adhoc

completed
2026-09-23T23:18:35.721547+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
225 s
total steps
331
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 two empty blue baskets and a cluster of plush animals between them and the arms. I’ll approach the leftmost plush to inspect its shape and begin sorting matching animals together.
move_to
left_x0.2900left_y-0.1700left_z0.1500left_gripper1.0000right_x0.2950right_y0.0010right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3801, -0.0231, -0.0166, 0.9996, -0.0154, 0.7967, 0.6106, -0.3843, -0.0116, -0.0254, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.002 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0011 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.6342, 9.6342, 1.8388, -0.022, -0.0122, -0.0611, -0.7179, -1.4974, 9.8393, 1.7998, -0.1099, 0.0611, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.17,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0.001,"right_z":0.19},"note":"I see two empty blue baskets and a cluster of plush animals between them and the arms. I’ll approach the leftmost plush to inspect its shape and begin sorting matching animals together."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe wrist view shows a brown sloth with a pale eye mask beside a cream teddy bear; a gray teddy is also visible at the left. I’ll lower around the sloth, assigning sloths to the left basket and teddy bears to the right.
move_to
left_x0.2850left_y-0.1500left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8986, 1.2213, 0.6899, -0.2989, -0.712, -0.6033, 0.9995, -0.0193, 0.8032, 0.6109, -0.4114, -0.0177, -0.0261, 0.9998] state[eef_state]: left_x=0.2854 left_y=-0.1675 left_z=0.1373 left_yaw=-0.0096 left_pitch=-0.0301 left_roll=0.0158 left_gripper=0.9995 right_x=0.2919 right_y=0.0011 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [-0.2803, -4.2188, 8.5949, 1.3553, -0.5153, -0.0024, -0.0611, 0.1983, -1.0325, 9.9624, 1.6532, 0.0317, -0.0317, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.15,"left_z":0.04},"note":"The wrist view shows a brown sloth with a pale eye mask beside a cream teddy bear; a gray teddy is also visible at the left. I’ll lower around the sloth, assigning sloths to the left basket and teddy bears to the right."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe open jaws are down around the brown sloth’s body, with the neighboring teddy outside the grasp. I’ll close the gripper and check whether it holds fabric rather than closing empty.
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]: [-0.8478, 1.4288, 0.3862, 0.234, -0.6971, -0.5568, 0.9995, -0.02, 0.8051, 0.6102, -0.4145, -0.0181, -0.0265, 0.9998] state[eef_state]: left_x=0.2862 left_y=-0.1475 left_z=0.0435 left_yaw=0.0055 left_pitch=-0.0253 left_roll=0.0308 left_gripper=0.9995 right_x=0.2915 right_y=0.001 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0388 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [0.0205, -3.8496, 4.6701, 1.5263, -0.0708, -0.0855, -0.0122, -0.1709, -1.0188, 7.0769, 1.7216, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws are down around the brown sloth’s body, with the neighboring teddy outside the grasp. I’ll close the gripper and check whether it holds fabric rather than closing empty."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper closed almost completely, so that attempt did not hold the sloth. Its face is now centered in the wrist view; I’ll reopen and move 3 cm farther forward and slightly lower for a second grasp.
move_to
left_gripper1.0000left_x0.3150left_y-0.1450left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8474, 1.4288, 0.3805, 0.2531, -0.7071, -0.5587, 0.0129, -0.02, 0.8051, 0.6086, -0.4149, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.2873 left_y=-0.1466 left_z=0.0452 left_yaw=0.0137 left_pitch=-0.0111 left_roll=0.0238 left_gripper=0.0129 right_x=0.2913 right_y=0.0011 right_z=0.1719 right_yaw=0.0022 right_pitch=-0.0407 right_roll=0.0039 right_gripper=0.9998 state[joint_eff]: [-0.1983, -4.547, 5.641, 1.2674, -0.2027, -0.0122, 1.0379, -0.0889, -1.306, 7.3641, 1.7314, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.315,"left_y":-0.145,"left_z":0.025},"note":"The gripper closed almost completely, so that attempt did not hold the sloth. Its face is now centered in the wrist view; I’ll reopen and move 3 cm farther forward and slightly lower for a second grasp."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe sloth’s head is now clearly visible but sits left of the space between the jaws. I’ll shift toward it before closing, keeping clear of the cream teddy on the right.
move_to
left_x0.3250left_y-0.1150left_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]: [-0.7521, 1.5955, 0.3882, 0.4778, -0.6731, -0.4789, 0.9988, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.315 left_y=-0.139 left_z=0.0296 left_yaw=0.042 left_pitch=0.0144 left_roll=0.0271 left_gripper=0.9988 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998 state[joint_eff]: [0.1573, -4.506, 5.6957, 1.3358, 0.0904, 0.0415, -0.1441, -0.1709, -1.3744, 7.0359, 1.6679, -0.0366, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.115,"left_z":0.035},"note":"The sloth’s head is now clearly visible but sits left of the space between the jaws. I’ll shift toward it before closing, keeping clear of the cream teddy on the right."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe jaws now straddle the sloth’s head and upper body near the left basket. I’ll close for the second grasp and use a short lift to verify it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6441, 1.5593, 0.3653, 0.5079, -0.6155, -0.4152, 0.9983, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3263 left_y=-0.113 left_z=0.0346 left_yaw=0.0732 left_pitch=0.0191 left_roll=0.0245 left_gripper=0.9983 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998 state[joint_eff]: [-0.253, -6.065, 4.1368, 1.5311, -0.0757, 0.0855, -0.0611, -0.3624, -1.306, 7.3231, 1.7265, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the sloth’s head and upper body near the left basket. I’ll close for the second grasp and use a short lift to verify it."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper stopped with about a centimetre of material between the jaws, rather than closing empty. I’ll lift the sloth a few centimetres to confirm it comes off the table.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6388, 1.5555, 0.3634, 0.5201, -0.6018, -0.3923, 0.1015, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3277 left_y=-0.1143 left_z=0.0364 left_yaw=0.0559 left_pitch=0.0237 left_roll=0.0283 left_gripper=0.1015 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998 state[joint_eff]: [-0.0479, -6.0923, 4.1504, 1.5018, -0.0904, 0.0269, 0.4274, -0.3487, -1.2786, 7.1726, 1.7363, -0.0269, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The gripper stopped with about a centimetre of material between the jaws, rather than closing empty. I’ll lift the sloth a few centimetres to confirm it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
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 sloth rose with the gripper. I’ll raise it above the basket rim before moving over the left basket.
move_to
left_x0.3500left_y-0.1300left_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]: [-0.6395, 1.3067, 0.4763, 0.1471, -0.6022, -0.3996, 0.1015, -0.02, 0.8101, 0.6083, -0.4149, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.325 left_y=-0.1126 left_z=0.0904 left_yaw=0.0592 left_pitch=0.0153 left_roll=0.0297 left_gripper=0.1015 right_x=0.2915 right_y=0.001 right_z=0.1704 right_yaw=0.0018 right_pitch=-0.0461 right_roll=0.0038 right_gripper=0.9998 state[joint_eff]: [0.0205, -5.2444, 7.8974, 1.3358, -0.2613, 0.0073, -0.022, -0.0479, -1.2923, 7.0496, 1.7411, -0.022, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.35,"left_y":-0.13,"left_z":0.25},"note":"The brown sloth rose with the gripper. I’ll raise it above the basket rim before moving over the left basket."})
tool
executing move_to over 11 steps (1.1s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe gripper is above rim height and the left basket is directly ahead. I’ll carry the sloth over the basket’s interior while maintaining clearance.
move_to
left_x0.4850left_y-0.1350left_z0.2350
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]: [-0.638, 1.2633, 1.0817, -0.5148, -0.6018, -0.4122, 0.1015, -0.02, 0.812, 0.6067, -0.4152, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3488 left_y=-0.1297 left_z=0.2402 left_yaw=0.0671 left_pitch=0.0055 left_roll=0.0271 left_gripper=0.1015 right_x=0.2914 right_y=0.0011 right_z=0.1691 right_yaw=0.0022 right_pitch=-0.0499 right_roll=0.0041 right_gripper=0.9998 state[joint_eff]: [0.1436, -4.8479, 9.3607, 1.409, -0.2613, 0.1538, -0.022, -0.3487, -1.1692, 7.1316, 1.6728, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.135,"left_z":0.235},"note":"The gripper is above rim height and the left basket is directly ahead. I’ll carry the sloth over the basket’s interior while maintaining clearance."})
tool
executing move_to over 11 steps (1.1s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe gripper is over the front half of the left basket. I’ll lower the load inside the rim before releasing it.
move_to
left_x0.5000left_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]: [-0.4252, 1.7149, 1.4193, -0.4023, -0.4442, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4753 left_y=-0.1279 left_z=0.2119 left_yaw=0.0985 left_pitch=-0.0567 left_roll=0.0365 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998 state[joint_eff]: [-0.4991, -8.9778, 10.0718, 1.9707, -0.0562, 0.3394, -0.0122, -0.1846, -1.7026, 7.0496, 1.6972, -0.0415, -0.0122, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_z":0.16},"note":"The gripper is over the front half of the left basket. I’ll lower the load inside the rim before releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe gripper has reached the release height inside the left basket. I’ll open it, then move away to verify where the plush landed.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4004, 1.8309, 1.3457, -0.2375, -0.4362, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4959 left_y=-0.1249 left_z=0.1538 left_yaw=0.1177 left_pitch=-0.0808 left_roll=0.0443 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998 state[joint_eff]: [-0.0752, -9.8393, 7.0769, 1.8339, -0.0855, 0.149, -0.022, -0.1983, -1.3744, 7.0359, 1.6581, -0.0464, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gripper has reached the release height inside the left basket. I’ll open it, then move away to verify where the plush landed."})
tool
executing move_to over 9 steps (0.9s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteI cannot yet confirm a sloth in the left basket. I’ll clear that view and bring the right arm above the cream teddy for a more direct body grasp.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.3100right_y0.3000right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4004, 1.8309, 1.3453, -0.2451, -0.4366, -0.3134, 0.9953, -0.02, 0.8165, 0.6067, -0.4152, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.4947 left_y=-0.1244 left_z=0.1524 left_yaw=0.1241 left_pitch=-0.0873 left_roll=0.04 left_gripper=0.9953 right_x=0.2916 right_y=0.001 right_z=0.1679 right_yaw=0.0019 right_pitch=-0.0545 right_roll=0.0039 right_gripper=0.9998 state[joint_eff]: [-0.335, -9.6889, 6.8308, 1.663, -0.2271, 0.0659, -0.0415, -0.212, -1.347, 7.0359, 1.6581, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"right_x":0.31,"right_y":0.3,"right_z":0.15},"note":"I cannot yet confirm a sloth in the left basket. I’ll clear that view and bring the right arm above the cream teddy for a more direct body grasp."})
tool
executing move_to over 25 steps (2.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left basket is empty, so the earlier lift did not secure the plush. The cream teddy is lying lengthwise ahead of the right gripper; I’ll move forward and left to grasp its torso rather than a loose extremity.
move_to
right_x0.3650right_y0.3350right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1673, 0.9298, 0.7998, -0.524, -0.2741, -0.1715, 0.9966, 1.0397, 1.7027, 1.1828, -0.4618, 0.7429, 0.7433, 0.9997] state[eef_state]: left_x=0.3079 left_y=0.0001 left_z=0.2054 left_yaw=0.1464 left_pitch=-0.0631 left_roll=0.028 left_gripper=0.9966 right_x=0.3068 right_y=0.2934 right_z=0.1377 right_yaw=0.031 right_pitch=-0.0888 right_roll=-0.0239 right_gripper=0.9997 state[joint_eff]: [0.1983, -2.5368, 6.0513, 1.707, -0.0366, 0.1001, 0.1294, 0.4855, -8.1983, 8.9231, 1.0427, 0.6276, 0.2222, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.335,"right_z":0.045},"note":"The left basket is empty, so the earlier lift did not secure the plush. The cream teddy is lying lengthwise ahead of the right gripper; I’ll move forward and left to grasp its torso rather than a loose extremity."})
tool
executing move_to over 6 steps (0.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe descent stopped above the table with the jaws around the cream teddy’s upper body. I’ll close here without pressing farther down.
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]: [-0.1677, 0.9348, 0.7902, -0.5529, -0.2653, -0.1726, 0.9967, 0.981, 2.0026, 1.2682, -0.1501, 0.733, 0.6914, 0.9997] state[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1941 left_yaw=0.1404 left_pitch=-0.1062 left_roll=0.0352 left_gripper=0.9967 right_x=0.3623 right_y=0.3353 right_z=0.0765 right_yaw=0.0119 right_pitch=-0.0421 right_roll=0.0201 right_gripper=0.9997 state[joint_eff]: [-0.1026, -2.4821, 7.6376, 1.8779, -0.2271, -0.0317, 0.0024, -1.1966, -6.7761, 5.559, 0.6081, -0.022, -0.2759, -0.0073] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped above the table with the jaws around the cream teddy’s upper body. I’ll close here without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThat close was empty, and the right arm is stretched near its low-height reach limit. I’ll park it and use the left arm, which has a shorter reach to the cream teddy.
move_to
right_gripper1.0000right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1677, 0.9352, 0.7902, -0.5571, -0.2646, -0.1726, 0.9967, 0.9775, 2.0117, 1.2762, -0.1162, 0.7376, 0.6884, 0.0162] state[eef_state]: left_x=0.3023 left_y=-0.0007 left_z=0.1932 left_yaw=0.14 left_pitch=-0.1107 left_roll=0.0361 left_gripper=0.9967 right_x=0.3678 right_y=0.3393 right_z=0.0799 right_yaw=0.0079 right_pitch=-0.0206 right_roll=0.0427 right_gripper=0.0162 state[joint_eff]: [-0.1709, -2.1128, 6.8718, 1.6435, -0.1441, -0.0611, -0.0122, 0.0615, -11.535, 5.4496, 1.0476, 0.2222, 0.0024, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.3,"right_y":0,"right_z":0.2},"note":"That close was empty, and the right arm is stretched near its low-height reach limit. I’ll park it and use the left arm, which has a shorter reach to the cream teddy."})
tool
executing move_to over 29 steps (2.9s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteWith the center uncovered, I can see round-nosed teddy bears and long-snouted plush animals. I’ll grasp the brown teddy directly through its torso; the earlier attempt was too far back on the table.
move_to
left_x0.3950left_y-0.1700left_z0.0700left_yaw0.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1677, 0.9417, 0.7898, -0.561, -0.2646, -0.1753, 0.9967, -0.0299, 0.8566, 0.6739, -0.4381, -0.0051, 0.0273, 0.998] state[eef_state]: left_x=0.3021 left_y=-0.0007 left_z=0.1905 left_yaw=0.1418 left_pitch=-0.1208 left_roll=0.0373 left_gripper=0.9967 right_x=0.2997 right_y=-0.0045 right_z=0.1826 right_yaw=-0.0484 right_pitch=-0.0508 right_roll=0.0399 right_gripper=0.998 state[joint_eff]: [-0.1709, -2.6598, 6.8855, 1.6288, -0.1441, -0.0317, -0.0122, -0.1162, -2.3316, 10.5368, 1.7167, -0.1294, 0.0024, -0.1099] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.17,"left_z":0.07,"left_yaw":0,"left_pitch":0.15},"note":"With the center uncovered, I can see round-nosed teddy bears and long-snouted plush animals. I’ll grasp the brown teddy directly through its torso; the earlier attempt was too far back on the table."})
tool
executing move_to over 16 steps (1.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe brown teddy is now immediately between the fingertips, rather than fully ahead of them in the wrist image. I’ll close around its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6468, 1.7416, 0.6067, 0.514, -0.6075, -0.2928, 0.9967, -0.0322, 0.8619, 0.6739, -0.453, -0.0101, 0.0113, 0.9984] state[eef_state]: left_x=0.3804 left_y=-0.1564 left_z=0.0504 left_yaw=0.0007 left_pitch=0.0622 left_roll=0.0857 left_gripper=0.9967 right_x=0.2979 right_y=-0.0042 right_z=0.1781 right_yaw=-0.0379 right_pitch=-0.0708 right_roll=0.0296 right_gripper=0.9984 state[joint_eff]: [-0.5812, -7.5966, 7.0906, 1.663, -0.188, -0.0415, -0.0073, -0.0205, -2.0855, 6.9812, 1.7753, 0.0171, 0.1441, 0.0269] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown teddy is now immediately between the fingertips, rather than fully ahead of them in the wrist image. I’ll close around its body."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe close was empty again; the teddy is visibly to the left of the jaw center. I’ll reopen and align farther left and forward, using the overhead view rather than the wrist image alone.
move_to
left_x0.4200left_y-0.1050left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6502, 1.7634, 0.6094, 0.5167, -0.6132, -0.2928, 0.0102, -0.0322, 0.8623, 0.6739, -0.4557, -0.0097, 0.0105, 0.9984] state[eef_state]: left_x=0.3798 left_y=-0.1566 left_z=0.0439 left_yaw=0.0012 left_pitch=0.0512 left_roll=0.0983 left_gripper=0.0102 right_x=0.2975 right_y=-0.0043 right_z=0.1775 right_yaw=-0.0378 right_pitch=-0.0739 right_roll=0.0287 right_gripper=0.9984 state[joint_eff]: [0.2256, -8.8137, 4.9299, 1.5458, -0.1587, -0.0415, 0.8376, -0.0752, -1.6889, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.105,"left_z":0.025,"left_gripper":1},"note":"The close was empty again; the teddy is visibly to the left of the jaw center. I’ll reopen and align farther left and forward, using the overhead view rather than the wrist image alone."})
tool
executing move_to over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe brown plush is partly enclosed by the open jaws beside the basket’s front edge. I’ll close here and require a visible lift before attempting another placement.
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]: [-0.4332, 1.8618, 0.606, 0.6827, -0.4522, -0.168, 0.9953, -0.0322, 0.8639, 0.6739, -0.4603, -0.0105, 0.0101, 0.9984] state[eef_state]: left_x=0.4162 left_y=-0.1035 left_z=0.0265 left_yaw=0.025 left_pitch=0.05 left_roll=0.0955 left_gripper=0.9953 right_x=0.297 right_y=-0.0041 right_z=0.1762 right_yaw=-0.0369 right_pitch=-0.08 right_roll=0.0289 right_gripper=0.9984 state[joint_eff]: [0.2803, -6.4889, 5.3402, 1.8144, 0.0317, 0.1001, -0.1099, -0.1162, -1.7846, 7.1726, 1.7118, -0.0171, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush is partly enclosed by the open jaws beside the basket’s front edge. I’ll close here and require a visible lift before attempting another placement."})
tool
executing move_to over 10 steps (1.0s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe plush remains just left of the closed fingertips, so the last grasp missed. I’ll shift 4 cm left and slightly forward to center its head between the jaws.
move_to
left_x0.4350left_y-0.0600left_z0.0550left_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]: [-0.4324, 1.8664, 0.6056, 0.6746, -0.4484, -0.1722, 0.01, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984] state[eef_state]: left_x=0.4149 left_y=-0.1032 left_z=0.0229 left_yaw=0.0246 left_pitch=0.0377 left_roll=0.0958 left_gripper=0.01 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984 state[joint_eff]: [-0.1846, -8.0205, 4.4239, 1.7411, -0.1441, 0.0317, 0.7692, -0.1983, -1.4291, 7.0359, 1.6825, -0.0024, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.06,"left_z":0.055,"left_gripper":1},"note":"The plush remains just left of the closed fingertips, so the last grasp missed. I’ll shift 4 cm left and slightly forward to center its head between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe open fingers now span the brown plush’s head beside the gray animal. I’ll close gently through the normal gripper command, then check the retained opening.
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]: [-0.2749, 1.7878, 0.6231, 0.561, -0.3279, -0.1005, 0.9952, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984] state[eef_state]: left_x=0.4247 left_y=-0.0569 left_z=0.0339 left_yaw=0.045 left_pitch=-0.0084 left_roll=0.1011 left_gripper=0.9952 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984 state[joint_eff]: [0.1846, -9.4974, 7.5145, 1.5751, -0.0073, 0.1734, -0.0562, -0.0889, -1.3197, 7.0769, 1.663, -0.0024, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now span the brown plush’s head beside the gray animal. I’ll close gently through the normal gripper command, then check the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe brown plush keeps slipping outside the grasp, and I’ll stop repeating that approach. I’ll move above the isolated cream teddy, using the visible fingertip-to-object offset in the overhead image to align the next attempt.
move_to
left_x0.4050left_y-0.2100left_z0.1600left_gripper1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2714, 1.7786, 0.6266, 0.5449, -0.3325, -0.1043, 0.01, -0.0322, 0.8696, 0.6739, -0.4603, -0.0109, 0.0101, 0.9984] state[eef_state]: left_x=0.4246 left_y=-0.0546 left_z=0.0358 left_yaw=0.0543 left_pitch=-0.0106 left_roll=0.1014 left_gripper=0.01 right_x=0.2973 right_y=-0.0041 right_z=0.1746 right_yaw=-0.0366 right_pitch=-0.0857 right_roll=0.0291 right_gripper=0.9984 state[joint_eff]: [-0.4444, -6.8444, 4.9162, 1.8584, -0.0757, 0.0122, 0.8132, -0.0752, -2.1265, 6.9675, 1.6581, -0.0464, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.21,"left_z":0.16,"left_gripper":1,"left_pitch":0},"note":"The brown plush keeps slipping outside the grasp, and I’ll stop repeating that approach. I’ll move above the isolated cream teddy, using the visible fingertip-to-object offset in the overhead image to align the next attempt."})
tool
executing move_to over 14 steps (1.4s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe cream teddy’s face is visible at the lower-right of the wrist image. I’ll shift right toward its center and descend around its upper body.
move_to
left_x0.4300left_y-0.2450left_z0.0650
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]: [-0.7269, 1.6833, 1.1114, -0.1837, -0.6739, -0.429, 0.9971, -0.0322, 0.8711, 0.6739, -0.4599, -0.0113, 0.0097, 0.9984] state[eef_state]: left_x=0.4042 left_y=-0.2072 left_z=0.1496 left_yaw=0.0411 left_pitch=-0.0055 left_roll=0.0881 left_gripper=0.9971 right_x=0.2975 right_y=-0.004 right_z=0.1743 right_yaw=-0.0361 right_pitch=-0.0868 right_roll=0.029 right_gripper=0.9984 state[joint_eff]: [-0.253, -7.1863, 9.0188, 1.3944, -0.2613, 0.105, -0.0464, -0.3624, -1.8803, 6.9675, 1.6679, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.245,"left_z":0.065},"note":"The cream teddy’s face is visible at the lower-right of the wrist image. I’ll shift right toward its center and descend around its upper body."})
tool
executing move_to over 6 steps (0.6s)
step 252
top_cam
camera top_cam step 252
left_cam
camera left_cam step 252
right_cam
camera right_cam step 252
assistant
agent noteThe teddy’s body is beneath the fingertips, with its head just ahead in the wrist view. I’ll make a small rightward correction and close around the torso.
move_to
left_y-0.2650left_z0.0450left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7536, 1.9564, 1.1206, 0.0444, -0.6853, -0.4694, 0.998, -0.033, 0.8749, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984] state[eef_state]: left_x=0.4243 left_y=-0.2399 left_z=0.0681 left_yaw=0.0445 left_pitch=-0.0232 left_roll=0.0852 left_gripper=0.998 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984 state[joint_eff]: [-0.335, -8.7453, 7.4598, 1.0965, -0.4127, 0.2662, 0.0757, -0.0752, -2.0034, 6.9949, 1.6337, -0.0024, -0.0317, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.265,"left_z":0.045,"left_gripper":0},"note":"The teddy’s body is beneath the fingertips, with its head just ahead in the wrist view. I’ll make a small rightward correction and close around the torso."})
tool
executing move_to over 10 steps (1.0s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
assistant
agent noteThis close retained about 2 cm of material, a more substantial grasp than before. I’ll lift a short distance and check that the teddy follows.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7971, 2.0258, 1.1667, 0.0914, -0.7422, -0.5331, 0.212, -0.033, 0.8753, 0.6739, -0.4603, -0.0113, 0.0097, 0.9984] state[eef_state]: left_x=0.4273 left_y=-0.2615 left_z=0.0639 left_yaw=0.0753 left_pitch=0.0249 left_roll=0.0406 left_gripper=0.212 right_x=0.2977 right_y=-0.0042 right_z=0.173 right_yaw=-0.0368 right_pitch=-0.0914 right_roll=0.029 right_gripper=0.9984 state[joint_eff]: [-0.4855, -7.2137, 7.3504, 1.16, -0.0269, 0.149, 0.9353, -0.1436, -1.7709, 6.9675, 1.6728, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"This close retained about 2 cm of material, a more substantial grasp than before. I’ll lift a short distance and check that the teddy follows."})
tool
executing move_to over 5 steps (0.5s)
step 267
assistant
agent noteThe gripper is holding the cream animal, but the arm is not reaching the requested lift at this extension. I’ll draw it slightly closer while raising it to clear the table and basket rims.
