2957 left_y=-0.2081 left_z=0.0605 left_yaw=0.0436 left_pitch=0.1143 left_roll=-0.0951 left_gripper=0.9967 right_x=0.3506 right_y=0.0624 right_z=0.0109 right_yaw=1.2373 right_pitch=0.0127 right_roll=-0.2766 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -2.441, 1.6205, -0.2466, 0.3883, 0.0562, -0.0122, -0.5265, -6.2974, 3.453, 0.8474, 0.3346, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.8509, 0.7742, -0.4961, -0.1993, -0.1677, 0.9978, -0.268, 1.6405, 0.8783, -0.4232, -0.9886, -1.4597, 0.1328]\nstate[eef_state]: left_x=0.3018 left_y=0.0052 left_z=0.2199 left_yaw=0.1297 left_pitch=0.0042 left_roll=-0.0179 left_gripper=0.9978 right_x=0.3484 right_y=0.0611 right_z=0.0948 right_yaw=1.2337 right_pitch=0.0063 right_roll=-0.2797 right_gripper=0.1328\nstate[joint_eff]: [-0.335, -1.2103, 9.0188, 1.5946, 0.0708, 0.1929, -0.0317, -0.0068, -8.7726, 8.2256, 0.6764, -0.5788, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.8562, 0.7757, -0.5083, -0.1871, -0.1722, 0.9981, 0.4782, 1.9461, 1.5932, -0.0677, 0.3283, 0.0891, 0.1379]\nstate[eef_state]: left_x=0.301 left_y=0.0032 left_z=0.2164 left_yaw=0.1219 left_pitch=-0.013 left_roll=-0.0245 left_gripper=0.9981 right_x=0.5432 right_y=0.2215 right_z=0.2326 right_yaw=0.1434 right_pitch=0.1682 right_roll=-0.0373 right_gripper=0.1379\nstate[joint_eff]: [-0.1573, -1.9624, 6.9812, 1.8388, -0.2369, 0.0024, 0.0171, 0.253, -11.6308, 8.6906, 1.58, 0.315, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8188be62fb6f352072e9abdc7fcd67631c90f06cc0e9bb639bf5622306b6543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a896ba9dcd009f56848dc05654fb74bd3dcc3c2122b163a09e2182cee24cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1418bcc4820da35df5ba831cd7a86fa29b4a18da05c2e65f7696cfcfc5466c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFjw3xyX0dG7pF0ap2b2j9OfPDw31VCBUj7lp7LnjCJmFXC1hNmwGb0Z2f0v8DMSA8ntS2vfzi2Zve3OJc7bxvBfHXU67ypzhPEDWsgvgMPCAhuEp9kv_bISEn4u_woWnBlXaOaAOx8w8O5K3Iw9nV3_5f_ed5xLLnrxM97nzfkHNvpAntgzCkwMK_OXR3_JBzU7Uc_84i-xPS4SjPalNm61t_5mxie3HRJ9j0sPfcO7TV6Rn2ibT9Eol3bKjQekHah-Hb0pOFwN0guLBOTyWNERWbus080zRrYe2Z_bQwjydnoW0wcmcg-WuIGd6bYPcmgtGLjGMsDaJTr_XGkWFu2OQ09iJQgpWeqhHD_mwV8MpXb-7LOJsO0jfsVUlxq1UBcLnCEZjyWtAcaBlj78kuZ12cKeCl4cRsIHxrIHk0kyOm-GBJcOrqbZDs0-QHyiHDjF3AMn0kH0kBaBiNmCKbI_gqcJm3FtrktJwuXfsVDnUeRISXY7ii6zGMIfcop_jO0tkVhwWeDPpyXo9DfWNLGPuH2Q_M-00hCAuCob1k2d27pOQtGYeRB2WL1hWxIcfT9cuWL7yF7D4WWIah9NKmflkB4Qn6c_M5S2pjPGeqC1bfJLwqgsZL7msSQwEQ0_Jw1O3AQY8bdGqHBDbT6HUISIK3Uue5eip0JbXvaIQl0gwzXew-K6VdcDvMSNFRoT9_Aher1gIeXxKuAvm0yiaZTtp5g5gTsNDFlWEboUcFZul88Vt5MynambMhAlnx7c1xcdrIvg1LD1ODK_wSoOGNdFF0EzHB5cgD29EiVpcxP8dB4_CNf4AHLUJnBChiXamb48dqI3jjK8tcL24pVIBdRebgt7JSc4QMKVQL37mkMoRLpGCiE19YNYa-Y3rrHV64D4JsNEpqOTKuaRApmFGyDea2WaNYw1OW3x92XjUP6xAYkqHMQaReLejE8vckU6HzY-1JETbZeNrC7WWj1kM8wNoor8YgNU-ajVB0MbjOsmGExNOj9s9wlUVb1v2s-hVA6KZwMVfRvIYzUx2yZLKlkbUzIbrpa9Ai314kGXEvesrkQMFeIj-3MJUQoceJW9xi8wFpI11FxLWKPA4d7w5yTsVH_xwIJ8NvB5fDU-jX6sePbUl6G9P3yXxAx8OHk7cH-Sy-8qwszA_ibVB-NmOGDq8QuG6GKMdFY-IE9TTI_mBbPT9SO-mlWJZFXI30-f5UW_BymfSRRCjtWX8NQoum9UEmtzW3Egx_RKTahRA-Nj6LLYrQsM5s9seyFv9g1oPnNfyEBI0us4cuDi5nJmc6wNmWr9VI2dC93AsYE5YQquVaMM1MOvH0in9ZLfIRYUEgzqk2cvShXmuR8BqsFIBaUZc2e5LwrtrMAU3iLLcaXK9Ww9e3KeRDKF-8TQ5Fj3gnFCuGk1SC_M2n3WL1LlmsK1r_ICxyA3vagJoe7HJ06-1exTUXQcZHJcWxmQUxr4V5LxHBhxEdubqz8dEvvrCFdnztBhX64Xgu7Qr3UEdrBhInU5VLCm7E93764fWklJW8T5MxHAcE3du7m7dsVFCFIQZ5KsMbs3gGQ79KrTIP6mEwQ=",
  "id": "rs_030d801d443668c4016ab458ee86c087d0bc1ec87005498c53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The blue pen is above the right basket’s interior beside the black pen. I’m lowering slightly and opening the jaws to release it into the basket.\"}",
  "call_id": "call_ZON7YZF3uhGwrQfC99eyQkdz",
  "id": "fc_030d801d443668c4016ab458efcc7887d089cf324b3bc2dc3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZON7YZF3uhGwrQfC99eyQkdz",
  "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]: [-0.1108, 0.8574, 0.775, -0.5087, -0.1864, -0.173, 0.9981, 0.4824, 1.977, 1.4467, 0.0841, 0.3279, 0.0837, 0.9952]\nstate[eef_state]: left_x=0.301 left_y=0.003 left_z=0.2156 left_yaw=0.1217 left_pitch=-0.0153 left_roll=-0.025 left_gripper=0.9981 right_x=0.5388 right_y=0.222 right_z=0.1802 right_yaw=0.1521 right_pitch=0.1439 right_roll=-0.0505 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -1.6479, 7.1043, 1.7118, -0.1343, -0.0659, -0.0073, -0.3761, -9.935, 6.8581, 2.127, 0.0122, 0.0073, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accf2c135d4cde50c96aa1fdd5a97a40a50f765db981112ff3e31dab7aa2eaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e22860034a9eade3cecfe697a742cee96d097d8b3316f4af606cf2a3228acd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02016ddb97ac2d1f8d557ef867f8fabd0a8ccc08edb1ab129589e2ddedda13d",
      "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]