move_to
left_x0.3750left_y-0.2300left_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]: [-0.7971, 1.9717, 1.2381, -0.1162, -0.7486, -0.5591, 0.2141, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984] state[eef_state]: left_x=0.4218 left_y=-0.2546 left_z=0.0859 left_yaw=0.0936 left_pitch=-0.0226 left_roll=0.0849 left_gripper=0.2141 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984 state[joint_eff]: [-0.3214, -14.9675, 9.6205, 1.5653, -0.2857, 0.2271, 0.6618, -0.0615, -1.7436, 7.159, 1.6435, -0.0317, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.375,"left_y":-0.23,"left_z":0.25},"note":"The gripper is holding the cream animal, but the arm is not reaching the requested lift at this extension. I’ll draw it slightly closer while raising it to clear the table and basket rims."})
tool
executing move_to over 11 steps (1.1s)
step 278
assistant
agent noteThe cream plush is clearly suspended from the gripper. Since both baskets are still empty, I’ll place this long-eared type in the left basket and reserve the right basket for the other type.
move_to
left_x0.5150left_y-0.1150left_z0.2900left_pitch0.2500
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]: [-0.8398, 1.7252, 1.4792, -0.7017, -0.7567, -0.6376, 0.2133, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984] state[eef_state]: left_x=0.3792 left_y=-0.2358 left_z=0.2103 left_yaw=0.1015 left_pitch=-0.0729 left_roll=0.1021 left_gripper=0.2133 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984 state[joint_eff]: [-0.5538, -12.5333, 10.1812, 1.2772, -0.5885, 0.2759, 0.7057, -0.212, -1.5248, 7.1316, 1.6923, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.115,"left_z":0.29,"left_pitch":0.25},"note":"The cream plush is clearly suspended from the gripper. Since both baskets are still empty, I’ll place this long-eared type in the left basket and reserve the right basket for the other type."})
tool
executing move_to over 11 steps (1.1s)
step 289
assistant
agent noteThe hanging plush is still near the basket’s front rim. I’ll extend farther over the opening so its body will fall inside rather than in front of the basket.
move_to
left_x0.5700left_y-0.1050left_z0.2350left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4084, 1.705, 1.4143, -0.2089, -0.5785, -0.1741, 0.2131, -0.033, 0.8772, 0.6739, -0.461, -0.0113, 0.0063, 0.9984] state[eef_state]: left_x=0.4975 left_y=-0.1061 left_z=0.2566 left_yaw=0.1597 left_pitch=0.1461 left_roll=0.1103 left_gripper=0.2131 right_x=0.2977 right_y=-0.0042 right_z=0.1723 right_yaw=-0.035 right_pitch=-0.094 right_roll=0.0263 right_gripper=0.9984 state[joint_eff]: [-0.0752, -8.0205, 11.0838, 2.1368, 0.0122, 0.3883, 0.6911, -0.1436, -1.8667, 6.9949, 1.7118, -0.0464, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.57,"left_y":-0.105,"left_z":0.235,"left_pitch":0.5},"note":"The hanging plush is still near the basket’s front rim. I’ll extend farther over the opening so its body will fall inside rather than in front of the basket."})
tool
executing move_to over 12 steps (1.2s)
step 301
assistant
agent noteThe cream plush is now centered over the left basket with its body within the rim. I’ll release it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3626, 1.9564, 1.2938, 0.4843, -0.6025, -0.004, 0.2155, -0.033, 0.8772, 0.6739, -0.461, -0.0109, 0.0059, 0.9984] state[eef_state]: left_x=0.5621 left_y=-0.1023 left_z=0.2152 left_yaw=0.1806 left_pitch=0.4126 left_roll=0.1114 left_gripper=0.2155 right_x=0.2977 right_y=-0.0043 right_z=0.1723 right_yaw=-0.0351 right_pitch=-0.094 right_roll=0.0257 right_gripper=0.9984 state[joint_eff]: [0.7043, -9.894, 7.8838, 1.956, 0.149, 0.4029, 0.7643, -0.0752, -1.7573, 7.0359, 1.6435, -0.022, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The cream plush is now centered over the left basket with its body within the rim. I’ll release it there."})
tool
executing move_to over 8 steps (0.8s)
step 309
assistant
agent noteThe gripper is open and the cream plush has dropped into the left basket. I’ll withdraw both arms to clear the view and check what remains unsorted.
move_to
left_x0.3000left_y0.0000left_z0.2400left_pitch0.0000right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3592, 1.972, 1.2934, 0.4896, -0.606, -0.0158, 0.9953, -0.033, 0.8772, 0.6739, -0.4603, -0.0109, 0.0055, 0.9984] state[eef_state]: left_x=0.5639 left_y=-0.1004 left_z=0.2077 left_yaw=0.1916 left_pitch=0.4046 left_roll=0.1053 left_gripper=0.9953 right_x=0.2978 right_y=-0.0043 right_z=0.1725 right_yaw=-0.0349 right_pitch=-0.0933 right_roll=0.0254 right_gripper=0.9984 state[joint_eff]: [-0.3897, -12.1778, 6.7761, 1.6972, -0.0513, 0.1148, -0.0464, -0.1573, -1.7299, 6.9949, 1.7021, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.24,"left_pitch":0,"right_x":0.3,"right_y":0,"right_z":0.2},"note":"The gripper is open and the cream plush has dropped into the left basket. I’ll withdraw both arms to clear the view and check what remains unsorted."})
tool
executing move_to over 21 steps (2.1s)
step 330
assistant
agent noteI could not complete the sorting reliably. Several grasps missed, and the cream plush landed in front of the left basket rather than inside. The final clear view shows both baskets empty; the arms are withdrawn.
give_up
hindsightA retained gripper opening of about 0.10 did not establish a secure grasp in this trial; about 0.21 did lift the cream plush. Low approaches near the left basket pushed it farther away, so its original location was no longer valid. Releasing at left_x≈0.564, left_y≈−0.100, left_z≈0.208 still left the hanging plush outside the shifted basket. Confirm the entire hanging object's clearance over the rim, not just the gripper's apparent overhead position.
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]: [-0.2745, 0.9298, 0.8845, -0.5274, -0.4652, -0.1814, 0.9966, -0.012, 0.8982, 0.7536, -0.551, -0.0006, 0.0036, 0.9984] state[eef_state]: left_x=0.3125 left_y=-0.0019 left_z=0.249 left_yaw=0.2013 left_pitch=0.0543 left_roll=0.09 left_gripper=0.9966 right_x=0.2961 right_y=0.0001 right_z=0.1846 right_yaw=-0.0216 right_pitch=-0.1252 right_roll=0.0172 right_gripper=0.9984 state[joint_eff]: [0.212, -2.1812, 6.9538, 1.7802, -0.1001, -0.0708, 0.1245, 0.3897, -1.3197, 10.0855, 1.5458, 0.0952, 0.1587, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the sorting reliably. Several grasps missed, and the cream plush landed in front of the left basket rather than inside. The final clear view shows both baskets empty; the arms are withdrawn.","hindsight":"A retained gripper opening of about 0.10 did not establish a secure grasp in this trial; about 0.21 did lift the cream plush. Low approaches near the left basket pushed it farther away, so its original location was no longer valid. Releasing at left_x≈0.564, left_y≈−0.100, left_z≈0.208 still left the hanging plush outside the shifted basket. Confirm the entire hanging object's clearance over the rim, not just the gripper's apparent overhead position."})
tool
give_up: I could not complete the sorting reliably. Several grasps missed, and the cream plush landed in front of the left basket rather than inside. The final clear view shows both baskets empty; the arms are withdrawn.
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 · 9.201 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, 0.7986, 0.6155, -0.3801, -0.0231, -0.0166, 0.9996, -0.0154, 0.7967, 0.6106, -0.3843, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.002 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0011 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.6342, 1.8388, -0.022, -0.0122, -0.0611, -0.7179, -1.4974, 9.8393, 1.7998, -0.1099, 0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8825ccc1562f4ff65b85e4af0fa06f2b798a224719696c01ad14be1131b7b1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f37974f5f44b9be860b69a2a812ef3da2591d0cc8cf41b9f431eee8a102980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33dc51dbdac875402cf93d093f9871c66f1ae6be090eed139c761433d91d1f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 9.272 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5ixcKnu1oTFL4mgINhHOrlGRKzpVpRoKmVESaSLukemFYSOvDaJTSnVwHdVMU6kFZtMOhfc25H3dB9nXuELi5rYeUeDr3VjuG_wcrYxejVMf306godNklp1iCOzOxWTjx0J29ie6Qsdfs_b6e8optloP2xVHzoSCm06YNmewpER_b64rwVwnrvRD4iW4moQdAppHfvGhs053lL2JnoUOVzMDtn3RfGySjm10rIjqmFtTrZbATJ05e5Dp1XOx6P6cwthzY3YkVyCWooJGR6bGLJeQw-tTfbQgBQYTQYWYDZzgo-ftdSdByCmC7I19qXmf6pNo4jts2WDsFs54j5yrsKajRcVi0rtIUfUghHs9LUplUvWuTpoN8SrSvGYu6aVXMESyWb-wN7OU4OdggVbNYsEGBzTB4dNmakkvZ30fN7u3BGP7ibovzxsn5qoFVuTuSaIm2-5ON_qtHiKfWpeNtDPZ9R7TY2k_rQwZhDr8IN3ltycKmZdTHqk48AeOwfpfPjBsRH1X6jKsfZZ4a82GJv_RsbxY32aiLxhGead6OodzlGZ3HwBDDHkNaCLaUioFpZHX-NLG9eGQXdcYrjrt88-g0e6dkvUCzztXfPISkiSuVLmp4dJRZjMd86jvM1rQXncvEEv2k_jn9KGpSOFOAOUAQUYAXLQjzV6C7Xw5t_nuA4n1KLceOxH9QFYUayv6Ne0sJTwCHTRjr9UBjk6cO9BU-MHA5VE-nRV_0orzPuuUFcbO_jEU3POFzu05_3WDy_kHvce9wUil2278QSQTIKXQ5o-8ikymGwCUaRYbbVbhC2x1fB-A_8eKtg39EifhhmACZdIcPG5B8M4lJOtcdVoWtrPBHEzbppRsvu1Q3CIAbnMgYOiEbN6K3OfLl_wD-EVCyzGWUVG2tyeX6Kx8RQoST9Qd7aOF_62KSYFiYcpc4wmBbXObQWzOqoWtC-CBrmJd4T6-_Cf-WJQYiJJc2aeyOThDSjh7ldkv82be47T08IdCIl-xenCM9u0Ky0lR-nr0Ewt6mCwAD78S0sSz9E2wQ_CiMY_6eL2w-w1gRAKi1kb2euNPYdDGNBP2AO1IxY7Sbt4FLobVExozJGZtvyksxcwHEyjOQohqQO0qWwWK3Mv8F1FGiWDNAiN2gWuYqA_KjIF_C9rUszjDORWMQPBJPKM4vRTsJZ4NOUUHHzF7-UHCDU51677mqYi5UJrM6MzWOPv9dEBZHtH6xzIBrpWzMrGG8CT-wdfSHDG2v6kJi_uj8BH_PQG7mFiIowJ7POxQl2I-UVXbiPimGDk4m--i-keNAH6AFnwDpz8xA-NOt68A0TAJpC1rUORQR3oj1Vw9Q2bR-yEXaWJbI8_4HW2rxLHvxdI3L0A0M8W3WYb7AYPL7GTfxr3x66Oy610FlW3G93dGrMryIvQ3J9icduG1j3TQylk6R_7U2GCQyhr8cv0HSeCl-T_KOdsI59Arzu40OGwIl4aoJWSrEeMd6a0b55_ahC7cZ6NNUUgoFsdVB5NI0kjvFsBTdF8_nzH5PevgVKVpQCo7p6n_G9JAPWJfjJvwJdccfbp8MSVxXmaET_8_8lLE7GG54y8_z_dnDWudIWT3ori1YI4tkqDKO7BWuqDaZH8_TrZX1s2xpmopQtzgRg63757YXnn7c_oTMQCs1PBiXEENdk0NDdn2R5eYf-lmc-k3K6jtbgy3ZRyAYInLKepGvKxZbK5mozKBpytBixqqJpENOIREaBXRMQPl5laMCxfr8d8sY_pUAv-7q_gVOTE05ZXZ38K14OQEw2KduNQ8vLIbPY65FzSbb4hkGX1BY_Cz6aFGnS51LdDgkjP8NPJ6EBeTWy-Y3fpOjL3l7UyVnhvxDBjPMC66OUOlK3epb96W9e7JdcXIG_71vZnI059hL64ZQBOQjExW-QXeXXX8hw7F4yIwfeEb5Nu2DQSvJKyMzexgrzVJpfBTia1J95XXCEXv-Y1jmzXBy4XtbVco7SLvb4xKC344gaE8hj1-s37UioSAp_iaQLkWMaSxN6JVbRQqjaYu7sbgqvlM9HCTIFtr7EGJJzIHfG83qYRpZI90CasqyYxttFpZYxGoSL1z9MXbd0TpnmkOfueeOxSKf7MRnvFrbXLYR0h2ci6eyHEq15G_15rp2fYHLbmFVNTROIqZrWy4Z9a-sb0mYMqLmUZPe6UoDmwSYQbLjxGoNrftIWFrRGCnhctGMQOejD-tp6-hu7DID3CCSTpi3tx6KTAq06KTdBz8_rYc3vTXjLZBzNaZwEnSJw6OolS70m11oNxzuJq3jcLIaa4gsj3tYkVNaP3x81DHAMm2reZfOPdZzqmkFzNlNdpMerIUlq1WDwMackVFK3IU5Ewdt1LwrrmyQ9X-DSZ_OilCgMXzBhh46tvhLWxD_g67f_CesEnKlNeuxtiWYKIQbhs8WEZC6DGmJgx4Khz6UEMOLG7wqAjT3tKipsjM_70sJgYk14Rh2GGJE5RXhBlrad76gg_LuNplsI4Ti8s8_IhGGGcrNO65m0RekDNIgjNddgTRsfDDuN1tABeXQUbbb5LmJPMNUdfxjWVzDTzwtjwqj9AfwhJdc77949kMMt09lyy1hU45CmdokiWCQ7slV8Iw2Pd5n-Md4abjURXsDhiE5CVmQnBE3IfPLdEZz0Us3z_PnnGPgcjH1dWnweQOMq0Ki9v5J_6ckHD1iNQ-frBFcxKRrsJ3AMGKqslpi_XKHedR-BDACysb3cn9ehojnXygQojkKtCfNwJiLN9holeTY2YHiCBgFoHSLzB_TQz9yx63cZxrwL6zYn2aP8GFvVFf7TRjak1NHHQ2CntQuzUuOyhiRHOPMKYZa5gP9PXh5_mEiOHwI5fi586TUy5spEsClybzppznOPIUcIUCkRXyAo45YIE8SdjXQi-A3n7Ff4bNDecMLQpYY_KKhPO8JvxrZFojq_cnyk49sCft6CpDEuQdr2Nqvn6rJ2mRIWv_ujZcWjGmuld7AekBbqwA7vwFQt9pzncTSbhCRRFpULwYkLmmPbybDeNs3z3__zG8_oOYTk_48mbM-uY3_KVjo2wl6wBvTmiLSB8aDFZ50PZ75VoWjxJegZ7CMfYRPSEM7uHdyaCPUyVbCy5VFOUQMEqmkLEsSYI4JV-GcrPF3uJAIPT1hWH0iJC8DyBDU_ZgcGL7wTTcya8jsNaAckuCqM",
  "id": "rs_0dca810267bc1526016ab45e5af4f487d09853c495e97bb324",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.001,\"right_z\":0.19},\"note\":\"I see two empty blue baskets and a cluster of plush animals between them and the arms. I’ll approach the leftmost plush to inspect its shape and begin sorting matching animals together.\"}",
  "call_id": "call_lVWMGAnfpo1maQPbt3bOLwXO",
  "id": "fc_0dca810267bc1526016ab45e617f1487d0bf15e7c55eff2c75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lVWMGAnfpo1maQPbt3bOLwXO",
  "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]: [-0.8986, 1.2213, 0.6899, -0.2989, -0.712, -0.6033, 0.9995, -0.0193, 0.8032, 0.6109, -0.4114, -0.0177, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2854 left_y=-0.1675 left_z=0.1373 left_yaw=-0.0096 left_pitch=-0.0301 left_roll=0.0158 left_gripper=0.9995 right_x=0.2919 right_y=0.0011 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.2188, 8.5949, 1.3553, -0.5153, -0.0024, -0.0611, 0.1983, -1.0325, 9.9624, 1.6532, 0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd1763157b577ac6bd9db4805a39d11ac12726d987a97f8f1d41389cb5511dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1979ae91df23cb27b7a755f29764d1c965ace3c200052c75c30db3b7ff0e0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04f3d565f7bba3a9ca5a8695d5c7294d6fa0832497afe1303bdf9c65011e079",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.265 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, 0.7986, 0.6155, -0.3801, -0.0231, -0.0166, 0.9996, -0.0154, 0.7967, 0.6106, -0.3843, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.002 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0011 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.6342, 1.8388, -0.022, -0.0122, -0.0611, -0.7179, -1.4974, 9.8393, 1.7998, -0.1099, 0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8986, 1.2213, 0.6899, -0.2989, -0.712, -0.6033, 0.9995, -0.0193, 0.8032, 0.6109, -0.4114, -0.0177, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2854 left_y=-0.1675 left_z=0.1373 left_yaw=-0.0096 left_pitch=-0.0301 left_roll=0.0158 left_gripper=0.9995 right_x=0.2919 right_y=0.0011 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.2188, 8.5949, 1.3553, -0.5153, -0.0024, -0.0611, 0.1983, -1.0325, 9.9624, 1.6532, 0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd1763157b577ac6bd9db4805a39d11ac12726d987a97f8f1d41389cb5511dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1979ae91df23cb27b7a755f29764d1c965ace3c200052c75c30db3b7ff0e0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04f3d565f7bba3a9ca5a8695d5c7294d6fa0832497afe1303bdf9c65011e079",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5ymHbAK3sJeWI5AoVPqkt51UYedVvNXkHAfu5nsYI35fSeJjnVVY9V8geRX4qVMC72CFhFC4mkFsSogcB0S-4D25UnNou8lyf6ZfP-K0GqbWVe9Ermn5r-dNsV-BAe9i90UvoxXOedHkvBZ-yo7FWyi56JwJ4KUcHawiDrTuuLobjnWJn4uPhh7Lknlb6-_lEr746CzC9G1oqyD21sT_3r14ujefn0SHUqkSVXuqHMlhwXVi0nDmfIc7_PI8DZLPsr5bsWYZ7nd6gctJzXPFzhJateJXer1YceBA0RQmiKosGP3_Z_UrYKXtJhTuHzezxppBleOKW8RMNJ3kTg5NlVc2PdVcU_FcuMzjBHdw4xc7kLfP3Fq7BSPEDLKk6L1ZGg_chUp7Ej1Wn79gqHmS_Ool9tUtDWPD0dM6oO-P2dhPcqo3HOEGNQbb_cDhSQjcUL9pt15DHQAjgo0AKe5ecFIPW4UGaSnB6e2HiERfQPMkZKwyyQ3LgsQ3f2n3mG0HsYDCS3J4ZTnSbbD-nP5Vm_FQqZiZNu4sNehj3jZFMhFLaoUTk3TbZgdBEq_SPd5-qqnqfz5iQGEKUNJndC9tj5gRyzAJjb9giTQY8eQ6fBHnRYGRjzSd3GzZKK3jYlMpdnS9AybwguuJu79ay2HNndYWhi10ZfGvJj0HROakNgcOn2ckL21GZvF-7t6ixVBrvVsQKOG7fWxEL8poy444uINQWtLHpYiOmcAo3VvJUr1VMyKT8QNkczO3bBveFwzUZGi077zzctAghC2GSS--htw-BABo3VgORkXdJp1ejC8BNdha9BaNzew-n7Iko7GtSfmXjX5IMCpM15Htyk_DhKMCO5fAFT5xZsHADoMZlE4NHsmcX9ByR3lirVJHe1KqOdZMHh6UQt41C8Zoo8qGwl9y13bLa2LbnoiZoSes4XDBqM0uClefSLlJlQmjDl8vYQQoVu3vbSNjy-k7hJs0chaJii8BR9FFqvDC_-6qjC1tcA6bv7wI97Y11CAu1Leqrp5dVpGn3r3PPH3iPJNR4syBGy3MLQ_4ICZVhSRZZH57eTGHJjvGhdiKcgIpcs-ctS2AZZ5Vky5MAE2lrVhkNJSFd-aNm4TmD8GPqGIKBC9eMQU8GbjS2i4bkVI4ZDzCgRehqrlj_clbhk2d9p5WH-7NIbzmq9ml3HBh0jProqEAQ-Qu0pXZW6OfGxr0dwEkY55WUr2zXnET0Ta2fG8M3_v95Gm9uwd76E_KNot7UbUWORRHns7RRpeIStkb0FkNWReW4FCSBCKGpLpWeAAhZ-9iiiiYdihLUaG1napCskhee-GKdbSBFl67HYZ05IFNgYhvU0ntZ2sqGhIMKjfXinHEORmeORU60BRRJOwSercN9EtIk4ew-I_3RZPNemHT-lu15GRfDviwi-cExxW8mwG1dj5OBZ_dVLFnu3kM_us575OKNZV_uOowUZt7UL5PpTnxHa0cggOoIBBUCkLGKxqP1iladTuF9xWGh66sfCEbC7B1YE1FDEbGStVKxIJqXGQ3JtNlyzctBsbYaFOllBsbzAfULnM-VNKDdSxQItJ5V4S6H2aG3xPhIEwxlzXQR_uBVZTLUCNmtMn4RDeIkb9Mmzziur70_DMTAqi6QEhUkhl229G-oOYqlf7k4i38BCN40RUe2GONTChtBQTgI2awxMt758PCeLU0AFwkrw6cp3yjsD-dHMQhVnN7XvJD9hRYXc7waizWVox24RpoZMyO7Ga5Hn7HqcvfwxhLGWOdq99EMJgWu2cpDDod66b6PPqsT_WHcnM0hU2GOPP1puFeG5puYOIte1aHt90N0b5ejYnqsJyob2_7B0xlQ4mygqCb-ZxKT5W8raG3-53tmQL3l5RtKgVWY-07JX1X6r3fnhZB-rfh7qUIhDmUuOvnCvNUVtez1J8Kw9Dv6G_kTEoWGfA8tng5c6yo3wYTYjgDF7JRQIf_kLX_8A5ql82UmoUi74et6KPX2mwdH012tnrhHHcrfHR4EJlCdHy5c0QuDJlCSj7pdMsst76GaOgw0W9MHnzTDo4caEueEI4iSRdYkf7ufNsDS5e_AnorvudKfbzS03SDdiRTmf8kfzt5NC8V77S2LTuMfVmOmkDVeCszFw5DP4t3eaes7tQJzdIw8xhFdbJX9gvkuskH7Zcuf-Gp7gkFMBTHQY2axawmJCc3-VYLgH2Eck9a_iyJJs02H80-SybxCsb-izUjzYyZX58IaYVjo0pEam4oKjHTzneni2tiMLN3kNeS4_KR4ys9XGwb_8HRnYdpbqqYILdFR71_YtAW2oWLV4_jsQTO1swNRynHMJhLVQYUP_6XlRhV-PQIh5t88GMOVpARNKeJH2dNRehBk64QmoUiFXv6rr_xqb5__gDxgtPZAheXyzChZH-JkXajZtHzZdP6zxTZKMahW5yMCFaN4MJGr2rON7qqeDnr1qIzhtfyNTW0pojHX-_FMZaoQ8C7S9CnIsh1kai4BEfjXr6xahfkWTM5fbfpHbd5CYyyYhgUguHmdzA4j1i45FVGFwlq1b2cwYkWlAUbXkim5R5WNQn__PVNU3CBQJ4RfYkrRyauh6gnsic4JKp0jlXwnqiIS7ZXLV-Ss6181DKvpiZqxBN75yEzlsPK5hfsCcohy7QBtnABwBSL31mpyvPQCmzkGhAz5IB72q4T4ZDAAwaHuPLBHCn1A3E0Aan3FoAZGHCeUXnl_PIv3KNOQEe_VliUgbQcH_5GFyXrGtwnBi3xVRTE-aqs4-z0TgtqZkI0kBndj5fMtmOvehDOUS5P-RtilTKhzy2N9J61K2wc07CZPqWzx6TIWiWuajoSk271sSgNeVjMKGcebvV-KGKAstO7UbdpTP6qo_-qD4eebe_xNMCKU1db5M4JdLOIlT9Czr4rW6i5WM4MvTJLWGQV-nmyYIE8LTNN5u7tfZhZxVEaz7QDTGlgFhEbPnBcbAGJlJg9UOp8IxSh1c12co-CCCWJCPqkeV3khtg8E-p-3zPSlHgF4ETHwDGq42DgkO6XKF3BMBFxh4GuglHXZUJ26SQe9hnNv3Kc9DmZsmQnHcCTpvMrBTf3XgwIgOuYCCuR-RJpPRZ8TfX_FqNmWxJdw2yXTI7Nfz9a_XnnP5JGvuMUpWs0YYndwINDjbNnMjgOuOeOs8g73BMQqeeVzie_7oTyK3NCouRm9_sYbzC8Q3n2BnzI7bUhpz3U_gXu3szOhWezoZGmTAaZJEWS1Y9W_E_FgZ1yVkbAr7T1m6MlTN-ZzbFOQjvRUdOmgFiIV7AfVRCX-1e93R3xE=",
  "id": "rs_0dca810267bc1526016ab45e6a582887d084c974db97f053c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.15,\"left_z\":0.04},\"note\":\"The wrist view shows a brown sloth with a pale eye mask beside a cream teddy bear; a gray teddy is also visible at the left. I’ll lower around the sloth, assigning sloths to the left basket and teddy bears to the right.\"}",
  "call_id": "call_yYiYecODn9HRBYzbNyddLeJf",
  "id": "fc_0dca810267bc1526016ab45e71a1a087d0b1d24117c901c965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yYiYecODn9HRBYzbNyddLeJf",
  "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]: [-0.8478, 1.4288, 0.3862, 0.234, -0.6971, -0.5568, 0.9995, -0.02, 0.8051, 0.6102, -0.4145, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2862 left_y=-0.1475 left_z=0.0435 left_yaw=0.0055 left_pitch=-0.0253 left_roll=0.0308 left_gripper=0.9995 right_x=0.2915 right_y=0.001 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0388 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.8496, 4.6701, 1.5263, -0.0708, -0.0855, -0.0122, -0.1709, -1.0188, 7.0769, 1.7216, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f803dc6019f628d0b7e945e39b3aaa904b28d63bbdb2d6843d55ab982bd386",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc0a6147167258841dc7d54f21b835d37f47438247cbb11fc6bb9728fd5ababe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a34fd0a7047f2fa1bb97d63411d03b9bd37ad2012e80c3a93d0f3fa560a23df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.241 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]: [-0.8986, 1.2213, 0.6899, -0.2989, -0.712, -0.6033, 0.9995, -0.0193, 0.8032, 0.6109, -0.4114, -0.0177, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2854 left_y=-0.1675 left_z=0.1373 left_yaw=-0.0096 left_pitch=-0.0301 left_roll=0.0158 left_gripper=0.9995 right_x=0.2919 right_y=0.0011 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.2188, 8.5949, 1.3553, -0.5153, -0.0024, -0.0611, 0.1983, -1.0325, 9.9624, 1.6532, 0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8478, 1.4288, 0.3862, 0.234, -0.6971, -0.5568, 0.9995, -0.02, 0.8051, 0.6102, -0.4145, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2862 left_y=-0.1475 left_z=0.0435 left_yaw=0.0055 left_pitch=-0.0253 left_roll=0.0308 left_gripper=0.9995 right_x=0.2915 right_y=0.001 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0388 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.8496, 4.6701, 1.5263, -0.0708, -0.0855, -0.0122, -0.1709, -1.0188, 7.0769, 1.7216, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f803dc6019f628d0b7e945e39b3aaa904b28d63bbdb2d6843d55ab982bd386",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc0a6147167258841dc7d54f21b835d37f47438247cbb11fc6bb9728fd5ababe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a34fd0a7047f2fa1bb97d63411d03b9bd37ad2012e80c3a93d0f3fa560a23df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF53gAu6N_D5D9myC9ZtaG8pJjrFtw1pCLV6MqB_0-fm28QaRk8i_DOlsdE5fRqiYI1bAHhEpk4BDdGn1dqPg3731PhaUC8KwXVWRCXCNfld7RglpvJe_epz1K9FtT-wYf7q1qc3AJ_P4YOQcRYSrv71he3lPASlrXHUxVgY32Op5WomLxd_GlEbYlQ5wVSvSH02qGGHaH0MTL50_4zqeurfRxNGSPAi03vx8CWHjL6USjujHxCNo2-gsWCzlzE3-v6Qfl8vmQkcDs8-s8B9b8zYkXUcSz8z53TpjBjDygYf385gt6OnhqRBBHMdOgE3HajG6Tkf7ZMsuJc1h-GMkPPVpGPo_roeSy7nSVj54Cuex9jxUHSyKerWRFWHsGZlWYKEl2Ei4q6W7r0QncipJrp2K5I1pdZmP96a5ODrltYNn_KRzPYMm96SXowaaKx2Vs9xaucckKhtjNa2Wpk7ONA-SRnneSv_D4doCuJ6JkWG0umtQIg3UYjgYktBu63HiAN9uADEiWoEAk_lInbFByKHU5I6lDllMu-RTcfJMNtJeG5M03CfZrUd-W6Nwd9WjOlx40oIhmSebc7VUZV7zQkQMrj3Am6mP8RSRusgMbxEwERQj8WQzIo8jxAPo4-ycDTuBujebq3M1EtPje13N2b8Vcdd0BRch-lM8ADkB4Un5IIuiYcv5YAW2K5We6ZsCUq_0vxp-6c6E5b9xE8Krtie950S-6fF6BJVirzklDeyYuPmCS626hhOeeaDEXNM9rTceNncR1MFN86cgAckqhpTgrtfpqH_S9bAfwSoEZ4GV4BVrc224Y5LijuRg6PG9KVD7WuFs7tdVcDCNdLC5eF6iBp7A6muU6lAqkIBeL2aCPo1zYTAs5a4rQLFvTP2oZRlGbk_zIeoket8YS7nzkr0OJyjlbMM6cHX-D436KfRLiyDOPd6vRgXXCO0UY7UEp8_pnpULp-FH1yd4kC37pAW4afvedsfTO_-ZMzb5sUbEl9_A6jSjPXFoEy_rB0kD77H-hr8jxF3fjLEH4ZncCfAOy_DhqHiC58qor9wE9XP5EVudoLvQfkJnpHQRSIQkjtNlMD7LIgw1ZWsNVhskAJDvDjBfx_zCdfEAY9lo2sJ2MpsQKKSwNYR-kVDO1CBSz7jpu1yGDEdHi1ore3yn95R7-K7dWYrL87gyzwmOpNyh2WOeqHrliAliKABhS3l7xuMUaT8_wej26lq2adnJrfvJONdAGo3YQ5KYsWvJo7b7ohHdNVQA_8koyMJX5pVe6leCzoMdXvZstSfT44-HKGXnQbDOo1mRh_RFhfn6zIQorpcHDo0aS0DM3W3WtdJsECsRihvE7RqdvAnWGgXLU0I-spvsDi3k4uOPIKqcEdPIDWhNBgNs5lvXu4PtTBwuj6ZGtSolidf8mtLfQwGXtJCHg==",
  "id": "rs_0dca810267bc1526016ab45e7554c087d090e579f31c3aa98b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are down around the brown sloth’s body, with the neighboring teddy outside the grasp. I’ll close the gripper and check whether it holds fabric rather than closing empty.\"}",
  "call_id": "call_sTE5PfZAa2QrxBvAjrSvyrkR",
  "id": "fc_0dca810267bc1526016ab45e7675e887d0865f443add82bc22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sTE5PfZAa2QrxBvAjrSvyrkR",
  "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]: [-0.8474, 1.4288, 0.3805, 0.2531, -0.7071, -0.5587, 0.0129, -0.02, 0.8051, 0.6086, -0.4149, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2873 left_y=-0.1466 left_z=0.0452 left_yaw=0.0137 left_pitch=-0.0111 left_roll=0.0238 left_gripper=0.0129 right_x=0.2913 right_y=0.0011 right_z=0.1719 right_yaw=0.0022 right_pitch=-0.0407 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.547, 5.641, 1.2674, -0.2027, -0.0122, 1.0379, -0.0889, -1.306, 7.3641, 1.7314, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2fbd4e8120ea067df72fa89b9f0ad0facb663eb1cbd27fd1e8edb13946a644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97fa1ab90b6d9c1161e1a42526721365f79cd5256c6558c190d152f3878036f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e510d345d17d419344baee0b270dd30e6a10d2b49eafe3481d371e036d7464b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.727 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, 0.7986, 0.6155, -0.3801, -0.0231, -0.0166, 0.9996, -0.0154, 0.7967, 0.6106, -0.3843, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.002 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0011 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.6342, 1.8388, -0.022, -0.0122, -0.0611, -0.7179, -1.4974, 9.8393, 1.7998, -0.1099, 0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8478, 1.4288, 0.3862, 0.234, -0.6971, -0.5568, 0.9995, -0.02, 0.8051, 0.6102, -0.4145, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2862 left_y=-0.1475 left_z=0.0435 left_yaw=0.0055 left_pitch=-0.0253 left_roll=0.0308 left_gripper=0.9995 right_x=0.2915 right_y=0.001 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0388 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.8496, 4.6701, 1.5263, -0.0708, -0.0855, -0.0122, -0.1709, -1.0188, 7.0769, 1.7216, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 1.4288, 0.3805, 0.2531, -0.7071, -0.5587, 0.0129, -0.02, 0.8051, 0.6086, -0.4149, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2873 left_y=-0.1466 left_z=0.0452 left_yaw=0.0137 left_pitch=-0.0111 left_roll=0.0238 left_gripper=0.0129 right_x=0.2913 right_y=0.0011 right_z=0.1719 right_yaw=0.0022 right_pitch=-0.0407 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.547, 5.641, 1.2674, -0.2027, -0.0122, 1.0379, -0.0889, -1.306, 7.3641, 1.7314, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2fbd4e8120ea067df72fa89b9f0ad0facb663eb1cbd27fd1e8edb13946a644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97fa1ab90b6d9c1161e1a42526721365f79cd5256c6558c190d152f3878036f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e510d345d17d419344baee0b270dd30e6a10d2b49eafe3481d371e036d7464b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF57seYomAWtbPLPEzzEwJaq5qvntI25U4Q3uWlN0cHPgXRseH11Zk7wSQFa5cK99woRaj-olmBRF0PPyThSvE2MUTshvG_xS9CiS19ew5Bn5VXw1IzSJRZirMbwaPoVU_ruTXQOsMEwtvOzWthy9ORuhtHa96VUWZ_7zmHxDojmFBrJ97NZVgNky7o4FBphkxgP7Cbp9oCSFTFe_6H4S1S3c6zRCbegBPNsUTvenbRKF1HNpfhzvWLC-mvDHL3wtANs65YpU0ud7gGj59qtdPPJUdO_0wCrr-iOt1hMNS9Ipnjk3HTRJyy1S7CgrhUTbdWEEJ2WabJ6tEUtExHHwWQSno-MSeKSdgs9DTH7H8Khn16kf7liSi9uLQiOJtiqF7sN-10SVFy0shxJk3I2NLRrVnZfonlGRvXU8Fr99Uh5oE8A9cciDqR3oHxBQzzWxqMy5OmGCVxjvHB0VSZn2kYCevcaRGq6A0a7mGoOWczBxvE9GUHEvQjRBIv2UC5orApHJXhG8sY29cuhYLU2CmJCar72I7IBcZFgtEEEQYBhtcrN_0U36hqPsakZBf4JBI2Di8IvRQK3HSr3e_P7DivxIvtRjLOixtcaZFH7cZ_HxwvCox_PmfwVA0XwR3KXiPZcShqH3t_iMAcoto4mPnE_4LTKcjGZRCub-1hU1SSxLijSgAEHljewX1MVp1WXuwD-_no73P5bpJgdeYq4TIOaOFC7-Q3Uk57eYlceECHiLIH2U4VnPaquLaXW12uq2xfMK1TyOShhPZZJSW0VtsGe4oM0etEk8JD91THD-iTZBBHirYd8mo-BRutkzcJRdjgHgic3sjyOVLbeh8ZLuHDTD3nl55IZ7XgvLzlVSPurov6sJilVmJv_8HO-erWMls20q-pS2hE9hHIIJ3u3DxjGH22xhY1GVs_CqhGAjNMhWM58p94hURlVPsYdMgaeG09PhDCzcKITmZ3_OaIrNIerjUb7JwlrQXByhonQh06uVKCVAO7Kgmhmq25xHY6sOEcda3vhUQQ_PNF_Gabf58-ddjUglbNRBg0Tjk0p8s17WpWdjWzH7bF8ck23sz9Vxk1cPhNg1xSKgZwTRK0fIBceQ_yip0s1is-oFPm1qzENGELhppzgY38sC6B9OZTzEat7q065Yu98Nf29ksx2dQ0LQd2pvdoyDTd4m_rKL69LDzAcFRqZSdMTbPc8L3bWNKka_vRgHcoOwSfSdI0K9H9cCGvdUhl3AEK9Bwy5HEU6jURKGfR-QKtogimPW42d_u11oDbCzYk6hSPyl5kwUp7osy0vV1yiMe5Q4rT81i4n9R1mqXSH5EdYh17bxQQlY6SRiMa7cAmSKbtIaaW_cJGjfVFSJ0KXY4MXt38wRHU5UkKCmqLITmzqfp8rTWWySWjCe_3q0v4R7d1eaP80w7NLTVKVoY1wWdU5YRPQhEeafAMnRydrbmyUO1E-RJogwZDu",
  "id": "rs_0dca810267bc1526016ab45e798a8087d0bffe45f3707e2e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.315,\"left_y\":-0.145,\"left_z\":0.025},\"note\":\"The gripper closed almost completely, so that attempt did not hold the sloth. Its face is now centered in the wrist view; I’ll reopen and move 3 cm farther forward and slightly lower for a second grasp.\"}",
  "call_id": "call_NvR5x5mHN3dsa8oGqi6aOdm2",
  "id": "fc_0dca810267bc1526016ab45e7a831487d094838bc96262612f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NvR5x5mHN3dsa8oGqi6aOdm2",
  "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]: [-0.7521, 1.5955, 0.3882, 0.4778, -0.6731, -0.4789, 0.9988, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.139 left_z=0.0296 left_yaw=0.042 left_pitch=0.0144 left_roll=0.0271 left_gripper=0.9988 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -4.506, 5.6957, 1.3358, 0.0904, 0.0415, -0.1441, -0.1709, -1.3744, 7.0359, 1.6679, -0.0366, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b125c05d617f5f2cf1604720bce76dafef861a59c18a0dfa58c7f596862765fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea5f37bc2aca10a80018ae2928b4bb9232f1d5f815e95b6688817da42906d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ffc6e786a83edc843d756697d446f65603d786b229600a3f965b5f944839e88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.159 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]: [-0.8986, 1.2213, 0.6899, -0.2989, -0.712, -0.6033, 0.9995, -0.0193, 0.8032, 0.6109, -0.4114, -0.0177, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2854 left_y=-0.1675 left_z=0.1373 left_yaw=-0.0096 left_pitch=-0.0301 left_roll=0.0158 left_gripper=0.9995 right_x=0.2919 right_y=0.0011 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.2188, 8.5949, 1.3553, -0.5153, -0.0024, -0.0611, 0.1983, -1.0325, 9.9624, 1.6532, 0.0317, -0.0317, -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]: [-0.8474, 1.4288, 0.3805, 0.2531, -0.7071, -0.5587, 0.0129, -0.02, 0.8051, 0.6086, -0.4149, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2873 left_y=-0.1466 left_z=0.0452 left_yaw=0.0137 left_pitch=-0.0111 left_roll=0.0238 left_gripper=0.0129 right_x=0.2913 right_y=0.0011 right_z=0.1719 right_yaw=0.0022 right_pitch=-0.0407 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.547, 5.641, 1.2674, -0.2027, -0.0122, 1.0379, -0.0889, -1.306, 7.3641, 1.7314, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7521, 1.5955, 0.3882, 0.4778, -0.6731, -0.4789, 0.9988, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.139 left_z=0.0296 left_yaw=0.042 left_pitch=0.0144 left_roll=0.0271 left_gripper=0.9988 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -4.506, 5.6957, 1.3358, 0.0904, 0.0415, -0.1441, -0.1709, -1.3744, 7.0359, 1.6679, -0.0366, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b125c05d617f5f2cf1604720bce76dafef861a59c18a0dfa58c7f596862765fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea5f37bc2aca10a80018ae2928b4bb9232f1d5f815e95b6688817da42906d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ffc6e786a83edc843d756697d446f65603d786b229600a3f965b5f944839e88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6DpoHg--Ymxl5dfYqxKvxk-hEwI6ulxVMtoBwxp6_pe3WKWXy0oUBRGDhxKZ0JKjLWN3rRBfUlALZol1F53OpmoBxDyUYxkIyCTE2qL398VxHNxTclGxVOh47prtukNuSn6OafzLDJyJ1N8oB5XNKW6WUCxp5Q5SK44lGTwfvKhPLiC8ZPokbP3YDvcmlmBtlIucA2XGdC2CTnGlxi9ti13NCOeV-emjMARir7DBcqDicUBWB3iLwNtRq021ADRyFUbIdQmKzps76B25ydSQ9bBp-R8kg3xbeD4ALf6JEKXwowdNAs0Yzjj6IdwgKF6cQWHTCLgliGbCepqxFq-vD70Q_pxgismkMZA5-1xbI8m0rIkb87o9JAi9ZF2Oxt7nMy-M5QJ7eoVd_JZp4sb0eugRdqQLv47_1Q4M9PmGId1PQZrH4enxHQ0xhZxepD-qiBqovEdrGlkNgAnOiksy12-7AxBSMobB1ZJijMcribPTPePkD1_I_Ek4SToyrdwxFeTZ-VzBge0PDhovTn3j9Gnn8mFxvGq9vP1K99Ny3fQ8y2iVyafGvK83SBJhWBGMCkLmqQyB-YvrEqp6JLkJKpvM2xEFkIBSAkTo5EThthvQWpiKV7F1EdVaGUxquKPbDk6iN0XRW_lugQG9s5m_LmkZy4L-mrK5CpZt6eWryBaBAcOHhr-wmxDlZStJ8ngsaHB1n2Bpirp96wdGy0MXr7a3Zn9C7xm1xwsChtysISI8s0da4GHHf2Z6mbzNN0kWVXZ0DyWiEcG5C4XXuzJKj48JL3WtKlNSkLLp-HaZ-wwrq4UsCMyRp34_9NjjDSe-XAtvBOCygdk3bTr2fAvuBjBRnKUslsx-_oCzqRRNv3Owi5SLkj0rdwxCbjGzz5Xkz_I-elO2d030CHZSab3WFfkz_jbhO4f39A0Kc66eU3cNZ9HnlMo57dMfY6P2HCCkRp1Chu6rvoWYhbcmKJ1hYJOMRM89etsPqzYjS0bdb3JL7zAzkiMfFwAq7_tlGgcPbMpRop8tlAcaFQiglvGI0HpJbQMzmoP3L24_HP_7YQAV_1mAfpyNest2VUHJNi55Vl9yvqnYTn54DMpdo2CtWLLzWaFmant5mRXwXzjntIV1lb4GuoiSaIK2Mq0aAEFeGItBsN3zAlfM8ZE-spprmDlKwOOAmAtnvm8iGmIgh7fx2ab_nY39kNINUHjgxPZWR1wTtBnpPwznqWam-gumMPMoFn1xb3HWKG2XNUeYatvXfj8bnteKiRtDLeo8bw2iU4dT_dlbCydNCua-Ep4BYF8j0l1WDO2FcR55e6URWZvPLdidq6RaPHC5Bh1cH7tzRbWD_xDnvHDcunLtEaeBIg3NgxrsZGr8NZVjOYb6eW0fGYd928p3gB9aBlBblW7ebMyeUNvxOCDbvYZtpaG71Mwj0LPngLAaZJXd2afg3WkJccQKOHK0bYpgZ4-n4YBQevzrlEySrht1QhOhVe1tQDnC486ieNNCPANdjXHn5FdzJ0lhsRS50ZzxeDVGlkWX5nt02OZNVKlEkDKTQoy6z_UPaDKD6z6wLtwiHzxFDTB_5CCpi6CrhMHKDT8zAh7srVzunfDL8AWDnKUL2HJBGdN4mVKo_JyRxAZ5FY0PFqjU85VZlhDLymlsmHPSbBd5PfJn40TC5NmCON6FmVR13QffHu7vasFrNMwfX45A8Uhe42auDTNZTC2E-KaJkhz-BzlSjvAndofUjim1kjBVv-VgorRn8hL32w1AktZiPOqvI29-iS42RIAGiNb4ef8fV8LgxjDIPs5SOyRt_4Awxd9Wk2VdFxMkJ-dLyBqXg14SoP6dAASqg5V9HqvxxfMBe_5AFRL1OHnGSrtoxnhhuyWBkA0VpBSeUEr1vCam3IBL_Fx9nEqb8S4uwutK1dFLDsyjUo7p2QqG_jg_CkxbmmH0cu99olB72cjAH-j2xCSkz8aujD13ZY_7c6fC7azsZCg86-pPjrx547f100-ToyPN5iYu737-hz3fDaVu5EqSCeATAPxBAdikeUToqUHLUU7liGYWQEpI-AA7kAtRN_fcnP3vy-7p4hWQ3_mR1IFVT7oQ_E31iSi5_8jIMIFc26IXC90y2-SYRYKkLi2A11ZhiPHDwejcMs_p8XrY2PUzG3YxGwjE25jxSkCn-iBgRHjRN30_HXAqNG4w78fdIr7ZwQ6J1Zb-d1Nl3EbK8vQMI=",
  "id": "rs_0dca810267bc1526016ab45e7e926c87d0b34498c10a90cdb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.115,\"left_z\":0.035},\"note\":\"The sloth’s head is now clearly visible but sits left of the space between the jaws. I’ll shift toward it before closing, keeping clear of the cream teddy on the right.\"}",
  "call_id": "call_KSwZaXA7cRxF3vynLHhm5a4o",
  "id": "fc_0dca810267bc1526016ab45e82340487d0943d9f2d814fed4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KSwZaXA7cRxF3vynLHhm5a4o",
  "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]: [-0.6441, 1.5593, 0.3653, 0.5079, -0.6155, -0.4152, 0.9983, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3263 left_y=-0.113 left_z=0.0346 left_yaw=0.0732 left_pitch=0.0191 left_roll=0.0245 left_gripper=0.9983 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.065, 4.1368, 1.5311, -0.0757, 0.0855, -0.0611, -0.3624, -1.306, 7.3231, 1.7265, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9081f79ff98c7a7ac633d02ea99a02baa4f6beb78a0e5ebc34a33f07ba2b561",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5e47f1dacd0506ab2bbf7cb8c53e883947503157d16ec36a5a98e403163e29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b8e0fed0f6afbe828d0d9f8dc8402d7901f9f764b3e74a96ec8741329ea0f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 1.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8478, 1.4288, 0.3862, 0.234, -0.6971, -0.5568, 0.9995, -0.02, 0.8051, 0.6102, -0.4145, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2862 left_y=-0.1475 left_z=0.0435 left_yaw=0.0055 left_pitch=-0.0253 left_roll=0.0308 left_gripper=0.9995 right_x=0.2915 right_y=0.001 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0388 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.8496, 4.6701, 1.5263, -0.0708, -0.0855, -0.0122, -0.1709, -1.0188, 7.0769, 1.7216, -0.0073, -0.0415, -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]: [-0.7521, 1.5955, 0.3882, 0.4778, -0.6731, -0.4789, 0.9988, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.139 left_z=0.0296 left_yaw=0.042 left_pitch=0.0144 left_roll=0.0271 left_gripper=0.9988 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -4.506, 5.6957, 1.3358, 0.0904, 0.0415, -0.1441, -0.1709, -1.3744, 7.0359, 1.6679, -0.0366, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6441, 1.5593, 0.3653, 0.5079, -0.6155, -0.4152, 0.9983, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3263 left_y=-0.113 left_z=0.0346 left_yaw=0.0732 left_pitch=0.0191 left_roll=0.0245 left_gripper=0.9983 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.065, 4.1368, 1.5311, -0.0757, 0.0855, -0.0611, -0.3624, -1.306, 7.3231, 1.7265, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9081f79ff98c7a7ac633d02ea99a02baa4f6beb78a0e5ebc34a33f07ba2b561",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5e47f1dacd0506ab2bbf7cb8c53e883947503157d16ec36a5a98e403163e29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b8e0fed0f6afbe828d0d9f8dc8402d7901f9f764b3e74a96ec8741329ea0f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6GDvVaCGFbIXwc6jndqLqde0VGt25yeiZ6Qt_skFz-enWWHNY3qnU6tZrOutrTh-Tov4j-gCzUeSkxCow5V2sj_4N43mleWmHLjm-4IMU-GdOqSENOOwFn8SSRjrwAOEuZhnDmNBIZppj3SH45o4TRz0u53As4lc-9GXMOI9co9GSyBKxFnACDpLUR4YRgstJFU2f7Stbg8lIH5fx-lCBM3b2xa0-oVC1lbmwXf8_y4jBD8TDb4W6YMvDei-tzi25UtfAk3IQB6T_MTb9rAJvX61b1nEh46bwhVCUo6gbYYCxsh_5f-BTYXI7MuHMWJdymAMJGhwG4404MFy4ZAWd6LTaAmHD1GLdsD3eHnNJ5UrxD2B5pdcjNn9LijkGJaWtMKQ3o6IBZEWvQob_pSEg2Hf1wOAghnp-ql47KonHwPM8YCdz5gvrvbOb8z--oqxDjXuRQbX4cUDsbjtKCDGCJ1EXupCcvaSu2R5E6LJmNl-xrJp9T5uHwWJlifjzXr86pkLQT8BfICw7xy2-aMwqwbAUskk1hwIGr1jeVlSVJ8cVxA7pTxiz8yaM8fQfiLAhqZJvlXpXFNcWTJBKXRpqAvg3jyCfKIl39dFNxim7sVd1PVbUtfw7MTeRWo-MRv9WGw0PJ3Mx5rM6O3NoJnEdfGLJFXcBtOMvOmaPTddEboS1sdl3KvoxsIJgfWZ_C_QBBp-9vpSFnqDDNbJEKN1fXAIMpjo1PvdPN4axgy2HcLgOi-ah3Ug1AtfFCGzuTrt1Nbf8yuCSpB_QazfpcKh9oyajfWRH9jJGQyi4MygbwCyBx4CnnYODWcf2pncEdch5dfUyA4tYWNLCSU0cfIAFUDz4BDWfCBgImKthHM8fiWZPAXXYK6xNpFRhOqRtY9Yy8O8F8JKL3ivutf2AaTY-qmkNKr2Vyt10XuIcszIerNKtMSpPnfBKidGzVlUg6cuutHStt_jsRzoVUWpvJ2_X3WnJ3_yY48mGP8NfuXlMOfuWrGVmYINSzckMCBLfZfCeZkmzGmssLLfoFFMNxKckN6F2e8cuj0nmlxsPChUphzhTCkN9DGSa8XNs02gLv7rKb0vCNQval-WW02p4mLAPycbVhxiQD8LNebuPT3KT2LhhBQwmTfuHI2opuyOu7qR_UyEa1ZjVmf_3hz9LLBNj-uCcAO1M4pL4Cg4HXqMAWxviAXl_NjGvsvp4JvdsleeyANUNEY5pQSHsocu6VBqGqf7DLuYY51iGnKeaLdmaBmYggBy4X9d1GMjqbXD6tf9iiB8_nNe9EbJ3_AJ2wE7fl6dLxmtUN9idi3ezPr5UdAQS0EaPXkbY_YstFXFVz8hFQpjcmsHzIPZ1QdiwimXlenA==",
  "id": "rs_0dca810267bc1526016ab45e84d9b087d0a6cd941e209cbd63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the sloth’s head and upper body near the left basket. I’ll close for the second grasp and use a short lift to verify it.\"}",
  "call_id": "call_K1qe4WPWghbOZli85GAMeVZO",
  "id": "fc_0dca810267bc1526016ab45e85afb887d0b688147491f6a811",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1qe4WPWghbOZli85GAMeVZO",
  "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]: [-0.6388, 1.5555, 0.3634, 0.5201, -0.6018, -0.3923, 0.1015, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3277 left_y=-0.1143 left_z=0.0364 left_yaw=0.0559 left_pitch=0.0237 left_roll=0.0283 left_gripper=0.1015 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.0923, 4.1504, 1.5018, -0.0904, 0.0269, 0.4274, -0.3487, -1.2786, 7.1726, 1.7363, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7200cec2dbcaa0b824f627c1e3b4c37fde01e9959badd9838f6eb70d8d76dad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0423c296ca4e3d832581c7d5b8373224aa497ede242718370a9b29022ef35844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b880ff81c3f83818c0895667dd89ab743a58714060aa7e7a3e55af7a238e93a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.761 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 1.4288, 0.3805, 0.2531, -0.7071, -0.5587, 0.0129, -0.02, 0.8051, 0.6086, -0.4149, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2873 left_y=-0.1466 left_z=0.0452 left_yaw=0.0137 left_pitch=-0.0111 left_roll=0.0238 left_gripper=0.0129 right_x=0.2913 right_y=0.0011 right_z=0.1719 right_yaw=0.0022 right_pitch=-0.0407 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.547, 5.641, 1.2674, -0.2027, -0.0122, 1.0379, -0.0889, -1.306, 7.3641, 1.7314, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6441, 1.5593, 0.3653, 0.5079, -0.6155, -0.4152, 0.9983, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3263 left_y=-0.113 left_z=0.0346 left_yaw=0.0732 left_pitch=0.0191 left_roll=0.0245 left_gripper=0.9983 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.065, 4.1368, 1.5311, -0.0757, 0.0855, -0.0611, -0.3624, -1.306, 7.3231, 1.7265, -0.0464, -0.0659, -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]: [-0.6388, 1.5555, 0.3634, 0.5201, -0.6018, -0.3923, 0.1015, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3277 left_y=-0.1143 left_z=0.0364 left_yaw=0.0559 left_pitch=0.0237 left_roll=0.0283 left_gripper=0.1015 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.0923, 4.1504, 1.5018, -0.0904, 0.0269, 0.4274, -0.3487, -1.2786, 7.1726, 1.7363, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7200cec2dbcaa0b824f627c1e3b4c37fde01e9959badd9838f6eb70d8d76dad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0423c296ca4e3d832581c7d5b8373224aa497ede242718370a9b29022ef35844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b880ff81c3f83818c0895667dd89ab743a58714060aa7e7a3e55af7a238e93a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The gripper stopped with about a centimetre of material between the jaws, rather than closing empty. I’ll lift the sloth a few centimetres to confirm it comes off the table.\"}",
  "call_id": "call_9N35LOilkA39yyzuCn9JNSqs",
  "id": "fc_0dca810267bc1526016ab45e88c10087d0b2c7cf94d590accd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9N35LOilkA39yyzuCn9JNSqs",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6395, 1.3067, 0.4763, 0.1471, -0.6022, -0.3996, 0.1015, -0.02, 0.8101, 0.6083, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.1126 left_z=0.0904 left_yaw=0.0592 left_pitch=0.0153 left_roll=0.0297 left_gripper=0.1015 right_x=0.2915 right_y=0.001 right_z=0.1704 right_yaw=0.0018 right_pitch=-0.0461 right_roll=0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.2444, 7.8974, 1.3358, -0.2613, 0.0073, -0.022, -0.0479, -1.2923, 7.0496, 1.7411, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ffc0d4fd21cd31475f5d3727ad6b8a2a370e9848075b4e4520026ab18de0e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d875ac8fe90efd09b2b5fe9c0e4f687edd3f1384fabe28749808acc58a76265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8072d4a6243418e3264687ed82a7d8ed27b067a9f2d8b151b99574328c60d260",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.114 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 29 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]: [-0.7521, 1.5955, 0.3882, 0.4778, -0.6731, -0.4789, 0.9988, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.139 left_z=0.0296 left_yaw=0.042 left_pitch=0.0144 left_roll=0.0271 left_gripper=0.9988 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -4.506, 5.6957, 1.3358, 0.0904, 0.0415, -0.1441, -0.1709, -1.3744, 7.0359, 1.6679, -0.0366, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6388, 1.5555, 0.3634, 0.5201, -0.6018, -0.3923, 0.1015, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3277 left_y=-0.1143 left_z=0.0364 left_yaw=0.0559 left_pitch=0.0237 left_roll=0.0283 left_gripper=0.1015 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.0923, 4.1504, 1.5018, -0.0904, 0.0269, 0.4274, -0.3487, -1.2786, 7.1726, 1.7363, -0.0269, -0.0415, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6395, 1.3067, 0.4763, 0.1471, -0.6022, -0.3996, 0.1015, -0.02, 0.8101, 0.6083, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.1126 left_z=0.0904 left_yaw=0.0592 left_pitch=0.0153 left_roll=0.0297 left_gripper=0.1015 right_x=0.2915 right_y=0.001 right_z=0.1704 right_yaw=0.0018 right_pitch=-0.0461 right_roll=0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.2444, 7.8974, 1.3358, -0.2613, 0.0073, -0.022, -0.0479, -1.2923, 7.0496, 1.7411, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ffc0d4fd21cd31475f5d3727ad6b8a2a370e9848075b4e4520026ab18de0e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d875ac8fe90efd09b2b5fe9c0e4f687edd3f1384fabe28749808acc58a76265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8072d4a6243418e3264687ed82a7d8ed27b067a9f2d8b151b99574328c60d260",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6Pcwox5osjwpSdj0d8ofA1rDlUUKJJ_7lqfTB5rnEqFwX4vKFz8FtjRZcIldQOh19tOaD2cD7c5XeXZbzFoIUPQ5IhautC7h7R50Ow56AGZ8xqeBq92yINNyG6WZ2LYcYpphM0KrYQW_dCzdsYKiW8mqWIopb0vFMvB4zAvNaFKm8vYhObymZDubrH3bWDnTV81FZ9Ne_5cY7irefIQTEvPFDyAOHC11633Ee4LXjPk6RgAi1gfRf4KFT6x6-aiZsy-KxHyWEYJfLytmlDzAC8bosAWPMu8-cKpTkMrFny9Jeq6GYYGOUyhAbfJ8xRcnshG5HcCRR8nBvkM0_UUse9kusEf4sKKk2eckOuscjKmEreYOgxaBYRjGtUa4o-siNBoKQI7BnY13GROevdZgnrH6xq-75ZK6NXaGfXaNEWnfjy24oMMXciyPcDyVHSxBD24qxLMyfg_lS43bUSxLM2Jy-mvG8c8fttg9xU4mUoR4zLuD97862yVB91qllzaDXuGkURmWRWJKLwZp7h6Fid0nUuIm9eHjDvUCszNtTblsgBCyqnqV7cLxPSBydPMFJCU0SM2a-lWtQ40ESUwnx928ucPa5S0cMC0gW5y1lUgCdZNQ9ZrUHACtC83Qtf2HxNWnqAPabpuVPZgPLK-X2sL5i7B4LLwLJWkppFdA_NwtfEbHce7li6j0vw6S08jJ2-bdla93AjO1K4BuSzGO1WelPsD5SyfktfP0dlGA4GaH_rdMn2ojYCUlUA1wokLMrJVhv-esBNzTkbBhQN1DVry8KYKMqrAylQFq4gYoZ-I86LB5YKmg-2B0tH9f42F0q962UBvaINWB4GhDyutSFfxztU9ny9PvEbeTNBeWyIO9UcUdw2-JZP7e6YEQWTWqrzHUhkn5Jct_Y8msuFXwodj6nnXzn1HrC8yW-kfQ-_Nto8XDfUGhxLk0NkYdGCM2_83x7aHQqKAQ6LrNcSzVaK82b0BNCETWG5EzerfW6iexRHJX1CyCEg5qW6-FoX8RHVRnhRzTWQ3lfBKZWXf07ibA5SJ9pZpwj2P94_h0ykDTjFRoyQTx_dbiJ0b2M3Y-QgxjXvBUCOZo9O067oSMsMuRsy1SZ7oeOaPPPSg8ej5x3Vhpk7Z-1fIPx_5zCb3RePbZqaXR4Iyl4FLm1VPIxlza9MLv_GgNHEWNohaIvsCoSZWbUhxpMfTSdb61671g-h2c4_TLkCMDCQKIIMu_xBofpp3F2qxpZbHOYnmfmSVVRCd5r6pV37K20eRYlVptI0WXVrnPpWvvVA4CjkFupzNa6uJv5SChQH209g0xQ1XCD5hjTDbKdHzFKYugLjKSg0bbI-IN2YRR5aeGOwgAZieskGcaWEvt_9vhGCj0X1ns0caA_4zDGn3xvDugzdVonGdACfCfry3mDXTt8ARPXId_5bqDCBzUx6Fuob2KDVtjljJAJca9VinrnwjSv3zcACIsk0hSLVHtBcls4n4eqsPz5-cCYiZgs5eDE5hSm_ZdF9ohV0ZgJ7bi9F2WLal1cNmpVrA90vtbjQsBj5qHcVZ48z_CAob5D_Wgf1_ECCgZFteeR6LqtOYgGKF4-7zqSmm76dKEklfZpeMcKNnqvBCO22GzRP1v9OCZ6Yt2suGLXDh-rnLfucnRhL0dhf85r7ElVXo33z4VPypSpxw78TQohZ33N1A_4qwu9VHFO_0lLXdfndjOJVNo3tNkOVaqxHu6eWok1klB0OGYLm4z5Ac7kc--EcTpqiBCKbtyeGxm1DYEqjq9m8ncA8gY-45xyMRLdbkEBs0kUEXZBgX4aUC1SxMBWFLL_iz2gANvYueN7kg3JbtVi_M0G70b0WOe7N3nCsuOQcf-Aul0erxnjz7mXVsX2YwLoPJfx49STAQJa4LTuDzvNdCXVyP1ypMzbppvtHMu7uKF4lYJrrUCYGvg==",
  "id": "rs_0dca810267bc1526016ab45e8bad4887d08d33e26915b52853",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.13,\"left_z\":0.25},\"note\":\"The brown sloth rose with the gripper. I’ll raise it above the basket rim before moving over the left basket.\"}",
  "call_id": "call_C2h4giu73xFAvRYT96gnyjsF",
  "id": "fc_0dca810267bc1526016ab45e8e465087d0a306694e515b4842",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2h4giu73xFAvRYT96gnyjsF",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 1.2633, 1.0817, -0.5148, -0.6018, -0.4122, 0.1015, -0.02, 0.812, 0.6067, -0.4152, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.1297 left_z=0.2402 left_yaw=0.0671 left_pitch=0.0055 left_roll=0.0271 left_gripper=0.1015 right_x=0.2914 right_y=0.0011 right_z=0.1691 right_yaw=0.0022 right_pitch=-0.0499 right_roll=0.0041 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.8479, 9.3607, 1.409, -0.2613, 0.1538, -0.022, -0.3487, -1.1692, 7.1316, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26ba21c44435f93a86eecad817b1067d280a939b7e5015c22be3bf109b9ac9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036df5bde055e9df31f26262ffd86ec87c6948b2e2e78a2ff26e7ce53631efb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fa745e48bdfda7af553ad0ba9ea006f994f2bd3baf76294ed808f9463ea1f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.768 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6441, 1.5593, 0.3653, 0.5079, -0.6155, -0.4152, 0.9983, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3263 left_y=-0.113 left_z=0.0346 left_yaw=0.0732 left_pitch=0.0191 left_roll=0.0245 left_gripper=0.9983 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.065, 4.1368, 1.5311, -0.0757, 0.0855, -0.0611, -0.3624, -1.306, 7.3231, 1.7265, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6395, 1.3067, 0.4763, 0.1471, -0.6022, -0.3996, 0.1015, -0.02, 0.8101, 0.6083, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.1126 left_z=0.0904 left_yaw=0.0592 left_pitch=0.0153 left_roll=0.0297 left_gripper=0.1015 right_x=0.2915 right_y=0.001 right_z=0.1704 right_yaw=0.0018 right_pitch=-0.0461 right_roll=0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.2444, 7.8974, 1.3358, -0.2613, 0.0073, -0.022, -0.0479, -1.2923, 7.0496, 1.7411, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 1.2633, 1.0817, -0.5148, -0.6018, -0.4122, 0.1015, -0.02, 0.812, 0.6067, -0.4152, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.1297 left_z=0.2402 left_yaw=0.0671 left_pitch=0.0055 left_roll=0.0271 left_gripper=0.1015 right_x=0.2914 right_y=0.0011 right_z=0.1691 right_yaw=0.0022 right_pitch=-0.0499 right_roll=0.0041 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.8479, 9.3607, 1.409, -0.2613, 0.1538, -0.022, -0.3487, -1.1692, 7.1316, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26ba21c44435f93a86eecad817b1067d280a939b7e5015c22be3bf109b9ac9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036df5bde055e9df31f26262ffd86ec87c6948b2e2e78a2ff26e7ce53631efb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fa745e48bdfda7af553ad0ba9ea006f994f2bd3baf76294ed808f9463ea1f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6VwkojLjLLUhOjiE86fq1-pfxD-MKVyF2JB_-Wvg3BfDGQQHw9Ibu9D-1mYzjSmI9Y52CXorZqG3bFLab9WcAXoDg7pv1FAVP9Aje2fgDNeX6LmGQrlVCkPclkvfqNqUvd6JTUQHhz1aLXQYx9d4CgftHFh_a-OdT1_MTE13lSsfleOGEsqpjon88nLHcLokiXnJLbIfCM0Iu-sF0q5Bpf_dbOGxBXE87u1QFFwSam0JBKQ4Xmk52FKEXNKBca7vcvaAO22BlFhtc6wBSlPIBOM5WB6GvgLXpiYxqa6q1fTrAY7vFMPmaBWREiIVhgbvRjJyAvH1F6giRQ_Qde9SiOZYCsX88Ae6XSAqVsoGevtL2fhmFidVBOXgZjrWCDycFanssG5ywlmVBnI976vRv9kI-JbCScBY-X5CRq_S0f6aQmUIJUhIfKfSaCeexZ2JY0E-q70750ZObDqftD-53BbsjmJ2hwjJYKP41rJUiOFxrYCeLOSk0JIGX7ZvrZxZb9JsHb6-ZmV-12p6SayMd9W_2Wkz5veuRCIYM4QKOX8H9b5pNeyrbLEuG9035I_2HMD0TC8o2GPHc4qyqRBYNIoO-2A-cNxvXMMqcP3n_yg1NbUZhIpsamGd28diJkU71voVGbOjt0lbHGyjtUIk0uvWnFAg3TA1Bfxwi5q_V4pFywEx6qa1gzIVO2grvZVWDYHq6RExjeSUBcdK06lV949NdPgYqW9CN9SXlBplXTfSlVica4xMfrkPddQH6LdgGynD7eiuu4jSO-xTk-fPkA2Q7f4MYcsC5EKSKJY8xENWSRLDK1yrjxoyaHG6EQgkss_stiP00GcwY4ZhKc1DBGNDKOu4wGsNfAqH-03hcH4xauzbyQF9Hi-noY5UROtYQd_R5wrXoKboYjto4E9LShHrQD2MoRh8MUB0bI_PnoA2Ux7pqxrwLaVQqrNN-ZEeCcb9sslFwOkXDojo6eKoYzEpBXJb1vBT7iWW4SpedAC_017VXKbUu6Lwgn6p873nVAtt5UBaNrvZk8r8IF6PJI3TRmTb3MYbJJ1QaSogtiPpKEhm-ITeEOi3uvAe6iqQL6sdyKimOxJuMBwixk6b5O-GVBTCoaTzWlyuq3VWEAlFMnIb-kDN52txDTjWq0e29HzDRCZxFlHU_B2Zt46NLfliHrx3oAgU_8MUJxj2IqIJTv3jPGQPgkNE7Jp7fBkUQgLfFQlo7cAdovP-hWhM1yG_oeiWwOin79x013RjpzcB7EhvNvcZg7pGKeUQyiX7G76JqFtB1cnfeMMELCyEHOwwI2sa0UJzEiuE5CX6IqLHz6H4wBQ-JkJPUKKNLHPdAxW_p68fKoQYg0REyLFlLz82c71iYJi0CG3tnh5fygiYjTGm2f_yJaFrQ84PRMhPtQZWkIOKT6toMKh8NY44-5Kk7lFigmHK6ka-yHTTFNFGBqylwOHekwfqjH6u4T1_pqiQau6aQroIPOiioqh3haQXURdzE-R7iM5QLpDl2PWcvls8OqcgKe78WIxr4CS7Dr",
  "id": "rs_0dca810267bc1526016ab45e937f4487d0a41c9f07fa1aa745",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.135,\"left_z\":0.235},\"note\":\"The gripper is above rim height and the left basket is directly ahead. I’ll carry the sloth over the basket’s interior while maintaining clearance.\"}",
  "call_id": "call_6qaBVypfDBaCeoDA7guw7kgl",
  "id": "fc_0dca810267bc1526016ab45e948b5087d0bbf4da14c5dff26e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6qaBVypfDBaCeoDA7guw7kgl",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7149, 1.4193, -0.4023, -0.4442, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.1279 left_z=0.2119 left_yaw=0.0985 left_pitch=-0.0567 left_roll=0.0365 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.9778, 10.0718, 1.9707, -0.0562, 0.3394, -0.0122, -0.1846, -1.7026, 7.0496, 1.6972, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cf4bf04eb0341bd77fe64874eb980914a46793218a291852f9309854d04c4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2248e0c6147ce5ef35951a1391e0d09d9fe97e3315a550fac68613b0f5991a59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51bb8fa3bd243bc3f85cdaa0e6872321082bef0bf58cc07ca48417cc4e661210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.223 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 33 changed as sent

message 37 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]: [-0.6388, 1.5555, 0.3634, 0.5201, -0.6018, -0.3923, 0.1015, -0.02, 0.8062, 0.6086, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3277 left_y=-0.1143 left_z=0.0364 left_yaw=0.0559 left_pitch=0.0237 left_roll=0.0283 left_gripper=0.1015 right_x=0.2913 right_y=0.001 right_z=0.1716 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.0923, 4.1504, 1.5018, -0.0904, 0.0269, 0.4274, -0.3487, -1.2786, 7.1726, 1.7363, -0.0269, -0.0415, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 1.2633, 1.0817, -0.5148, -0.6018, -0.4122, 0.1015, -0.02, 0.812, 0.6067, -0.4152, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.1297 left_z=0.2402 left_yaw=0.0671 left_pitch=0.0055 left_roll=0.0271 left_gripper=0.1015 right_x=0.2914 right_y=0.0011 right_z=0.1691 right_yaw=0.0022 right_pitch=-0.0499 right_roll=0.0041 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.8479, 9.3607, 1.409, -0.2613, 0.1538, -0.022, -0.3487, -1.1692, 7.1316, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7149, 1.4193, -0.4023, -0.4442, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.1279 left_z=0.2119 left_yaw=0.0985 left_pitch=-0.0567 left_roll=0.0365 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.9778, 10.0718, 1.9707, -0.0562, 0.3394, -0.0122, -0.1846, -1.7026, 7.0496, 1.6972, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cf4bf04eb0341bd77fe64874eb980914a46793218a291852f9309854d04c4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2248e0c6147ce5ef35951a1391e0d09d9fe97e3315a550fac68613b0f5991a59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51bb8fa3bd243bc3f85cdaa0e6872321082bef0bf58cc07ca48417cc4e661210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6na2NKUs_lfABaQUDzfInvAgUax-rkHYvcQqNoyz5Jx-iqn7-z1VmFD31GarWFu8jPJUyXDuHeHbZ1qKyb6_qXQ01GHGBim6KL8EUATHlqbhqEy-E0rl5PbQBnKP7mhSkocwV0MQPMV4RLGYUJ2gScroWSE-Hx4KRfwIBIALZzv6rEYhVbHPzKJSO3ci5AbNnuF66t0DxDUzmkSRvUxcROJ59DncWBabIi0sgZiVor_6fF8kuidibKfs5046J-P4IpWbnZVoGeuACVGBozifYmLptyL3kZkuQtZ6RjzOqYPey28gNEtwHk73l85JySRktRyRgsnJDvyGWHZtsBFhQX-1osL6da4JeoY2dfW4caM3eiIfXiFmnv3nGPaJ4M0v-xYtdRNexCeEvOjNkUm76N4ACajdbBeapYp8qWHwwI49EYfbA51CtDNeBajgsINLqh7XO9MImI4LRlnl2kF2B-6vKVZS81gDyvP07OM8Dhd-R7HXAoErZCn7Ywt6G_VY1s5VX0au7jmrWMhBUEWeJDy84bapCMhh5vk1-MGCUBKECLzkFthKW-L3kcDbIjO2YsnBybsEdKPWcpzUrFETTyF4RqyGPcJ0-krclaeHD4OhMqjuca6FTselOwFNAUqfLrmGdpj2hjXRF5oFvs-8TbNUS5_jmG4KUudaz0zJSUOCD4HQMafuqhSvW4U8VSLE8OyVHCBz9SkzogxVX8uW-epKmYe4BIpIWcPxlhcNxiLdDG8ncDrgY7O0kW0rLKcB4MsidRAkXdbnxxnHlenF3QT8qgDa3xSLzaL1JcR-FPFurj1tTg-vD92C59HpBh5zncGwWj60Ftws15B1nFZXm8eLsSqflTmE44aQTSwqCjLEcZse6H4gmd0eFLf_er09MRNU3p4VfBR42uHruElR-885TZqPBPuWPR5wfo30A7tt92C9-jH76s1E4xOGjO0-491gnkr6Uu6ZfLrUGxAU-b7MJY_c6F3PQSZTr3xKV12x2MVPAAmNk6RswjN40DNtD1UUo_okFDVBwgyq0DOnPLZ5oOyWPVKqZHBstKBDGCxR2YQkFENBovwjU29eX-qY-UaWP7L4vS6P503cuLpiajZyXEcxgP746mRofpRDQKdSdFcYW74IKJ52VoUkDNMrUOic8uKtzKfKXcJG0sIv_ojhaak0shziL1MZ0hlQPVKqOc-kj12SPHObXGunqb0vvwXNcRo9o3ayZIr1z5LsTzO3OkI0KPnQ0b-0q_ATCmecIsmGog1Sybi98CEmpuDZPwKju0rV95MAk3bIl7x0hUneXi1496l546nkvKnap1yhxA5e45trL1EInEqLJsl7ky6DoqKmoVfUWUiJJO9Zo14G_N2F0x2WXXHvlH671Vtq1AzM9E6OUH1aujStZJRLgm6NhRTKeAF_FYQoNKwY992nVgzgqWA0OqZF75qqsJAqaCojVpREN97_IsVTg2UQfllK_BsWARaASKOsRcWuV1xBAb-2eBaWxg-UE5OXZ6csh0qiheKTBc1kbW4TYYck-1v79uXBIl1SQ7bSk7Gq0tjhE-bX8-g-CW50Iq5tIEc1aNuqWAmZRmwZFOynJ6yaTNBAygyHFIAbgoj-gr5PIpMqgEj2o9asw9_rbQyt7RfHcYl7o15ULn6vXdQ6FWJioieNu3ZcbH88_FAnTR2kA2ifLNTDqkTxzWBPmFS94PXtkSXe1jgAmeXJYuq7r7INUNLRZA_yw8d6-aOgcsMKJmS1rzbL5J2irWPfKLI76FtTBBaRvFyU_YpIdp3hYG3DQ7ONLX1hlFQmjvryOPoqqN9cgDOWNmTg0jttRduwpijUDSWEAN5veaAQPaCDiVgDsDjLV-c-DnQgbwo_yWd9uPCVJytWzEThHmj-ZQMpM03XP8Zr2FKwLSrk8yJNeEvdSrOmeyQNXKwnjJ4ljjG5ZbefHyxkrBT4avPsQoSwbllHMuKrZCqY-aT_YVBx_UuPyBt_owgLEHuDM3CDaFmi4ohpzlF1EqtYhg9ZX6aH9VTyltJbKOFghJ3Mnm_TGBGx7tbE11X7b9oUTT4JzNdDqfdQC39u8blffAlDhqR3kjEHw7xPd3oFwnG0IRePDAZE-Ljn7_log7gmOfYW5-xwpDONKocJ4biXMjX3GqC7mnDimPhkfHeVif05Sg9_WWRIN5nW-oOYB5ZzTjFJWtSjPO79Xg1aRNNsp3eC_GRV_nW7T0DXuEpj8UJLbJOJIbleZQIkV8thNAJ3PzAENPTEmy3Cx3gbhXM8LsTmyj8ImehKe1UgYn5Z3Ayftaq6C6RR_B7Omr29zLTTAv97A-ehFIW4p4nAtgoN1bVzHxsIDPB6kTuVfLJd42SHkyKBfGBXqb8A9uWUik1GU_ZvLLlaPO6Wzwl-OFS1Apq0uCk6l1A7OJqZm9gxy-f9TBnJmZBd8tKNn3fCwqrasUf5dD7ujopzqSnVP54sC7PtMVEBLV_k6ssCJWzJe3uKefPZxzlLzVFP9rBMwN62CikwpOFQVM4Qlhn5pItHs249RJGvwpJDmazwdCqZT-qtj5ZviA3HIi_nABP5sSiYT8xcIE09ldAV0MFHvCHakeQEg2BDna147bRdRj4SKFg-whq3HLI_UWznwSaCdRn7rdiFVMTUxoLTMS2v6rFpUo2zmJ3A4tbSJZ6Z0gZ_9DbtEEx9rY8BaPiwqZkZ4rPM9y8PkAkZYqpbw35iNjvJ9dUd9cbngoGf4=",
  "id": "rs_0dca810267bc1526016ab45ea0fce887d0a636790286ff686c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_z\":0.16},\"note\":\"The gripper is over the front half of the left basket. I’ll lower the load inside the rim before releasing it.\"}",
  "call_id": "call_ZDtNeNdKSytASBl1Cs2q9RDB",
  "id": "fc_0dca810267bc1526016ab45ea6b9a087d0922a18051fdff02a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZDtNeNdKSytASBl1Cs2q9RDB",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3457, -0.2375, -0.4362, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4959 left_y=-0.1249 left_z=0.1538 left_yaw=0.1177 left_pitch=-0.0808 left_roll=0.0443 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8393, 7.0769, 1.8339, -0.0855, 0.149, -0.022, -0.1983, -1.3744, 7.0359, 1.6581, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0eb6d1f973e3349b92ac105c40623e8e933aabc1fcc82a2e53e283602d311dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a83d41fa9ab2dde50de4884eaa6e078f2bff0ef4807ffdc6c91f29dea68da03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7d4f620f12ec574070b49797943e50158a590e426e229e1d6d22b67d3296c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.885 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6395, 1.3067, 0.4763, 0.1471, -0.6022, -0.3996, 0.1015, -0.02, 0.8101, 0.6083, -0.4149, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.1126 left_z=0.0904 left_yaw=0.0592 left_pitch=0.0153 left_roll=0.0297 left_gripper=0.1015 right_x=0.2915 right_y=0.001 right_z=0.1704 right_yaw=0.0018 right_pitch=-0.0461 right_roll=0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.2444, 7.8974, 1.3358, -0.2613, 0.0073, -0.022, -0.0479, -1.2923, 7.0496, 1.7411, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7149, 1.4193, -0.4023, -0.4442, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.1279 left_z=0.2119 left_yaw=0.0985 left_pitch=-0.0567 left_roll=0.0365 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.9778, 10.0718, 1.9707, -0.0562, 0.3394, -0.0122, -0.1846, -1.7026, 7.0496, 1.6972, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3457, -0.2375, -0.4362, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4959 left_y=-0.1249 left_z=0.1538 left_yaw=0.1177 left_pitch=-0.0808 left_roll=0.0443 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8393, 7.0769, 1.8339, -0.0855, 0.149, -0.022, -0.1983, -1.3744, 7.0359, 1.6581, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0eb6d1f973e3349b92ac105c40623e8e933aabc1fcc82a2e53e283602d311dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a83d41fa9ab2dde50de4884eaa6e078f2bff0ef4807ffdc6c91f29dea68da03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7d4f620f12ec574070b49797943e50158a590e426e229e1d6d22b67d3296c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gripper has reached the release height inside the left basket. I’ll open it, then move away to verify where the plush landed.\"}",
  "call_id": "call_Jw4n7tvKZE9sIdJOJcTy7b8q",
  "id": "fc_0dca810267bc1526016ab45eaa99b487d09ec8a8cebb6c87c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jw4n7tvKZE9sIdJOJcTy7b8q",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3453, -0.2451, -0.4366, -0.3134, 0.9953, -0.02, 0.8165, 0.6067, -0.4152, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4947 left_y=-0.1244 left_z=0.1524 left_yaw=0.1241 left_pitch=-0.0873 left_roll=0.04 left_gripper=0.9953 right_x=0.2916 right_y=0.001 right_z=0.1679 right_yaw=0.0019 right_pitch=-0.0545 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6889, 6.8308, 1.663, -0.2271, 0.0659, -0.0415, -0.212, -1.347, 7.0359, 1.6581, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc980881ad34bbbed4ab397ba846c3738f225ae626f0b17e7c17de03f3f0b25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f662818509fe93c672883147df0a0726c7bb40ba6f09f6dc8bebda917cf6d2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad8ad9b59b9fcaafbba657dc72f5e5a5f5fcbde485e65895022d7addf9ce388",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 11.07 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 44 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 1.2633, 1.0817, -0.5148, -0.6018, -0.4122, 0.1015, -0.02, 0.812, 0.6067, -0.4152, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.1297 left_z=0.2402 left_yaw=0.0671 left_pitch=0.0055 left_roll=0.0271 left_gripper=0.1015 right_x=0.2914 right_y=0.0011 right_z=0.1691 right_yaw=0.0022 right_pitch=-0.0499 right_roll=0.0041 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.8479, 9.3607, 1.409, -0.2613, 0.1538, -0.022, -0.3487, -1.1692, 7.1316, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3457, -0.2375, -0.4362, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4959 left_y=-0.1249 left_z=0.1538 left_yaw=0.1177 left_pitch=-0.0808 left_roll=0.0443 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8393, 7.0769, 1.8339, -0.0855, 0.149, -0.022, -0.1983, -1.3744, 7.0359, 1.6581, -0.0464, -0.022, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3453, -0.2451, -0.4366, -0.3134, 0.9953, -0.02, 0.8165, 0.6067, -0.4152, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4947 left_y=-0.1244 left_z=0.1524 left_yaw=0.1241 left_pitch=-0.0873 left_roll=0.04 left_gripper=0.9953 right_x=0.2916 right_y=0.001 right_z=0.1679 right_yaw=0.0019 right_pitch=-0.0545 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6889, 6.8308, 1.663, -0.2271, 0.0659, -0.0415, -0.212, -1.347, 7.0359, 1.6581, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc980881ad34bbbed4ab397ba846c3738f225ae626f0b17e7c17de03f3f0b25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f662818509fe93c672883147df0a0726c7bb40ba6f09f6dc8bebda917cf6d2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad8ad9b59b9fcaafbba657dc72f5e5a5f5fcbde485e65895022d7addf9ce388",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6wdosAORYM6ZUXY9TyLd7kb1obzCEhNsxS-SEgzEX6wyCoOSzzNci103dsWX0bq6WqgtbFLuLY6TOESCzfdHVnO2C0a93Boj4TbXntE8oWzkpZFElFk4f7MWdPeD-4dwBqzq0drYy5yVGwp8RKSOKjKSGBAcJqsRcfuz3whB6VadnYspdFZt3YXeEXe68AFJUExN7RivQsKAbQ_KJkzDDCBbhNsjauTrEsH_MaL2fl9xRs2KOu2B5zgpqHjO34LmJSpBE5myoI71zl-dmLo3Fv_MgcNyF2o4_E6yf75DXGV2ARrqsf-XAYzsdKKEHj1oq3apTimVZJcTOHes-H1_XpgSOiE4QpEzs76kScjmOvJyYkeLN9v3kpe31Y0719U03QhswixVoMT7nao7TjhUuR6NIEaIFFkM-iTpVL0SGCmGA5Dj9Njx5nbbz0zYPMVz1pG_iP2EHqSY4pTJFVrXQtuMSMCSBtYEwYnBpwOHBv-tED0vn53QI3yJB9WilRSkqTg53U9tM-QkLOToJK-kUPQoTwcOGEz6mXDrSHQoE6KpO1_y2CjIHmcdKmHt3bkdgWuEKH06nMDi8SYHvsDVGRDstb5agVnJxgYV8OEwUmj8tmHutGrpuPBhULv2-eg-rhf__3AKk-SdFJIRwz5jr7ER-62vMlg3GEHrqdzOywYesnOzKpJ4nbHBerFhg9-IJkgCDHV0Z8_yJEuiEP_PSBYwX9CZtmowdVNCtgjly6cLdUUPMMZYDAT131TJb3K3_Mt_R1ka7M0761LYajvzDi0Pky2JcoxOJMv-Caf-YzwbHQ-8SJuMezRoL1bfU0-lEKATDPnudMPkelzH2MqzghM5jcaOvd4r1RILLnmIhTx2K9Vvd4O1NzTMG4WgmqCvme6qvnXpP7e2DgrAvJ8WQbD7lefxOHfdRuCgDL-QDoSq4ZT_n2Z2PO0YILWumCZdND2xZZjnI0qcVKhd2lNY3zXMiFNDrxg6V5nYVh-lOClLaJ-aTTps_oewrH8kaHlUa4IVTemHjvGp5SuryJq67fR0Rs7WU2my6wnXCgNgMhhRFbMB27-IEfZHkTB-O3zX1hytAbClk88Tql_NoTG6GohSWm1iSz3qAbz9rMSrqOSvnDqyAI6CcL4QZBnFgg1D9EdHYL0innxJziF1BX_oH0m9uyzMEEG4uIuny-24F6SC5lzWt_sTaXRlykcaQywPgiZ2Pg56KvGRjcCHa-fNWV87aCCuz7qzY9mkwsMOcZsxE24htOSVwD2eVMvTQyuADLB1Kc80sYMVrnj9Ll8A78UMVKV5x6-dQNEEEOrh0yEqUrVaD9YevEti17M_zpHIalDgfAXGKgoA0u4K2zLGi6OOAWsW2DMbAtEs9hmtkJvq-pQOj8qu2tYZVRsq9rxU6CaHukYfjRvM2DL-_JMa0OMQGbiCiL2TVAEsookOl2Ckk=",
  "id": "rs_0dca810267bc1526016ab45eadddc087d097c00940489def70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.31,\"right_y\":0.3,\"right_z\":0.15},\"note\":\"I cannot yet confirm a sloth in the left basket. I’ll clear that view and bring the right arm above the cream teddy for a more direct body grasp.\"}",
  "call_id": "call_VPsqjVf0BvVjc465nv928s8Q",
  "id": "fc_0dca810267bc1526016ab45eaebc9487d0b7b3b4d1cf844a1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VPsqjVf0BvVjc465nv928s8Q",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 0.9298, 0.7998, -0.524, -0.2741, -0.1715, 0.9966, 1.0397, 1.7027, 1.1828, -0.4618, 0.7429, 0.7433, 0.9997]\nstate[eef_state]: left_x=0.3079 left_y=0.0001 left_z=0.2054 left_yaw=0.1464 left_pitch=-0.0631 left_roll=0.028 left_gripper=0.9966 right_x=0.3068 right_y=0.2934 right_z=0.1377 right_yaw=0.031 right_pitch=-0.0888 right_roll=-0.0239 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.5368, 6.0513, 1.707, -0.0366, 0.1001, 0.1294, 0.4855, -8.1983, 8.9231, 1.0427, 0.6276, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff668860fdc123105f4e0f927126e1eab9985ea441c185c28d36bd331be611cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c6b3a21cc0d44139e7a29640b5d4494aaa1618362ea8b188caf7c57bc16cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fce6ded7eea89c58a8bd24d52d7c0319df496d0b2fcd8fbd52756d64534443",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.992 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7149, 1.4193, -0.4023, -0.4442, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.1279 left_z=0.2119 left_yaw=0.0985 left_pitch=-0.0567 left_roll=0.0365 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.9778, 10.0718, 1.9707, -0.0562, 0.3394, -0.0122, -0.1846, -1.7026, 7.0496, 1.6972, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3453, -0.2451, -0.4366, -0.3134, 0.9953, -0.02, 0.8165, 0.6067, -0.4152, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4947 left_y=-0.1244 left_z=0.1524 left_yaw=0.1241 left_pitch=-0.0873 left_roll=0.04 left_gripper=0.9953 right_x=0.2916 right_y=0.001 right_z=0.1679 right_yaw=0.0019 right_pitch=-0.0545 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6889, 6.8308, 1.663, -0.2271, 0.0659, -0.0415, -0.212, -1.347, 7.0359, 1.6581, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 0.9298, 0.7998, -0.524, -0.2741, -0.1715, 0.9966, 1.0397, 1.7027, 1.1828, -0.4618, 0.7429, 0.7433, 0.9997]\nstate[eef_state]: left_x=0.3079 left_y=0.0001 left_z=0.2054 left_yaw=0.1464 left_pitch=-0.0631 left_roll=0.028 left_gripper=0.9966 right_x=0.3068 right_y=0.2934 right_z=0.1377 right_yaw=0.031 right_pitch=-0.0888 right_roll=-0.0239 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.5368, 6.0513, 1.707, -0.0366, 0.1001, 0.1294, 0.4855, -8.1983, 8.9231, 1.0427, 0.6276, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff668860fdc123105f4e0f927126e1eab9985ea441c185c28d36bd331be611cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c6b3a21cc0d44139e7a29640b5d4494aaa1618362ea8b188caf7c57bc16cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fce6ded7eea89c58a8bd24d52d7c0319df496d0b2fcd8fbd52756d64534443",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7AATofvaYHENrrPo3iD--_hWlIoYAoIgCda1O7xv004havysOuRMO2UNxPTJjaSfGAWdvQl2HSl-1JoAEBjCr87He0ADHo8rmidvUiYMfClpainsou7PNRp69mr3-lrwDwZm3Q0S8FHrzB01b_1b0G6-Rt3RTmRUh60kuvcypskZ4Jzgph_0I9RyuvjgzY_cPny77uCA5tZRImkmCb9JmqjTybHlcO4mcqPJ_euXJALj5lSBzVFAJxUH0jXH13Unb-8G9DXqvwNqI35h3nQN7sP_AXqi-SKNxvm7LQ5Fc1W9OpCD0Y59DZSO2Tam-WxhuUJZA5vL5zaxKpDtrBuRtbpw2QvN7bqQYF1ZU66kGVNXxCq4XWcrPNqNeQpNKN3e9RBNXeRP5Nl94Etu_SBkf-XpTgjTZJHdgUxsaJymkKaFdCZd7LguixkNsEOK7Gy3pH4r8dPwQkTc4lq3dQ8-V8jWX8sDwhBrltj3jrdR2Anb9Pkhy8oGTniFCoXviwKi2UyAZfYzFlwWfISz8BuYj9dAHxLuMSxOXfCDcmXz1JuZYZuyU2xc20MhIWJi04GVGq3Ux5XByxIt7lKs5bdd2ln1b5vG6Fr_zzmkrs5tb1p_AVPsUV0MpKO1NLioyU8wTdREAscPOTWbYZhPHK-PVINqZRGVVwpN8dMfzuXA-ALhzw2nF2lN45SNX_pEk2_MIXcl3WKGPfbm5f-JQJZKTiKSh8LOi08d1IJahdAnKHy-HWvlJjn56IuoN4ZSG0NyQyY1oA3K7MozI9dXmCrjDWOvM9U_k5z5EQ__kcBzAlRSjtROVtMa4U1qkIvJXJDB5ATPMoQSA_4TJ7gFPc2ZPERG-LUwseQgoebqL1OCtDw2wnEF9CX-QQoBYt6rY2fZW3tT8H9crfIiukF-24kGFjSjdgJSqCHv6GcCju3zgwZAX-zHSXJSfK1vFlHgFrlvxlw0kjvNkOHC6Cen2JzYf24dScmAzFhLRcE7JsmeBhdVB42a3Bp6RVBa_ydv4XrEt5MLSsZNuNLuaGDCeX61pRUF1rNEKmXk7GX1Rg2F_NKs2ihCBulKOL_FMNdd_t7QQ0Qd85JJWdaE9MZjB-Acf72Em7knDJds1MeQKxyC5TH3JqTcsWM5RX5pTvqNvUCpqFuwuunj2mfGB8wJkOoNoUNSdGenCMWsuyKHSHo5UhwVTA2w2xde-kNUcqCi2cYlIp9XQoL8wr50T1HbVKX1luJ86Cuur2aoO0unGzUBkMk1549KwDvcZAuShFLQqWB4jnNeh3ilSg7iV_8I1vzmASrTjBw4_OP51cWHto1bY6C_IPd71zO-mGzLbR2tGZoR-Ryloe6TAzlhLf4eDzA-0GOlZocKTM8jFJ34xtvIMQl3OZnSBVdTaoE8AGjItWJt10r1x2ev1PNtJ1xmiyXdgWWAJZLlu5_cHuJhijeHzu9QnebDxIOv-X7AfqSV1r_A4vU9jx6TiirRRpMWDP21t7rhIt7PgC6z463_eKQgxUy6mYHQL-7im-JaP3AiFTyGnIJeBNkBwr6mZLQOhB9YSmJNNLMcoiliQcNGRMtXUvsXavn9hxmgMneTqIOu1DxglIUy87HsGj6z8ZJbti06y01JckOjY04c8YZh_onPUhScL3p9ZimWw1kXVdk18mCYHL2AW_uGBZXxBVV9VQC3gBCxr8ot4RDEsbaPRvmBWXks5BeSVtOVLGtNbBr_q0oyKFeGBqvbPE1f5KNoyHRqkUzNxsAq8mJ4W0YxsJZlHz1Lk90Xb7EJURYBFp7PftYsa54UDBQW0OVv5C2qXjG-QdcdO77mg0RsulLMqhYB9CWpZHr01S4jRVB_DE55j7uIYgtT4-2A-YBl4eL2Dns5HMv-dscMvSAkGB7qNMfi1AMDT6e-w4KeJHUAP8w3gGsXJZ5acmEBeFaEl0cgRkiJ6HzapSZFFFnTorwjXzMbcU6BrlHYpOmuQLjZgZEwslrRMx7RR9Nvf_dOV7tt_1VjlUmup_bP332h2wVmG2bjL4QlA9EozDszsrgBNLvxjbp6l1LxpbXBRcdJo1MieFO7hy-8oA1viTAx2sI5Ekp0mrLqRePKvamS4RPzSmpsdW1xMoNOAgTGDAG7J_aVNg-325_FvqbDgmEXfWXU9J1Db4oHEG2ozi5H4kXOxJPtsgpmP3rU-jjMiIif7ef2kt-AvQ_sis0PHUjCCnjoHXW5nQLW8_ESniXKfNc7Do3RsJv-SO2qX3eQpndfvAdqF8b8rZCcCMM6PWGqZHmqU64gNmK9_jBNUnBvFt6MUv1ZM9mdI6EtDDN48zMm7EeOhW_1WokA5JriDA29jrQ_MHodSXcZd3sNW5pZh_fkxXyYFX42RFd4FyahtGvtB_V79-FDD-QZof67N_HxOmztCoDfBpFSdp8H4O8t0oqPBeOjuCeFs0gL1SOtZil6qq14ysfRq69Bu_4KcKDlB6BKZxPGICAvE60sSh-vrHDbQKkRDjJmcB9QcFskQnkgujUYKKa-9tZvuUT-Ai-nIEJsyz280tyAgXC7Asc2KDXErlGOp6w4FkletZDB_bP6A0UhDrGfnuoLf86ARhcg2sxxKmjGbRyCq90mJLQDLQ0aR2ehtnwokGKRjJdCMEqZVRt0zFHI6W-2bAHf88IyHmbSwCdzxT8hbPcSmFLgQ3CG_Ji6Iqv7mm4Lw6aRONkVnZ8GsXQTCs-ipwPUngoGUHP96_jZ0TNxLp4qC7w0FW2G8Ki5FfFq3hz15i1pRURVI1FbhzeboYKqR9_Yq3V_8jSgO5SWz2Ciy1RpJSu0MknD5hpezPje-vniN0EgNzwc6c15ARVhGcKv0r7Y1gDF9dWsxAOSQl36EXKHw6hTMqrpZeVmOHVK8kGl6cyms4Ikl24tGZKQsFyU20nD9wVMM9Je828obL71WYFrN1jzMWa4j_T-DbjEIKqNPhplQS-X0Pb-PyOUm3_9GTgGCeiI6SmZCPRVNLc1EaLYB-Ta5ueuwFR6lH85HIXKvHhgOuUyf7ZZtDeoBI2x8FPDBt9mnvBZgjiuKzNkTaJNPPBUvrxUUxOvJ5TFg4lB6gGwp3ZtyF9wrAch7DNdcDvQeN0Bc_R0YU65nqRAHpq3e1IeygCJXg0hoUPnamYLA670I7FOV-EAZ7ysSsP8Nc_kylHfQjkE2a6rM276rCCtNeI9UdvHTbaPiwhbT35XnQxUiLO-iCLtmgg7mXIPeIEV6eNWty7dxE-ObBA0yLrSEsHLtrk8TcP64NCFTmoTHLz0uxWn5MxPJX9-UVKVzz3qISsf4IEMQlhQg7JOQA9cW_s7RxTrICeyw1bioA6PVNArzNB0-nyixUaDDSP6oqaQIS0vkWdwkX8oCKrgjdieqGHUADA5_5DZnXtSBELZOfqov4Wuyb9XG6T2i8c7krzb7j6zlQhGhL6bNFDkebreWn6ROJScw2X8PHKvbIqleWmBpG5oi13GGoXXBZfpxnWsb0Q7qiK9v0ckZekRx-xPnH9v8SF0z5PTMZI0eXXveSUJLZjGahfkuIYJCyopPeevMsXwzwE6VEE29DvpeM2JkwAuyCy2rtwz7xQf69TRYEe9zrPkojKbvz0auASooVh_5Wq-NlGDKkiLZPQxc=",
  "id": "rs_0dca810267bc1526016ab45eb6dcf487d0b39736872bb36b7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.335,\"right_z\":0.045},\"note\":\"The left basket is empty, so the earlier lift did not secure the plush. The cream teddy is lying lengthwise ahead of the right gripper; I’ll move forward and left to grasp its torso rather than a loose extremity.\"}",
  "call_id": "call_utcu42KzcuDCdhdf37jqG8rJ",
  "id": "fc_0dca810267bc1526016ab45ebeb6a487d0bb18ce6c14fe71a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_utcu42KzcuDCdhdf37jqG8rJ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9348, 0.7902, -0.5529, -0.2653, -0.1726, 0.9967, 0.981, 2.0026, 1.2682, -0.1501, 0.733, 0.6914, 0.9997]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1941 left_yaw=0.1404 left_pitch=-0.1062 left_roll=0.0352 left_gripper=0.9967 right_x=0.3623 right_y=0.3353 right_z=0.0765 right_yaw=0.0119 right_pitch=-0.0421 right_roll=0.0201 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.4821, 7.6376, 1.8779, -0.2271, -0.0317, 0.0024, -1.1966, -6.7761, 5.559, 0.6081, -0.022, -0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891f96ef93539ff30149d09de17b1c52b814a5e036435b9c5b1a34dd308a3b38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38153d67a1d73c00b163efa9fa6f7166f2da3804f2b1ead489471dfa61897d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127ca4aa204ecd6a70cbd7cc3dbd421c90e9219f01e2b850a23cc72b8523fc84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.592 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 48 changed as sent

message 52 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3457, -0.2375, -0.4362, -0.3027, 0.1015, -0.02, 0.8165, 0.6067, -0.4152, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4959 left_y=-0.1249 left_z=0.1538 left_yaw=0.1177 left_pitch=-0.0808 left_roll=0.0443 left_gripper=0.1015 right_x=0.2916 right_y=0.0011 right_z=0.1679 right_yaw=0.002 right_pitch=-0.0545 right_roll=0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8393, 7.0769, 1.8339, -0.0855, 0.149, -0.022, -0.1983, -1.3744, 7.0359, 1.6581, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 0.9298, 0.7998, -0.524, -0.2741, -0.1715, 0.9966, 1.0397, 1.7027, 1.1828, -0.4618, 0.7429, 0.7433, 0.9997]\nstate[eef_state]: left_x=0.3079 left_y=0.0001 left_z=0.2054 left_yaw=0.1464 left_pitch=-0.0631 left_roll=0.028 left_gripper=0.9966 right_x=0.3068 right_y=0.2934 right_z=0.1377 right_yaw=0.031 right_pitch=-0.0888 right_roll=-0.0239 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.5368, 6.0513, 1.707, -0.0366, 0.1001, 0.1294, 0.4855, -8.1983, 8.9231, 1.0427, 0.6276, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9348, 0.7902, -0.5529, -0.2653, -0.1726, 0.9967, 0.981, 2.0026, 1.2682, -0.1501, 0.733, 0.6914, 0.9997]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1941 left_yaw=0.1404 left_pitch=-0.1062 left_roll=0.0352 left_gripper=0.9967 right_x=0.3623 right_y=0.3353 right_z=0.0765 right_yaw=0.0119 right_pitch=-0.0421 right_roll=0.0201 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.4821, 7.6376, 1.8779, -0.2271, -0.0317, 0.0024, -1.1966, -6.7761, 5.559, 0.6081, -0.022, -0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891f96ef93539ff30149d09de17b1c52b814a5e036435b9c5b1a34dd308a3b38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38153d67a1d73c00b163efa9fa6f7166f2da3804f2b1ead489471dfa61897d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127ca4aa204ecd6a70cbd7cc3dbd421c90e9219f01e2b850a23cc72b8523fc84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7DNSIxFON28d7rOFn2GWbnFkYqUKuaG_rb35rr4onA-qKc9zJHbgsQTUbi92herMcmVx4MtZiSFwk9ZOjrwH4SQHi_PJd_y1sxI_gmWm5PqfYqA8b1CeWDCYNwfhFg8yJYze17ujSXbd1XGzawbeDtVy_I6pnJCJRk7qos13qRtP34HF5j6MaC_REB0t0xCX_ImE7dnF_FwS5IADG4z7ATe_uzeK_3-H3-GkQZS-nUy9iczzsg5L_UQXMXF52VE6c62pj3Bo8xbjNtmgN7kqhkuAUAVCXiw9P4cEH8lGMFkxZSarDSveRL8EpOvmXwdZO0FPWwJm1Fi5AjosdrwBYXoiOKGhSmWtZ02YsL3Ey7cbZkZ1Kd6FsBfeY2-N1jyuv-nogCebDAMIWrZzQu1LxqWRfC_Mc7ZVAvV55N7Rv1wU1glxrJL1yhkd40Ci6Jfawwo03N-0P_imR-AZviwo89W_mSvF3WG6Hmq089vUf78WKvjnWRFyccIHR_EQh6cECG1awstSkkRRjDu3J2DAn6xKCCDtYBl2wHLy899dRGm5-aYhU3XEI0g7hg13wA0iCYkNHsUI_rrRNNjHhwt4Bkr7O5e43WEIw4jNQ1qQDj9saH5EeHI7yoKIrfscQWzbnRYNLI4W7sLVxHeNVfvo1IUt2aXGfy7ZsKAlEyldfkYgLlfVQwyaE0hY1h_y5Qi9a3zD3iBAHiVq3cOuheKcLmX3hMseIt1Ys_IBby8NceLzYQnKZ-uOMSJkq33W-WNkMD4PK_OQjdd5fyK5ZMTZsaKZNfnpH1MxdT1cVm6ru6SFa5C6VTMBYanTqIHqvuzMXutsOryzcuyP_dvGetzf7QFoyEB25WrQlYBzP41IPEcgpTHYE53HUFt_LVqRBv99yughrrRBnPBq56JHw8j7bUjfBVugFtpXDlBVfQC_ymUtNWJ0w09OIoaG9dqQC56bWpLD-NvA2I4FF2SNn34PoNz4GTH9L3ngUfeIt8wAAIy3TRdWElkBVu76MB5OmP8cAWrJTjjs73TF70Sec6ue9WC2b9PlIu0Ieys3YrUAP5OLdB0_HgdPjn0q25s21khAmvYjYQVTmDk-TUJU94CRnMqT2cUB9CsRzZ8TT49GI7g7KYEEWgFKJgWQH3l9sBUhDYIJcgI_mNaa5B3PVMhjKJDDg_gpRTxokdV31exRjlJQoNrG6NYfPZFnsP2x5OI_ayJEPB1rIdHijcSuQicvAw4_mqoohyIgtFCwBu5vWsbE6mFRl_tkDRMNeFCuvF6PzWXfk9somO-l07ePgWtkzBU3ZwU8Ggk943RK1-J6uwg1FtbcoMWC_O0g-G8lwX0qOOfuEept1wg6-k5QM6CAixY0iZPE5aY34guGyP08KdnNk=",
  "id": "rs_0dca810267bc1526016ab45ec2589c87d09dc2437d4f0a907f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the table with the jaws around the cream teddy’s upper body. I’ll close here without pressing farther down.\"}",
  "call_id": "call_7IVWkwe0etG1IwfqcM9OJkNv",
  "id": "fc_0dca810267bc1526016ab45ec30d4487d08cced9af85d5723e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7IVWkwe0etG1IwfqcM9OJkNv",
  "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]: [-0.1677, 0.9352, 0.7902, -0.5571, -0.2646, -0.1726, 0.9967, 0.9775, 2.0117, 1.2762, -0.1162, 0.7376, 0.6884, 0.0162]\nstate[eef_state]: left_x=0.3023 left_y=-0.0007 left_z=0.1932 left_yaw=0.14 left_pitch=-0.1107 left_roll=0.0361 left_gripper=0.9967 right_x=0.3678 right_y=0.3393 right_z=0.0799 right_yaw=0.0079 right_pitch=-0.0206 right_roll=0.0427 right_gripper=0.0162\nstate[joint_eff]: [-0.1709, -2.1128, 6.8718, 1.6435, -0.1441, -0.0611, -0.0122, 0.0615, -11.535, 5.4496, 1.0476, 0.2222, 0.0024, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd344d756e29a305641b38fee5a8377f3e2f6831dc94b88b37a2eda270b3f777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173f90b9c5ded82142c3dd470dbe9f20dd1e5257022f9ff27c3e5e7be92a0b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f49da9405e00e700d0f42f6749d2cd6a5a9fcd7ddeb08833da8361785a79574",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 11.1 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4004, 1.8309, 1.3453, -0.2451, -0.4366, -0.3134, 0.9953, -0.02, 0.8165, 0.6067, -0.4152, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4947 left_y=-0.1244 left_z=0.1524 left_yaw=0.1241 left_pitch=-0.0873 left_roll=0.04 left_gripper=0.9953 right_x=0.2916 right_y=0.001 right_z=0.1679 right_yaw=0.0019 right_pitch=-0.0545 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6889, 6.8308, 1.663, -0.2271, 0.0659, -0.0415, -0.212, -1.347, 7.0359, 1.6581, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9348, 0.7902, -0.5529, -0.2653, -0.1726, 0.9967, 0.981, 2.0026, 1.2682, -0.1501, 0.733, 0.6914, 0.9997]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1941 left_yaw=0.1404 left_pitch=-0.1062 left_roll=0.0352 left_gripper=0.9967 right_x=0.3623 right_y=0.3353 right_z=0.0765 right_yaw=0.0119 right_pitch=-0.0421 right_roll=0.0201 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.4821, 7.6376, 1.8779, -0.2271, -0.0317, 0.0024, -1.1966, -6.7761, 5.559, 0.6081, -0.022, -0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9352, 0.7902, -0.5571, -0.2646, -0.1726, 0.9967, 0.9775, 2.0117, 1.2762, -0.1162, 0.7376, 0.6884, 0.0162]\nstate[eef_state]: left_x=0.3023 left_y=-0.0007 left_z=0.1932 left_yaw=0.14 left_pitch=-0.1107 left_roll=0.0361 left_gripper=0.9967 right_x=0.3678 right_y=0.3393 right_z=0.0799 right_yaw=0.0079 right_pitch=-0.0206 right_roll=0.0427 right_gripper=0.0162\nstate[joint_eff]: [-0.1709, -2.1128, 6.8718, 1.6435, -0.1441, -0.0611, -0.0122, 0.0615, -11.535, 5.4496, 1.0476, 0.2222, 0.0024, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd344d756e29a305641b38fee5a8377f3e2f6831dc94b88b37a2eda270b3f777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173f90b9c5ded82142c3dd470dbe9f20dd1e5257022f9ff27c3e5e7be92a0b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f49da9405e00e700d0f42f6749d2cd6a5a9fcd7ddeb08833da8361785a79574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0dca810267bc1526016ab45ec63f4c87d092c711b560bd709b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2},\"note\":\"That close was empty, and the right arm is stretched near its low-height reach limit. I’ll park it and use the left arm, which has a shorter reach to the cream teddy.\"}",
  "call_id": "call_n81fYhGLhx9f48lXifxv7wvX",
  "id": "fc_0dca810267bc1526016ab45ec8e2d087d0a9cc584886b61e6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n81fYhGLhx9f48lXifxv7wvX",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9417, 0.7898, -0.561, -0.2646, -0.1753, 0.9967, -0.0299, 0.8566, 0.6739, -0.4381, -0.0051, 0.0273, 0.998]\nstate[eef_state]: left_x=0.3021 left_y=-0.0007 left_z=0.1905 left_yaw=0.1418 left_pitch=-0.1208 left_roll=0.0373 left_gripper=0.9967 right_x=0.2997 right_y=-0.0045 right_z=0.1826 right_yaw=-0.0484 right_pitch=-0.0508 right_roll=0.0399 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -2.6598, 6.8855, 1.6288, -0.1441, -0.0317, -0.0122, -0.1162, -2.3316, 10.5368, 1.7167, -0.1294, 0.0024, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b2e3ed9bbea85a01db68d746de939cc45c40b64b9d7b7b063e1b685f028a40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20576a34b5a584cb5a40f9f80ff6db31a8e2e57b16263659e1bd062799473f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f2ffe42a3fd524fcac26a2460a426c1643e49f56545b443279209a3ff43250",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.804 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 0.9298, 0.7998, -0.524, -0.2741, -0.1715, 0.9966, 1.0397, 1.7027, 1.1828, -0.4618, 0.7429, 0.7433, 0.9997]\nstate[eef_state]: left_x=0.3079 left_y=0.0001 left_z=0.2054 left_yaw=0.1464 left_pitch=-0.0631 left_roll=0.028 left_gripper=0.9966 right_x=0.3068 right_y=0.2934 right_z=0.1377 right_yaw=0.031 right_pitch=-0.0888 right_roll=-0.0239 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.5368, 6.0513, 1.707, -0.0366, 0.1001, 0.1294, 0.4855, -8.1983, 8.9231, 1.0427, 0.6276, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9352, 0.7902, -0.5571, -0.2646, -0.1726, 0.9967, 0.9775, 2.0117, 1.2762, -0.1162, 0.7376, 0.6884, 0.0162]\nstate[eef_state]: left_x=0.3023 left_y=-0.0007 left_z=0.1932 left_yaw=0.14 left_pitch=-0.1107 left_roll=0.0361 left_gripper=0.9967 right_x=0.3678 right_y=0.3393 right_z=0.0799 right_yaw=0.0079 right_pitch=-0.0206 right_roll=0.0427 right_gripper=0.0162\nstate[joint_eff]: [-0.1709, -2.1128, 6.8718, 1.6435, -0.1441, -0.0611, -0.0122, 0.0615, -11.535, 5.4496, 1.0476, 0.2222, 0.0024, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9417, 0.7898, -0.561, -0.2646, -0.1753, 0.9967, -0.0299, 0.8566, 0.6739, -0.4381, -0.0051, 0.0273, 0.998]\nstate[eef_state]: left_x=0.3021 left_y=-0.0007 left_z=0.1905 left_yaw=0.1418 left_pitch=-0.1208 left_roll=0.0373 left_gripper=0.9967 right_x=0.2997 right_y=-0.0045 right_z=0.1826 right_yaw=-0.0484 right_pitch=-0.0508 right_roll=0.0399 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -2.6598, 6.8855, 1.6288, -0.1441, -0.0317, -0.0122, -0.1162, -2.3316, 10.5368, 1.7167, -0.1294, 0.0024, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b2e3ed9bbea85a01db68d746de939cc45c40b64b9d7b7b063e1b685f028a40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20576a34b5a584cb5a40f9f80ff6db31a8e2e57b16263659e1bd062799473f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f2ffe42a3fd524fcac26a2460a426c1643e49f56545b443279209a3ff43250",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7YEOjk20GaM-c-zzM8kgzty_bxBh31TreUsMQqOE-ubV7jZG1JdGjxZmNk1_cqcAy7K-keSto-JxKn9q_r-_ONutKbVdTlhDty2nEzQms2bXFkOxc8up0qFzvAxPPzw9dllAzdpGqjavOA3VINM1wS9H2Rh6HB5s8iIVLA5cFpT7etsJky6Yi3wzBl5JIvjp5icpsz6FE87y_DutAHwANx86wVU2_eDMv28_zI742Skbl_qkhAt2MIkNWPSHETpSg5TF0nv_sf6R-8DhHAI1BDBhikkUSjJQJvPlbx9gE3gy1_OFOl4j1UJGjYn4GSUK6qOg4tlRFhbsCtZ_4Ta6WSqLuEaD5iKHSuaQN0sPOytm1dOnh92faVVSZgLTEeTyIBDdlO9Qnw9pgAoYUGuHEIV6t7WeOvrkGOH7R_dG5Qutk-LHbFWP3AMKgAwvofYWm9pex63SaUa0h8pXwpaXp2RW2Ox9vf4_tjI-NwUukgLJ7RrkKgr36hmkLYfXVjhoatzihmawyrVkEI3nfiMekCeospgTsoSK9KH4xk4GYCZ7uzRUecaNCENDefs4BcvcvXehLa44B3c05wjSH5AFu52NzwFmhwOzXo90TP1d5-s_ncpESNm2NR8ol04acyjUEtW3-ZmI-jilpH17ZkcIwAORmXd32JW4UCddZ7QNwe0LBjMRGqzKayS8-1KCSY3ItG2p6sfOFYb8YzmrriQ_2o5yrdaA5VYucZS6tdSS21KfyxPnlwB7xcAQykLx5E2chgr8lVxXDZ_EK6aoNwhYI1Cl81Av8E_mLbl6Fl1WBLm4IMx826fPhWPWO_b6VF6XF0Rkg-bybSC1cxKGX03QkMNBT8-XGja-8R85_FQ_p4Q8F73_gKYOLUeVpSG87_1AY9IRQ0N91k88RfjjWXR1sH8hrYav949S7NCQ-E-vDevOHclA251NhCtlsByN-60omx5eoBse7LWmKWMov2RQdlL0Y3Df13PP2KJ7DW4vbinpNKtgN6kh81s_oU56OHQ89Vt9wFUSv26aX9xxImSv_NrJlRdvtjC3OdF7lXHkNmbgkdypMNiQ0lhMK__b7Eg4GqQY8obMML7DOyzresGpeZapz1XK2leA_KOpMoRrEzW86aigPGhC9poBnl4Y4eLoXbEFDU1X36HLVNCaVhrFjtz7cbGx1KhnBzo2A17LlunalxPUE56unAuLPxLbHaxhe6zG9818-uuaSLmiONaQa9rKoBaFEuxDB1mcVt9dCGuAci7UTyvCoJKgCtyQsB6_2QJMfGq7paslDmsVA5cv9PyIeKmESnTxzj0_SaYyKaj13wvsz1JLJJWUSjj3_0MGRRZW9ItBQW0KFc79u9SXOXSnWOTIjptvPgJ8LX31ZrZ_7N3wAVvIoQfsBmyEdjoNIhojMsu5mBygT5t5yt-u0ilJtJhXB_oD0Lug-38RS7SIcdc3jMUhtLcRJApHp9edJivaklFn8rqOtTXsg2Ki9FmUgsD8QorPlL6fSZK4xeabouEy0LQjWCnNUn9lZl__IFr-whBPTxBoNtCfKw2Hbctfk-lDYq8N_Y9lHRo-b_btDL3T1K-H18o0TA53xC1i6V9MO7D9OIwyrAWL_IgTnwRtal3EgS0OMM7SaZLj8gAPo487b0C-tAI-iQXYjT6ly_kNWZ-ucgEj7vrVQWvrRKNGOqoUSShmZNEn3vwFqzh-sgEtdx1i2h2r5TZS_Fn17U-h4IGWJ0GLrWfV3OwB_a0i_8xgxxcul4rI3Ri9Di4mhYAz2Pkf3geuCXLPpZAy6BtNdoPs5zqlnnqOBut0xMAlcnNDUg-prX3WMca8r-BrsEm3VW0HtmWGbG7sV21iudcvxMIpXl787Oqs01qSgeFEroW90zg7wt7u0ZyPLqShl2_YumX98qsJ53Ud8PvTxgY0eRdVxxX9Fm3aZIryd04I9sdCQSFGWEyajTuAMSkBEOaJIY9-igxjpZJ43QD8zZ6smnd_P8-8tTWxyk33SD8QS342-ufi7Lndc6caJfw1mbez87t-0CPLdQBLT6RqOEKh8GmTYX4-JbY2VrnsBVwi8KtuC6_slEjLnlKN4pGsCo80NWfzN3pf1lfR-JJ01h4RReU99e-Ktj6-wxGFoxLtP9Mh7ybHUuRFOY4mNGTu1XTqSvij_0i3dk76FOpu8R9qk5EzFfAnAkkjrUj7W2nvY4bWQYCLpp1NvKLOqGvW1xPD1mG4O3BF-c7AOHj9JElXhCU_d_moiv1SPvCT6T8nGWpnCuq_-BN30P4glegnl__hYrAGHb4lIAw4GjOLDO5YrTSxKUd_hrwENfiZsYGu7LQEq1VVuDNF7n0aYD5A9IkQJz3haQpujyINQnvoHkwebYxr2NhHuZfg-H7GvtG_QtkqWVc4k3d9QKKu6V6BbXm9FJ1NxCrZRrOWC4wOprd3is43KjSo6nRorduj1zmmf-7fOdHykG8E6fni5Gv3B8aO9uWSd4mQIDgdN22Hdnz3hZlS6wxBcDYuZFN0Kq1CHNX4aB6NUx5xOZ7TMjtXePL6LY9ju5Fe8-x8BiXezLoOg8orVESSM2AWxYKCz1F4zP0TA0F9HHiDNH2nyrzWUI_Sg9BAEIuqgi05aKiDM97PTrQNt7m0qyTHPExJsMHxM2l9ObMs5ekNjRuiTFohHDVG6GpyP9rFRweHm5-WIuH6H-paN5n1NAwKScg9Z_sAjWsvLeDMk7Pjoa5S1CXsTOks8XNORP3kjxggC8Jai0Q_syGEKXVy2_dltkfIsvJXetJNJy16eBSG2rDWpX4PxgCfOenuiB88Vcs6BGtXwEcWIVcsHfY9PnHu4XihtODwxrws27GEcocuqFFsOX_IzC_tPizn2QNEDmG173jQ6LTmGX7JAKyKQHKBt3184e88HCnrWaHBt3w0JNhES6OqNkpcjg9YNk-h9SQWDD-JArrTMtlTqEJwglAg717FXy9LsLNVhROymU7J-U9qG-8LKdZWTh1ll3EqogQkmE3Johtr3FHghNqfld17EDS0Sq8qHIKAppDB7y44hFKplckFaTffas3qmtu5xmzX8lNL8dZbsF2BQSCUhJB7SF0OmRLzp3pmARQfFT0RhBoRfxs4JypyprhDJkxGkb2NUYKs3BbAhcpwuwgrolOpPCX6BivokWE-0KNQI9J5BKyDc2SOM1Xiif2QF_AEtItw3rbZgwYCORIr0l0UHzsqVLNFpmvxUz52lPGY3V0JaT_gGQi_1vOys20WTbYWLl2cmoHZuutpV_-AbiwI7-1XYo-CSVGGqIMdiTya9VGHu98bGMlK-AGRiioRW3JA7i0jGNBC88Mr8VuZroDulolPdu1eW5jZpWUsX11E5TFT-yfnyFcsGwx7M5x_wjhkNijKl0bfE7IqtfcNamPWdtUhwEicbmVykzBeXzS3TLzH_R6qG25ndkttqc3EGhONhLw2gk4hLR_hJ60sztzf3boFp55dtQSQOt2a47pDiVCMK7jSOtW9YMpc6NI9rifQ_93vDMcSB05McCSt0dFhanA03v-IC2lYF0Ku_PkCwyov2afIQPoBXuJN5GG1BGQZzOMkDnJ0J8rL1GhXwgU5ad6wydA_qVOsf18bBJLliFkrrFG1ny-chh6tUaOnnQii2cWQewMLW0f7QkwrWdNrOAOs0QjWd4LyFQx1almLVrb_fsfu4ogpXc5OMYBGMANlDXTSKGUlQXiTkRgzpVd7lRMqqmQsb-kj5YgpRn5F5yyhdNb5sy0RlhJxTUy5b9iQ3yeEZh9OKxNe1Q9PeTDUxdxTpj_H63PtKeV3TBJcwpfI5jQmK0KUC5ThO84fLBu_c2RDtNeU0zNsyybftmJsfFcBW9lEVvQEXrRDxRuKNupVUTEoGHtx8Bo7Omt9n-yspG7ludPq4W",
  "id": "rs_0dca810267bc1526016ab45ecebd4487d08b5bd81878fefbaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.17,\"left_z\":0.07,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"With the center uncovered, I can see round-nosed teddy bears and long-snouted plush animals. I’ll grasp the brown teddy directly through its torso; the earlier attempt was too far back on the table.\"}",
  "call_id": "call_tk1wHDPBFJlxeLOzZRrc5UbO",
  "id": "fc_0dca810267bc1526016ab45ed6ebb887d0b21fad573e632bc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tk1wHDPBFJlxeLOzZRrc5UbO",
  "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]: [-0.6468, 1.7416, 0.6067, 0.514, -0.6075, -0.2928, 0.9967, -0.0322, 0.8619, 0.6739, -0.453, -0.0101, 0.0113, 0.9984]\nstate[eef_state]: left_x=0.3804 left_y=-0.1564 left_z=0.0504 left_yaw=0.0007 left_pitch=0.0622 left_roll=0.0857 left_gripper=0.9967 right_x=0.2979 right_y=-0.0042 right_z=0.1781 right_yaw=-0.0379 right_pitch=-0.0708 right_roll=0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -7.5966, 7.0906, 1.663, -0.188, -0.0415, -0.0073, -0.0205, -2.0855, 6.9812, 1.7753, 0.0171, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f789a5de275505a4fab5a6658f71f71128e30d997c28da88b59bf6595ebc841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb417897dc238955a623354ff8c7bc25e21895792fa6019aab5df2e1bf690cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09976d50eb0d227808ce7784b185bf9a45cfdc3bd9e2756b4bcf0816434bb783",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.086 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9348, 0.7902, -0.5529, -0.2653, -0.1726, 0.9967, 0.981, 2.0026, 1.2682, -0.1501, 0.733, 0.6914, 0.9997]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1941 left_yaw=0.1404 left_pitch=-0.1062 left_roll=0.0352 left_gripper=0.9967 right_x=0.3623 right_y=0.3353 right_z=0.0765 right_yaw=0.0119 right_pitch=-0.0421 right_roll=0.0201 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.4821, 7.6376, 1.8779, -0.2271, -0.0317, 0.0024, -1.1966, -6.7761, 5.559, 0.6081, -0.022, -0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9417, 0.7898, -0.561, -0.2646, -0.1753, 0.9967, -0.0299, 0.8566, 0.6739, -0.4381, -0.0051, 0.0273, 0.998]\nstate[eef_state]: left_x=0.3021 left_y=-0.0007 left_z=0.1905 left_yaw=0.1418 left_pitch=-0.1208 left_roll=0.0373 left_gripper=0.9967 right_x=0.2997 right_y=-0.0045 right_z=0.1826 right_yaw=-0.0484 right_pitch=-0.0508 right_roll=0.0399 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -2.6598, 6.8855, 1.6288, -0.1441, -0.0317, -0.0122, -0.1162, -2.3316, 10.5368, 1.7167, -0.1294, 0.0024, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.7416, 0.6067, 0.514, -0.6075, -0.2928, 0.9967, -0.0322, 0.8619, 0.6739, -0.453, -0.0101, 0.0113, 0.9984]\nstate[eef_state]: left_x=0.3804 left_y=-0.1564 left_z=0.0504 left_yaw=0.0007 left_pitch=0.0622 left_roll=0.0857 left_gripper=0.9967 right_x=0.2979 right_y=-0.0042 right_z=0.1781 right_yaw=-0.0379 right_pitch=-0.0708 right_roll=0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -7.5966, 7.0906, 1.663, -0.188, -0.0415, -0.0073, -0.0205, -2.0855, 6.9812, 1.7753, 0.0171, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f789a5de275505a4fab5a6658f71f71128e30d997c28da88b59bf6595ebc841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb417897dc238955a623354ff8c7bc25e21895792fa6019aab5df2e1bf690cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09976d50eb0d227808ce7784b185bf9a45cfdc3bd9e2756b4bcf0816434bb783",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7cb1ny3DZQ8nrsJL6uUIxa-OHfX7uZukf_MEUpGYtNgDsAMS5wG-T9S36byqkhz-7AAaeX8VKIgDPK_JJeWUfDaZbMVCiRlQtOIgKL84NQH2n2dHbSU32S1yF0_t7srwNXaqN_NTRm2ZDtpICOIi0t3uP21ysIZ-zFj9mNWfq1tuj5yaVeaAo3CpP6CVAgbd-43gLUxbGizdCbFnE3WZkWc_bbTf3xzSNnip-pzPgTwJKpKBIXiOo2fHRazrrf60hCMkPuFJzlIc92Q5zj0QoX-CJgJPf0eNkJCPMr9n6kYCh6NNaLj0gz-lTzOLTZAZeOi7K5MXyjapVLmuSqk2WvmqL0TwJLmznOW1fDFVi8lZbKTm8_De_gzXZJ3giNTKhGp69mStZFMcQw6y-eMkq3JIE5EbqLpLdrqUtU3Qouq8HACq6TsIwSaX5lEtgzmib5-l1DFRRDXy0GTMYUbZut6R3uxjuFmy-bkcPu3f4UfKFx0EV36M-tK4gLqWBA9TtuH6m2Owe5u08GIdEIDV3nqEfcN9vRftRgi-q7GkyU7rZB2uYn_9xUEpcLdi0LJQHQ_9bsq-9MJgaOtNmeuUQ7141BLgcegwtXAa6snoGYFlhgYGo9DiMOaMs5Z-62hW-ombk4IPG0lK1khrTpIj-hFBY0XnU8QTtOIs6UW-WvqpA_zpO58fs5AjIWsJBZbrz6vCgwVNpRR-LDkfqHMt5pcJUgtzV3vnuHHuTA_KUwjRxxtEVYf2OWAiQZpo5iM_d2IVzLYOFFx1_jKkAq78xmwgkKgFIJFS1Cm3gH5mjAW9Zonqj3XYq3XoQTHtwfI4UZug2o6GPoiSG9mbcBb5fOVt9L2expWxrlESFfY5lhK6w5rTNT59b-JQZCl0k6Y59XgF3lunmZZKigbJBdJ8Nde9Si1CXVZPrp1nCGq7KawcOj0Wzn5YvFnVo8NFW_zPbMybuyZrPKgrbOXiOHNsnbymrX4fY_jrMdpAfV5YiTLV0P18oUmp6e-pRItgT_XTqgTna0uge400JnEG4GRcEetmqgXThhZdsdxg-4RjrwbZ5-c3WIMhNq0uCP-NsJQmQyQ35yzoNLBxaAZ-GYEC10yl-c_isXB9cjHxHUNnciAeVMTYm8qliEh00FH7_ImTut3NE5-RsZnZRQju6iUAwyv3ndp6HVSOkbCw9cwWJV-r2hwAXW4SjJdHCxFvK4TAIv4B5SMTXWaGxmtXDUrvvp89I-0nB9cs-qWvRRfuA_fKUxwwjWxN0ZCg8cWw82GIItKSZ8Lo3b_qt0zQ8850wjcT7TTREgk7rICkcgu_jf3vfKJjZzX7i-xmEf-JwBJjo4",
  "id": "rs_0dca810267bc1526016ab45edb354c87d084e48e01bf244459",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown teddy is now immediately between the fingertips, rather than fully ahead of them in the wrist image. I’ll close around its body.\"}",
  "call_id": "call_J5Nu1zH1JHbdSPyDFnsb7Hpp",
  "id": "fc_0dca810267bc1526016ab45edbcce487d08ee2c1a4eb6ec5a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5Nu1zH1JHbdSPyDFnsb7Hpp",
  "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]: [-0.6502, 1.7634, 0.6094, 0.5167, -0.6132, -0.2928, 0.0102, -0.0322, 0.8623, 0.6739, -0.4557, -0.0097, 0.0105, 0.9984]\nstate[eef_state]: left_x=0.3798 left_y=-0.1566 left_z=0.0439 left_yaw=0.0012 left_pitch=0.0512 left_roll=0.0983 left_gripper=0.0102 right_x=0.2975 right_y=-0.0043 right_z=0.1775 right_yaw=-0.0378 right_pitch=-0.0739 right_roll=0.0287 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -8.8137, 4.9299, 1.5458, -0.1587, -0.0415, 0.8376, -0.0752, -1.6889, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c088ca9afabb4145e0ac6e70174f23a35cb1a3ab98c2f0f5e205c3eae6f0f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fc39fbe5e339df47d14fa97504a64fc69a0e831131b2ba2f240f6afd691031",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556fdf78929754c5164dea26395ea96341d28b9f93b9049c81ea852f72940a86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.541 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9352, 0.7902, -0.5571, -0.2646, -0.1726, 0.9967, 0.9775, 2.0117, 1.2762, -0.1162, 0.7376, 0.6884, 0.0162]\nstate[eef_state]: left_x=0.3023 left_y=-0.0007 left_z=0.1932 left_yaw=0.14 left_pitch=-0.1107 left_roll=0.0361 left_gripper=0.9967 right_x=0.3678 right_y=0.3393 right_z=0.0799 right_yaw=0.0079 right_pitch=-0.0206 right_roll=0.0427 right_gripper=0.0162\nstate[joint_eff]: [-0.1709, -2.1128, 6.8718, 1.6435, -0.1441, -0.0611, -0.0122, 0.0615, -11.535, 5.4496, 1.0476, 0.2222, 0.0024, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.7416, 0.6067, 0.514, -0.6075, -0.2928, 0.9967, -0.0322, 0.8619, 0.6739, -0.453, -0.0101, 0.0113, 0.9984]\nstate[eef_state]: left_x=0.3804 left_y=-0.1564 left_z=0.0504 left_yaw=0.0007 left_pitch=0.0622 left_roll=0.0857 left_gripper=0.9967 right_x=0.2979 right_y=-0.0042 right_z=0.1781 right_yaw=-0.0379 right_pitch=-0.0708 right_roll=0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -7.5966, 7.0906, 1.663, -0.188, -0.0415, -0.0073, -0.0205, -2.0855, 6.9812, 1.7753, 0.0171, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6502, 1.7634, 0.6094, 0.5167, -0.6132, -0.2928, 0.0102, -0.0322, 0.8623, 0.6739, -0.4557, -0.0097, 0.0105, 0.9984]\nstate[eef_state]: left_x=0.3798 left_y=-0.1566 left_z=0.0439 left_yaw=0.0012 left_pitch=0.0512 left_roll=0.0983 left_gripper=0.0102 right_x=0.2975 right_y=-0.0043 right_z=0.1775 right_yaw=-0.0378 right_pitch=-0.0739 right_roll=0.0287 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -8.8137, 4.9299, 1.5458, -0.1587, -0.0415, 0.8376, -0.0752, -1.6889, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c088ca9afabb4145e0ac6e70174f23a35cb1a3ab98c2f0f5e205c3eae6f0f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fc39fbe5e339df47d14fa97504a64fc69a0e831131b2ba2f240f6afd691031",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556fdf78929754c5164dea26395ea96341d28b9f93b9049c81ea852f72940a86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7iauXSFAFDYtnTiGI12oGW1aFyv1IP8fTGV80jGz4HC3KOwRFuu7E5lKF82It4FWEOmqZFshG3M5FUH4NNoqSDwMt1VHbQPm9PW2X0Kq41yFbncOxsBR4ghT98wybVsXB67pq6b2olJWu96dXLs_5nNH_I8OQXeogEa3u3_yUPRHzSsaYyJzE-Zza4Eih-VkoNwzHleSpdm6yty3dTbw7CSHIa9aM8sbN6W8vhn34HYCszFkJL3wVy6pMCRpXX_TJbSrKo57yrc4cYIAuvGwBaDWdnrfRYLYYTz7EgT2OL41lqhxPqtC-00uFBET-OrkDR6-8WW4ZMy7RBbx0Dfhk_Sjxi3Oasvq9WnhfrFmeEPFhuDhVjIXerqzcJgHsFRkWRFLB12M0iBsZF6FbaAIcYH_JHX92PfxgKCitkyDCBFfsopXQ2dYoL0llFSnWdYpggJEXL8_vHb1osoA4kIdj42BVODxgkNOwAHJqQNo_WUye5RE6EKF3RYWgF9n4QqXNcRrDWWnm-EE3h4RH1VE0tDzVa1QpQwCC9QL2KTJJVlcj9cNbaP5OPGJtPjFHxnEvWKxdcQY18Z9Fl5tWlTwy7CDdBhYvuDka4Z-gk0LU1uClbPhnh3EXH2KUOagPy6BVaz_w4BbmF8kxKYs1cmYexpQioCASguyhaD1jNQWifc3x-z36mUDp6FRoQXU8wcDePzUnjglMYgXBLifvLsu92Kgyc-oz621D4AQzsQk3KvFzyZhw8oHZcQxJyVDpR7uHVlRWuF7un-8V2rfh27fRAZZnBuZVKcBzwkvfy9hpGom_9ebInEaFQbCsJ3wwFZ-DikpHfAAiZyeqF-yvCmOAWlXREjQSo5cm-Xh8a6Kfvdyhu5Wq7iVRJqkQ74am7ImczY8vavbKaBWeN9LvSseTyPJImAhf80ZdHmGH2nRgHW0tDoHG9pk6EmzPL7Q6J3Tqqel-p20y7nsnML5tqAae5Rgfc-a84p_nwDbdCZWB4gLm1QtRTl_GHjViXDW8p0KkS8CdpzeRpoXaLWUk4QANZcpR6eXIBKp8WJASTH1xfpejee9A_9U8jRVvBwZoGAr9hG8nJnjUmtzjbBgvc99WEsBB5r36OZPd9tCyHn_uV8GJZi2ht94_HDbJE98bdmRHqWrmWfLMIjKuJ8Xy0koQ86jwYbuQBs9DW5z9Wjr2k1g9KQPlONDpCiZegyo_EC-zuQ_d6LhgbU9s1ZZthj82St-WVb8budt25H32Lpe1zegH4UzuAlPQKUnSh4eMYMv5Bpg5cDEVMxwd-z2yt0mmQEGGiDTY1meg7vfLLWeJnFwMn5Ki9djapgyucPDnAVlCcPM9KnYPTCytjFU4tRqC2fn_p2nJppmiJK6bgBPaLJqvWlU-I2sk9s_IOtTlFc74HXcYZF9sVTPR9loBpgPDnph7bZuKmcptyTZtTfPE1xl9w6qVQrTI2AnWgk7yrd9oLS3YrxvQUzrdvwWvkuDWh3VV3d1ZAWXr4E_ZTa7p5AOn-X2NgfT48jl70eI_Zq70f4FI5U3wQOw2hotEb5jE8iPcMa94pDl3fGxfgH3i-NKdnQRT-CKiDTJD_w1yD3SQxdHadNR2nxgwSMGLbOm86hCVW43Zt9PMuJRbHRUZCXywWpObZRWXdmGXxjpC0p3jbqihUHB96G22K4gxyMCgYoHQE8PwUQzof-7TK9eVA7maakCrj4OMab5GucyH8bL6yAF2A0E_oP6m1B5BGaks6kxBQlIPe7giyyQx2MKG8vAADrZniVix55FeOmEspD9bgRNKVouWee6cbynQ_j7GEkJ8I2qRKm0AE0WtH1k0QPdAfdE5_45jvAZu0ECtGe8--fplc_HGHb6gqPYO8-imqTtZ2zG03DvsCwi2afBLiM_o=",
  "id": "rs_0dca810267bc1526016ab45edf150c87d08377d4cede81f0ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.105,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The close was empty again; the teddy is visibly to the left of the jaw center. I’ll reopen and align farther left and forward, using the overhead view rather than the wrist image alone.\"}",
  "call_id": "call_AqDNpwpTEBaBEknA7VWW9yQo",
  "id": "fc_0dca810267bc1526016ab45ee1a03087d0acf3a3276509286c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AqDNpwpTEBaBEknA7VWW9yQo",
  "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]: [-0.4332, 1.8618, 0.606, 0.6827, -0.4522, -0.168, 0.9953, -0.0322, 0.8639, 0.6739, -0.4603, -0.0105, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4162 left_y=-0.1035 left_z=0.0265 left_yaw=0.025 left_pitch=0.05 left_roll=0.0955 left_gripper=0.9953 right_x=0.297 right_y=-0.0041 right_z=0.1762 right_yaw=-0.0369 right_pitch=-0.08 right_roll=0.0289 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.4889, 5.3402, 1.8144, 0.0317, 0.1001, -0.1099, -0.1162, -1.7846, 7.1726, 1.7118, -0.0171, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69791907278c4da569f445dfcdeae5dffafb7e19522fbb8b59520d6d93c3db16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf938cb1274ab799aa5fd8fc2f5ab4ace2bf5f59e2261d4438c2e39a289ead0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc0f81830f407931fd851eaf8c3b6d0e70b400f2f7ad52f7686b6b2483bf013",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.405 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1677, 0.9417, 0.7898, -0.561, -0.2646, -0.1753, 0.9967, -0.0299, 0.8566, 0.6739, -0.4381, -0.0051, 0.0273, 0.998]\nstate[eef_state]: left_x=0.3021 left_y=-0.0007 left_z=0.1905 left_yaw=0.1418 left_pitch=-0.1208 left_roll=0.0373 left_gripper=0.9967 right_x=0.2997 right_y=-0.0045 right_z=0.1826 right_yaw=-0.0484 right_pitch=-0.0508 right_roll=0.0399 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -2.6598, 6.8855, 1.6288, -0.1441, -0.0317, -0.0122, -0.1162, -2.3316, 10.5368, 1.7167, -0.1294, 0.0024, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6502, 1.7634, 0.6094, 0.5167, -0.6132, -0.2928, 0.0102, -0.0322, 0.8623, 0.6739, -0.4557, -0.0097, 0.0105, 0.9984]\nstate[eef_state]: left_x=0.3798 left_y=-0.1566 left_z=0.0439 left_yaw=0.0012 left_pitch=0.0512 left_roll=0.0983 left_gripper=0.0102 right_x=0.2975 right_y=-0.0043 right_z=0.1775 right_yaw=-0.0378 right_pitch=-0.0739 right_roll=0.0287 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -8.8137, 4.9299, 1.5458, -0.1587, -0.0415, 0.8376, -0.0752, -1.6889, 7.0496, 1.7021, -0.0269, -0.0513, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.8618, 0.606, 0.6827, -0.4522, -0.168, 0.9953, -0.0322, 0.8639, 0.6739, -0.4603, -0.0105, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4162 left_y=-0.1035 left_z=0.0265 left_yaw=0.025 left_pitch=0.05 left_roll=0.0955 left_gripper=0.9953 right_x=0.297 right_y=-0.0041 right_z=0.1762 right_yaw=-0.0369 right_pitch=-0.08 right_roll=0.0289 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.4889, 5.3402, 1.8144, 0.0317, 0.1001, -0.1099, -0.1162, -1.7846, 7.1726, 1.7118, -0.0171, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69791907278c4da569f445dfcdeae5dffafb7e19522fbb8b59520d6d93c3db16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf938cb1274ab799aa5fd8fc2f5ab4ace2bf5f59e2261d4438c2e39a289ead0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc0f81830f407931fd851eaf8c3b6d0e70b400f2f7ad52f7686b6b2483bf013",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7oI9CGuYuvv6_9rhrZbIk0Y11cb47WBibE-VjYovEplKJC3nXsdkgpVYp9KwZMjZspQ-T5mFFm1TXJoDkJZUbgSkCflQLgt91uLtDcxsW6mB1vj0OgYZna-TZodZXsAZNMHrnAAgbMOLKxDGk9dTAgvouisS-HdjNKLX2LC5K1F29RnGkyI5PzeYsBaKaAsZRk75O2Yvxrc5nORm1Fs2uKGu2XFc3Qedhz7Wmck0rzKGU_uNFtqdZ1hz3y6eOwnawtsIrzKyKkDDIKOScRI7mC305vf5lB-rGMsakQDDKhgEvLg8Mo5YhhaIv6u3F4JfYCtDQTxsMnfj-Ia9fz-TjPb_30p8jIZoqdZSTBpGbskIljl02v3pcpWGGD3dfE-5wYkSgcJACd84SU30WGgb9dN4zXPU6iDwosY9QcpyTiov3otIXWfQn9gT4zhuggGWiFAE2oXIxMUZbeK6fEpa4IgYCjoUqUkLnt267rTwh8XlXafNG8eC2-MM8c8Zdk8ZDUNwRLDletDONmGu4Gi8OFR-mZd--OvFRTEcObflAIPv6SjDeXB_qKBurFcy4Rrsymh3uRB2aY5xlTwWLrDqFo62ObLPYjjVA1i6ureOFjrE0i_xwM3nfyCiXODtmWndqHKNzm4pR4Wl0ZPvyNLo34NuYfD-DRRgQSg5w82BwvMvd3M9QOmiBTQHjIbEBeh_gMhAn86hDPnrKeDRmkU9hGdwy3T2A1O5_GERmrbxCqvW-zgIizQEt9LsUmmVTrV7H-N5O5hDj4nZFl6gKU_2Cyr0OY-OSxUr4peEmcYsyWeBnhaM7o9OD46mUl3P-FI-B37e6w90Tp1g8GW4nOaIcZOTIoFCnw_LzZj8QHdtaQ99dthtSCC_QOE-VrmHNWnaQ5dnR9OjiHZ9JaVwwmykRpLnqHZNzjmWjLrzJG38Goi1zLi2edJGnZuzuVSut2bZtuSNStQtSGsLoY_6cgc8GmVQwG_wf3GkCk4oU6-mhQaL2DBoVzabLM1xytmBCDGK72kjOUyWttQsN5lq8nHOrSLY4NUIRl0sJGr3cDuGtlTJH2JM8GxPldWFK6NOiZBOjQK9ryKOQSISoQaYWbArbcWKsxi-FBZl_VA4Xcn4P2OyUOuBqcHBgqcKbOT7RBnFKAvVlE9dLuLsZxLOhZwhwB4geAJz1kJ87uaguBsHmxaFJ6iPShUN5PQJga8jtiHhhxvVZbncL53lwjzDbtkrwCFgkDcSx0AP9_stRku-YDIAGJv0FMz-zXHUs0Bajacy4WlPc0S3qhAVTdO8-YU6ViTPgB2UeFPZyQC4oUhQSJX933OTg3Kp5VgLmfMyNrwLReaDTf5udzsCXiALwvC6R3eAILGJgK5ufkUyT7oLuWBfwOjK68ld7SOF4ULqidyKZnB1Em1y9vZsKnzNYm-NPScc_17pRCmkSdXb85vDcRS_HHMoPsa1NuNM2SMw4IQwv8FJF29f2vt5AgtQXr5Wo8tLqWLjqqIbkSGI1Qkk8bVgpWQDhKYTfLIanV2xTm1quBc50YinGWJ0EqneRag4w81a-cDvEr5C-osv0pIVHhrdKQpk6hp5Vj1kIpvsLl5-GSlq7q4JGw2nH4XXZ-Aj74moJAJE27v8Q4X8pomCgAK55mgt7G6KlvdqpuqY2F0dTEX0L512Fpk-57vfsfFWb08FEHSRJFGSUkI5dkAkOjCJxSWSKkyk1zYydJhTsQdu4tCMh6B-QAnVtM3yfEdks5e8fXmuoSaQvVzmhBBtYiNrlLGjaqJ0qKyeO9QAwDS_iRwQ6wANeitLacbqs0MsmuatMq6VF7WkkqDIgGYiJcYXfCBefLbK14-WUoztlaNljg2seD1sKQXybbHQ-ULDg3urU9S-i7W1vkGg5c0mWawEQt-gKT-CAfLFZ4Y4sP7lDb",
  "id": "rs_0dca810267bc1526016ab45ee4e4a487d0bd223e214429305f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush is partly enclosed by the open jaws beside the basket’s front edge. I’ll close here and require a visible lift before attempting another placement.\"}",
  "call_id": "call_dIMj9UZLq3nIZRTvekBGungL",
  "id": "fc_0dca810267bc1526016ab45ee7531c87d0a2b70861db867b9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dIMj9UZLq3nIZRTvekBGungL",
  "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]: [-0.4324, 1.8664, 0.6056, 0.6746, -0.4484, -0.1722, 0.01, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4149 left_y=-0.1032 left_z=0.0229 left_yaw=0.0246 left_pitch=0.0377 left_roll=0.0958 left_gripper=0.01 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -8.0205, 4.4239, 1.7411, -0.1441, 0.0317, 0.7692, -0.1983, -1.4291, 7.0359, 1.6825, -0.0024, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8d27185b1b22f38ad0636d12f7ec0c8b4eb9d718dc3b9a88e86d05a90aa2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac97f0ee41770cc88c18b744543a7f315161be1d9e156e079d18e4a7aa563b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e64002dbe39f4cfbed7b7b5b998ea685dadabd343160ab57edc003fb4c15aa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.7416, 0.6067, 0.514, -0.6075, -0.2928, 0.9967, -0.0322, 0.8619, 0.6739, -0.453, -0.0101, 0.0113, 0.9984]\nstate[eef_state]: left_x=0.3804 left_y=-0.1564 left_z=0.0504 left_yaw=0.0007 left_pitch=0.0622 left_roll=0.0857 left_gripper=0.9967 right_x=0.2979 right_y=-0.0042 right_z=0.1781 right_yaw=-0.0379 right_pitch=-0.0708 right_roll=0.0296 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -7.5966, 7.0906, 1.663, -0.188, -0.0415, -0.0073, -0.0205, -2.0855, 6.9812, 1.7753, 0.0171, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.8618, 0.606, 0.6827, -0.4522, -0.168, 0.9953, -0.0322, 0.8639, 0.6739, -0.4603, -0.0105, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4162 left_y=-0.1035 left_z=0.0265 left_yaw=0.025 left_pitch=0.05 left_roll=0.0955 left_gripper=0.9953 right_x=0.297 right_y=-0.0041 right_z=0.1762 right_yaw=-0.0369 right_pitch=-0.08 right_roll=0.0289 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.4889, 5.3402, 1.8144, 0.0317, 0.1001, -0.1099, -0.1162, -1.7846, 7.1726, 1.7118, -0.0171, -0.0171, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.8664, 0.6056, 0.6746, -0.4484, -0.1722, 0.01, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4149 left_y=-0.1032 left_z=0.0229 left_yaw=0.0246 left_pitch=0.0377 left_roll=0.0958 left_gripper=0.01 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -8.0205, 4.4239, 1.7411, -0.1441, 0.0317, 0.7692, -0.1983, -1.4291, 7.0359, 1.6825, -0.0024, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8d27185b1b22f38ad0636d12f7ec0c8b4eb9d718dc3b9a88e86d05a90aa2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac97f0ee41770cc88c18b744543a7f315161be1d9e156e079d18e4a7aa563b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e64002dbe39f4cfbed7b7b5b998ea685dadabd343160ab57edc003fb4c15aa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7tEV9Zd5US_hQz0kEondpw1t9UNbN7T-vFcA2WUr5Rxc6uxBNsF9VuorVCbgNBplX7FMsIvqUlA4EIUwn-2xvwW3ZnyPLZmcW4zQh-TrO8E8fz8CHA-dxYbMW2vVJ-0vhbQyoW5cgzdQFQf5SA0lls_PdzqyqSqVJmw8ZJHiifDThanZDjLix_FOXymSIdb_Mt0NJx0S3B-Zu_RdMiGX2KOxilzO6MR-dG7sycaz1CNzBavolJbbvLJUSymmpAXb8eSMEy5qQhnqcH-MfLpET7hMGl0rEO3hF16cGUZMB18X5hYcszbL5cXWem-E6K5CX1Dvuw2LD9NIsUO49KCjwGimRhnhxqT_0UWl12hutPpX-DzxfykwhcibmDVG9ofwDSlZvHqpJYLM_47hfso1eo_wvfmRgLr9BzcrNY49QzcFBOQyONCKp_yFAExRBmVrbIiPcWUFsgRe5gOIj0BEEhqa6sG-xMUonIZeEqhqBTc2JhgWbD9CIBQgvLP18fCXxs3w5TdexP4UK5MffhJzBR5Zvh1QjK3Zr6yRxxZGcE_wpk6MDxqToMHdrlcTQ0kh4WqzGmqFsmv4FO3lqPr-tiSHUjg46fULTD4_Ux4W9ad_zDmt9dnlVQ4xmIF4WzHPVLyLChmn1PytZM9F02clD9lzE6NqaHgfmMTdpKzudf301wgl_ohFnKIv0RPA95BtxO8Jlnv-rwC2BUZPqTHiGdQaJO0Ff6YboFDTPd7ygfza_585UwY4ZGIKsf80RDaroivp_K8NGIO9UqQCp5TTpnM_CWjWfT0_ae3TeAWBQ1nyNknAR4x4M-KMkom-OVsvxKsI1ZNbLMpurf8VBB5-K4oM8_qoLLqOogFjGmtuW0jo0m1GS496GbZVKygeiUX_6Xm3V9_CaXxKKC64wKU2mG5LXJvbY-M5F_1Hr68lXreXXGpuuSWc6cPxgVLuBGDwb26EE9sMI1fF_WonJbe9eX8Y_i_D4cObQZ94G1fngbAzbM9-GaY05QApp7kVvIlF5pNRvq3stWNlEPf8i-lD0vjOY9GjuaAE47gmMH6vUKugQYICsch0O4NGkyIflnfuRpKfXotSGYRqSS4FDXyi0Dv44VpSj4sdIrCYGCweu4JVMBvVZ8IDGBdV-gX1p13V7b-FutvmRi7KEXtKMkdPgU_HjTVDDOhOXK4rZR7ukrUCyObjQg5Q19mLOTLLx1BggOeipU3_wlMHxH-RjpBth5B1sXeNEotboHIqAzf5NijbjH_dsKNvkeXEKAH7qny-cq7QOFOzxsmPcEMVu-dTLP-iNtZ8yMwtxlywMO2hv90Fk1Kht1WYhNX3Hv9eTL0CSt-njD4TiF5-wkRWd42wTQ-zclrgqWP70Tj_pzAeNHK-Q1YMSH0aae2QAB_PP75xqRN52HqshZjUP72HYeNBBoZOVpGfr6RLHdy00vmFHdfwMXmrgFbO_KUEhzquJoyB725UOQRq12mNttNq6pfiyzgovWBuDfOrHb9clWSN8C00uB8sVm-ZGnsWlSgX-D3Wdrbeada6UwkVswzjXJ3Fjtn0AbIOUWA1i_xov0Li96JDetSDbQjA_pPYePTNDeXY-cm-fZrnRwAj1BA4At3mdyGW0u1cdIhOm6ZViu-De8ko0=",
  "id": "rs_0dca810267bc1526016ab45eea965887d0beb9bbda6873d7b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.06,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The plush remains just left of the closed fingertips, so the last grasp missed. I’ll shift 4 cm left and slightly forward to center its head between the jaws.\"}",
  "call_id": "call_ut5NQZz2U8vW3XuGy8N6U9df",
  "id": "fc_0dca810267bc1526016ab45eec7ff087d0875774ae001ead38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ut5NQZz2U8vW3XuGy8N6U9df",
  "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]: [-0.2749, 1.7878, 0.6231, 0.561, -0.3279, -0.1005, 0.9952, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4247 left_y=-0.0569 left_z=0.0339 left_yaw=0.045 left_pitch=-0.0084 left_roll=0.1011 left_gripper=0.9952 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [0.1846, -9.4974, 7.5145, 1.5751, -0.0073, 0.1734, -0.0562, -0.0889, -1.3197, 7.0769, 1.663, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49f16e2368043f51e5fbd630f612cc18fd680c49019cfa2f27559b35efd8e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0ce8e210a82e0bd8ca23563ce95be723d19daff7091b0480ecec29e746b38a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b3bd7dedac7519e2a5cb597024c9c03f7a804206c00a5fcc39eea1af52e69a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 7.471 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6502, 1.7634, 0.6094, 0.5167, -0.6132, -0.2928, 0.0102, -0.0322, 0.8623, 0.6739, -0.4557, -0.0097, 0.0105, 0.9984]\nstate[eef_state]: left_x=0.3798 left_y=-0.1566 left_z=0.0439 left_yaw=0.0012 left_pitch=0.0512 left_roll=0.0983 left_gripper=0.0102 right_x=0.2975 right_y=-0.0043 right_z=0.1775 right_yaw=-0.0378 right_pitch=-0.0739 right_roll=0.0287 right_gripper=0.9984\nstate[joint_eff]: [0.2256, -8.8137, 4.9299, 1.5458, -0.1587, -0.0415, 0.8376, -0.0752, -1.6889, 7.0496, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.8664, 0.6056, 0.6746, -0.4484, -0.1722, 0.01, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4149 left_y=-0.1032 left_z=0.0229 left_yaw=0.0246 left_pitch=0.0377 left_roll=0.0958 left_gripper=0.01 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -8.0205, 4.4239, 1.7411, -0.1441, 0.0317, 0.7692, -0.1983, -1.4291, 7.0359, 1.6825, -0.0024, -0.0659, -0.0073]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2749, 1.7878, 0.6231, 0.561, -0.3279, -0.1005, 0.9952, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4247 left_y=-0.0569 left_z=0.0339 left_yaw=0.045 left_pitch=-0.0084 left_roll=0.1011 left_gripper=0.9952 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [0.1846, -9.4974, 7.5145, 1.5751, -0.0073, 0.1734, -0.0562, -0.0889, -1.3197, 7.0769, 1.663, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49f16e2368043f51e5fbd630f612cc18fd680c49019cfa2f27559b35efd8e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0ce8e210a82e0bd8ca23563ce95be723d19daff7091b0480ecec29e746b38a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b3bd7dedac7519e2a5cb597024c9c03f7a804206c00a5fcc39eea1af52e69a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF70fTrwSH_N9iYh-MY7PO_8b0nsNfw7NiPjWhc3MHEpXduzcvO-HsTawk3825--pEn0tZCfSDusKacy1CGjipDu55F2NJ92fn69eFaDxm-nrt7wMDE8Jd7-QLwX13jEs1iLAXS3Aga8r4FD2vZ3uKWLwRa7yBMaKQ35EFFF1lTHLpPj6ALApGgn6WN760v3zqdKV3Uv68oMdZZwr81QfmHg2hcOeVmVbGZAu4VbhztflU0mfdydOWHbK-DP--N1F0ZzF0yZt7r3yCptQq_By4-9gRVAt40Drf6HE1pZJEZLGyk3GBG4X0MZK_eHgQhMlYvs3N6pcMTyxSOX7cgzvYBU0YzX21zw_ywsbsrpez-DXrvM8ulvwAt10HFJvdCgja0S8LyZXyq4nKvk2_ZXv66QhOSO_n9kh33CGFd5mi7iB_TejfmWdUqrI-pe3VD58OlVTkaqDTvmC8-cZG8bwAarpJntAXc5bHrJ9EIl-HrChhMbSReBxgo2pCjVCWyc5k7TfYzEZnH9jfvzX-Bp3V_jN90xGELcYRciRwaFdjzoT1z6uvM8rwCosMm5iF6xwCTNOM49KWNZZcN4nrIH1SoLNCtbnP8vgkbw9HYKXUUYCjivGbXPj_rd7E348IHYuM7BJ3kxhz6zTAhwS8lpFr7BFmEYt-A4l0-E1Diltwmtv3z6ty9KgTghVmqMVfohmeE0d9jki50jQ_eJlUDrxiJynakRSMs5dXgpojO2xkRN3_fOpQ5cQPxALIiMsp_Z5iNuKwLH-pqrPCM-1B174kfA6BKq0Ra99sJmfpmztjePkAYnLik2aYu1X4V3iFGIsZvm5mCOL6i5nGCzBDgdORZi9CUc2QYQW2Q7Ocse8j5rk8c0l3RJu6KywcsKvy_j1Dw7BLyOKpmNqmTi-H6EhivpiiesUDMSc7ApA-Ke18I67rbGUT0oo0KzxEX8ELOEXxP4bZ1f8JYY4371bH8Bzwm1OaoK9DYUrJhWtzSE0wH5JvoS2BfldjA9nX23-dmFBtcRWpVlPwHu5z4UeHXDRkMYwahtG9gU1M4NFZSjoMiWtxZB8HBVu0Jk5c4a6Un6IhmWVWhphxlg52F5ODUG1YEAbuuAYHRT9Jv6x4W8RtaFzq1WFgQebSWu1Qhlr-w_l43jA66aWvHYBNQUBBxfV4fa5XFd7sUD1R_oLG6YyQYbyya9x1CNE5aaYjjBOzz4rHjObKbst2-AAyKtrvMDXOBiv4UCWsXhi8G25dxTt9x6BqJ86JSKuDbzMmzAulBdH0uE_fGsEH9MaeBw3e7viX-5MB2x5AQmUI1Nb4bdEBn8z7pmEt_1VtLvys_urk3HsNIrTlnsujhj71o3xRwlLIjOji3nJXorScouNBuj55gjoLx1QaT2VjbuCJJPaJ9343dcupGZUw0s9fwYBgK1sOoDk4w6osDZnIHSnTLk4MZUpDKknJ7PQ6_6jwwcDbzwrr36yWgqN5F1NFbc28OZkRJRNFUg1SGWbu5mB_QGRK7L3cqQRNn7aMs4Lt9cPma1HTMm6tMMSSMsvR_pEl9cxKq3KrdYgWvXgkyvLIkyFswG1PvyNPAStEhgq6Z_9KKiKs3aKqS3DbYWVittXW6kb8x4aQ807kxx4vEFoD95mErnRldU0lKa6czqNYte4-yTBE6k3khnH0oqfgZHxCF7dS_-4z2pNqGWVbkkyQR9TY8aHzWTCJX9FgsTlkqyuTcy2D9nbbToH_rRkF9T204LttEBdYXDLGQNgDyzBUkVcveWKNjT2F4Qu9vp2uOJ0vh8jdtPIcDq_fhrsodjZPu6ETSvoFeB_jZYiKZTdDxLBtyDP5JmilE-WeRVIfQVkdMVPqHKTODGJ2EsttrAaJDxTMJgJX8jJ3xBUXVZ3pUnMKBVdNpcNFX-BYw34areMl9z2XWitWm9F3ZGkCBriLaWsfRIAxWRO7Jr2icBR6igOYTQtCHN2ckusZ4_9tSF45G5ldOQ-foQKrgo4F53vA6RIp_3fpjiljeDPck7vW9t2jtI5wU0khWIpYRt6dQvEs4VknCoSvGm1vARS4PiUM8pAMy50u3vZDkyaqJDmUU93WFFrKuQr7ZtgY6HzAIrssDCZFMTg-uA30IS01f0Ua_UXS4-zw==",
  "id": "rs_0dca810267bc1526016ab45eefd17c87d094ce0297dd7a0fe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now span the brown plush’s head beside the gray animal. I’ll close gently through the normal gripper command, then check the retained opening.\"}",
  "call_id": "call_kZNFIMUR1dgtM6bdlkavAX2d",
  "id": "fc_0dca810267bc1526016ab45ef36aa487d0a8f77f02a88629c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kZNFIMUR1dgtM6bdlkavAX2d",
  "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]: [-0.2714, 1.7786, 0.6266, 0.5449, -0.3325, -0.1043, 0.01, -0.0322, 0.8696, 0.6739, -0.4603, -0.0109, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4246 left_y=-0.0546 left_z=0.0358 left_yaw=0.0543 left_pitch=-0.0106 left_roll=0.1014 left_gripper=0.01 right_x=0.2973 right_y=-0.0041 right_z=0.1746 right_yaw=-0.0366 right_pitch=-0.0857 right_roll=0.0291 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.8444, 4.9162, 1.8584, -0.0757, 0.0122, 0.8132, -0.0752, -2.1265, 6.9675, 1.6581, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e077e5acd7ccfcbfcfbe6c2ef2db96e2b6ffcdefeac4a6bdf842869dab1492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32404728d3bdf4d01bb09affc61e1550d3cb23fcb1eb3afafad07e604184f3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afcd4e467685029f6a84601c833e8394bec58fd9a4529233e8384ba0d3bc71a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.324 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.8618, 0.606, 0.6827, -0.4522, -0.168, 0.9953, -0.0322, 0.8639, 0.6739, -0.4603, -0.0105, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4162 left_y=-0.1035 left_z=0.0265 left_yaw=0.025 left_pitch=0.05 left_roll=0.0955 left_gripper=0.9953 right_x=0.297 right_y=-0.0041 right_z=0.1762 right_yaw=-0.0369 right_pitch=-0.08 right_roll=0.0289 right_gripper=0.9984\nstate[joint_eff]: [0.2803, -6.4889, 5.3402, 1.8144, 0.0317, 0.1001, -0.1099, -0.1162, -1.7846, 7.1726, 1.7118, -0.0171, -0.0171, -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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2749, 1.7878, 0.6231, 0.561, -0.3279, -0.1005, 0.9952, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4247 left_y=-0.0569 left_z=0.0339 left_yaw=0.045 left_pitch=-0.0084 left_roll=0.1011 left_gripper=0.9952 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [0.1846, -9.4974, 7.5145, 1.5751, -0.0073, 0.1734, -0.0562, -0.0889, -1.3197, 7.0769, 1.663, -0.0024, -0.0317, -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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2714, 1.7786, 0.6266, 0.5449, -0.3325, -0.1043, 0.01, -0.0322, 0.8696, 0.6739, -0.4603, -0.0109, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4246 left_y=-0.0546 left_z=0.0358 left_yaw=0.0543 left_pitch=-0.0106 left_roll=0.1014 left_gripper=0.01 right_x=0.2973 right_y=-0.0041 right_z=0.1746 right_yaw=-0.0366 right_pitch=-0.0857 right_roll=0.0291 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.8444, 4.9162, 1.8584, -0.0757, 0.0122, 0.8132, -0.0752, -2.1265, 6.9675, 1.6581, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e077e5acd7ccfcbfcfbe6c2ef2db96e2b6ffcdefeac4a6bdf842869dab1492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32404728d3bdf4d01bb09affc61e1550d3cb23fcb1eb3afafad07e604184f3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afcd4e467685029f6a84601c833e8394bec58fd9a4529233e8384ba0d3bc71a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF78mLFTcb4YUI46sbFH_e9paKcqW2zcww7PRDJcus8sQDh4dzwXI4TXjdOn4Om2K3IeHRiACQcwai6tyJ8BBPSPfRaX3OcfzSs7nnQovAejfHfVmvxN_ytiXa9KGdvotQYKsLwayV_h0fHfDpQOPJshfaqYb1Pkeuw71kZfFW-YsBNM5lJ56W4_KUn5wP_MyrOU41LsNH9PMtJMeUUTra_xHXDf-IAMbpARlLoEOyJRw_h3YI8KZCQthX_Wjclp6Nn4_We_rliwyerbVG-rf9x-xeMPMWoemwEGuXfqhPqNazcVddMHzwMl9mjUqYqhkKOXmBS165P5qH2HXpfp4urSC1KOtdWd8dLPeHoEvuAVhqjuhchjB3vW3F6jAyLM5tBYJ5papT2C4t51jYKIvG8-gdrpAhyK-VjrPOBpgyQwqubTn5eiPd8r2msxx1hq5qyMv8h1XHa7k4CK_b_G2ZxvF1AfXNHUKbT-mdU2LLAoktprkX2cH4ePDXSBEJv5fiWXhxBgSXZx3vlZSlu_ZrJ7rtrOlksUh1Usa6XqjFaBX8d3UrrLieAJXGzW-Y1xvR-dq3wtH-D9l4uLslnpd-ehPHVuCvBN59mPInbjkr08wgYaYRIdbhnSYDIoG1XZSl3G0yZzIPrt69orQUWg-88ViSRsRzKUpIs5dFJTMlaUpUwnr4pTZmXYxaYmCx6bpX4w7ZcX6wTVl28G7E7qtOj1AdsBongAAb0SgX_Tk-GaG_ARR2zQSru_5Sx-WySWkn4RMZIKJKoD_Wm9DNAJEzlCdPoYTAb4imymNoWJtaDGXQln1A9UsoYwEUs40LdBW-l_3dLpfhVpCA84zb352RokLDrtifA5e6lz9aUrHg2WxA7H5IcLVwECgpr68u8FXXRhjLDUqaQxIXLTxNd9culGu1kas6Qjr3iHwMU34iGVs9-ebF2e6MeCTrFNrGyBbvSZN7fET5VM47gnegVFy7L-OjXd2XRPvL7IENGyjjz_bHBy94vmVIcP05hM4CrcYp5o00R0po9Wq937xu7fPxcsLGUEbBuQw-uTaKkE_WwUGUPIfpjOkvCDyB1drcjIKpzbjwn5isM5IK39_eV0iovQ6JLBfQAY5l4z7i1EKsU9p37FmMcr5xIrwgR5u_KYJqVfrss6nNeF4L3lUlaiCTE7m1XcaabkPv1_hW_M7vwk_WcyDb-CQ7hzZ6RCdhh5iWK0N1nyshWuZ_huM7ns4H8l8VIdcoQe9HHe8Agwfl5tLSTiRjd6TOn7YI-7pVR2UKGyy5k_jOhv1B-TuMhM5uWVioDC-Ap_Lz5ZCNTtbnPDWQ1nF82CTzpnvEm_UETN4_3ti-Z1xDFaNL2ZBdLHNNOlrSwlBks5WlKeSv1Suh5CrDc7oZPYUJwF0DBN0ywAAaMsLacioBKvRV1jikR4xIGEVjbv5MCWqD2B7v-NdL8FJ5HC26ldQ8i6O6fl0MGHJxL5oP8Cl3kpq0eZr3XGi3E9lt8xdV4CmgttmnxznmR1dsWs0xU4iehutQvtd2ArKZQNwfFNEA4vHluy_J18Ub1DqPwC06z23sSX0794bZoIvUNWF1ZhEoNfHqXra5YDOfyLlzhAsT202KMo4-TeF1If4-UJd0kYnLS10H_T0vSIzRcAFANLgoBcyx3Vhz83QFvkeWiVHRTKflDvVpEKAA0mVp2tr3RE-UAEkVceWwTGYOP8Rvgi-ElGgulSTXf0PXOi6dhOEhx5TelYx6yKee7KwUE2XMZz9hzPaSBqb699GivjAJsiLTZ-IgrjLSOh_XKngv6DhTXPsPgiKhAuBK-morb_zzPI7xHs_BEgzlGwNtZqN3wfFgX0G7gjILbwjMpUxjl2PC9p719qEddEZVKkmTGtKqX3Oc0yC8rgeO1pSYAhmwzXRNlgTPrZs1A1kgaR2tKwG-Bf-6ea8SdEK9dXZQXTRkcWMqfB3tla7cSbyoX3SkdrZR8Aftc4obRI-hu7UCJ0bTxvYzrEMYTtL6m1q6KEt3x96c7zgFDh8dtbsDSTDP_dRcjn787EXEoscDe8b6Mikg2C9g8pZxKJBNSElYl39bfgON8Hty1KB3clJ7zn9DHz_nHWyEqt1sZmPGkeikxlimKows2orMcX04BI2umeYWFZQXYn40i1n4nb_SH5iJ44I-gsGxb4SaWb-IfCgu2BgyFQEHjBy6KV1zXdoV39wE-yGeXngzQPuY8e8DfuydhmZwl9QR0vsMLZnI0pqstQgONi6pWSVBFqAj9f41NkjzRrDTnn0Kjo3GDrpqqqQvIimBk7grvPyYyxq5vCxaMtdylZrmPSl2T0FGoVYmyc-278akSXLpxK7pLSPj3_v2Carqi94e0atKMuvi_7iAnoixvJIAP9nM_TsvqcX8snVjUfaxSwnVGYRoHYxLyVetnzQOTCkZcdimVr9AX4OcavGUzp1oQnmGEPmEPsROX7pa9XltaKsLVo3q0H9cmyGir9eXND4BgCqmEWdqG2NQSzxqdOFKuWYp8LLNgaVSuCehHbDjq2i9T9ZD2Kk41U4OTGxBljjrBqu_rkNBzQAAfoIgIXVrz4bX9Aj9IBm_UyOderrAoGdj4FhB8W1bU=",
  "id": "rs_0dca810267bc1526016ab45ef6567087d08cdb6e61bf20738c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.21,\"left_z\":0.16,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The brown plush keeps slipping outside the grasp, and I’ll stop repeating that approach. I’ll move above the isolated cream teddy, using the visible fingertip-to-object offset in the overhead image to align the next attempt.\"}",
  "call_id": "call_kviB0qnC8jY3iVFI4R253GQI",
  "id": "fc_0dca810267bc1526016ab45efb022487d0a257f092c3aedb42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kviB0qnC8jY3iVFI4R253GQI",
  "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]: [-0.7269, 1.6833, 1.1114, -0.1837, -0.6739, -0.429, 0.9971, -0.0322, 0.8711, 0.6739, -0.4599, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4042 left_y=-0.2072 left_z=0.1496 left_yaw=0.0411 left_pitch=-0.0055 left_roll=0.0881 left_gripper=0.9971 right_x=0.2975 right_y=-0.004 right_z=0.1743 right_yaw=-0.0361 right_pitch=-0.0868 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -7.1863, 9.0188, 1.3944, -0.2613, 0.105, -0.0464, -0.3624, -1.8803, 6.9675, 1.6679, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86f275ba73d35d8556d4588738ad17b05551eb13e91bf136fdd61a60fa61d92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb253b6a282de5617cd05f38748f325f8334bacad121b98da2519beabf4538d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3951c033c8404f076198b1520a80b066203d6534f8933127a84c076c402e4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.203 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.8664, 0.6056, 0.6746, -0.4484, -0.1722, 0.01, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4149 left_y=-0.1032 left_z=0.0229 left_yaw=0.0246 left_pitch=0.0377 left_roll=0.0958 left_gripper=0.01 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -8.0205, 4.4239, 1.7411, -0.1441, 0.0317, 0.7692, -0.1983, -1.4291, 7.0359, 1.6825, -0.0024, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2714, 1.7786, 0.6266, 0.5449, -0.3325, -0.1043, 0.01, -0.0322, 0.8696, 0.6739, -0.4603, -0.0109, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4246 left_y=-0.0546 left_z=0.0358 left_yaw=0.0543 left_pitch=-0.0106 left_roll=0.1014 left_gripper=0.01 right_x=0.2973 right_y=-0.0041 right_z=0.1746 right_yaw=-0.0366 right_pitch=-0.0857 right_roll=0.0291 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.8444, 4.9162, 1.8584, -0.0757, 0.0122, 0.8132, -0.0752, -2.1265, 6.9675, 1.6581, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7269, 1.6833, 1.1114, -0.1837, -0.6739, -0.429, 0.9971, -0.0322, 0.8711, 0.6739, -0.4599, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4042 left_y=-0.2072 left_z=0.1496 left_yaw=0.0411 left_pitch=-0.0055 left_roll=0.0881 left_gripper=0.9971 right_x=0.2975 right_y=-0.004 right_z=0.1743 right_yaw=-0.0361 right_pitch=-0.0868 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -7.1863, 9.0188, 1.3944, -0.2613, 0.105, -0.0464, -0.3624, -1.8803, 6.9675, 1.6679, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86f275ba73d35d8556d4588738ad17b05551eb13e91bf136fdd61a60fa61d92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb253b6a282de5617cd05f38748f325f8334bacad121b98da2519beabf4538d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3951c033c8404f076198b1520a80b066203d6534f8933127a84c076c402e4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8CcxsWXcnRmccEkNf-mwng8qsjX629YM8SvRbJtv4xD-McUswoDq-EtHeBiL92MJIZCcnpBIFBgxzEDp-2zfdRO9jQAHrBM2istzawQ3Vh39BzRa6FTrL-4I3niWcYQT5h3caLirEaSYpPwUIq64BccduQll9D5scgxEyxU8DMnd4w9lVv7rhSQsyWhflEGFGVwN6NcsEnCLNY9hpbi5NfmWLQ8jARr09U1htZrqGO7OBfg9rfWi6RLf1ZdAE37LQvxQXr4wnz7c3IS7LD2LWeD0E8w_oGPjjxMTvcowKpMhxyE4UoTRQtklovaVKiVPXDOsIa2Pd5Cx2wtwgpB9eDZg0HEOxSvWVAfO1OiK1eF7NPLpReYrBpYY4w9gZ3xjyUo_smdeJGuhvDRxzps2iVJplIqWSv5jqiPWIe_P6-gR7juQAQtCP4UxxwXEgV5KcYZVWkQtQUAmGBSOxzGDt7tVencFNURekI1lKFSE4KEq0lHFS3vvbWxiSBEccpdHmDKlPjkX-bAaT00sA0vTsbr6LwvEL75eqQXtVfRN9wSo9LuiorJzqO0FiNV5hIIkOYgfrdwgr_r760jrlfo0iDD_wkvqumWq5XjsSobyFYQjy0Zg_VCse4BL66g31-LZnHCGIiYIc7YED76q1KmzgLhGihyEB6oQLUZewQS4f-thoPYKzfj4v-jtEX_YQfcFceuCYEJ47qTrKKjIv70pY62P4RQ35V4J4m3vuk0AFB5JkY--GWVaWgpyH1sc1LE5fSTrJPudfNh3m2VC0cGKe8S4tCfCZ3swz23HQ9kb-rC85GlnuDj2mgDghg4lWOUfOdjyDQqpObF-6smvVcqIaH8yl-WgBKz0Ly6PzxG5lD0HXerqwn1SDASvA2fkSBTbmSzuOuuDI5Xk1-k0S_QaZA5FbThTv3E5Wkfh-yQsFA0y47IL6hdqdavRUroORNEcElnXaiNj1pY9tiGNNpQztK37elBAvtknxbKlCaGD_o2vPWQmXy92an-fM297dB9wQbG1JOFSZ1WPTl5rjm1CagygnzotihRFEub-X5Yx2KK9mHGWC6v1IHs_UZ0B8N2oOnB5Rjl4iQbXimmeOVEzU6JW7PXZXubN9UA_dWgQQD9NEs_iOO11sJ7SlUq4hlwiFys93JJ6RtoYnra1M4fwJ0SVttiMTctQuaj3Og1AnOh3-FKg7CBq79N2fTHY_-Xl8xlHGiGMyvBqC7eXnywfw8xvimYd0HOx4c_sF8QDp_gAASrtnCeuK4g0VGkZbGsH788ZWeo19BntsjfENJeDJozXcJu2cY1-9IQqkNXrpwbSE_v7xmXACusFx0_Nf8OeICJ2cWdYbex5M5v8DHdXJLM0yrywY3B6ejHAR9sKLQF3jg5J3LdtvrF1zOHTHwwlT30nRSx7TeyYMyHN3aR57TAG1l7DDqsytZ1wroov3M-dx_FLrQTZkbT3UZjH7_7JHO44zJ5nD1g5aR38m8bhKrdj2Ia_R_I95Z3oFX37gubDqfTJm6G0jvghPq5g-W_2t146QaEjjq_YB6RKrk9y3LGL0Mj5pt-fKK59CREe6K4qbce2PSZFEywwQKcN0GdeJLTMfVj5Cf5Qx3tQpbOpu91WndEkzuLK2fE6_KnKn7XsRVeA7hjaGxWD41d4ekHPpl",
  "id": "rs_0dca810267bc1526016ab45eff3b0887d0b30ca9c0f44517a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.245,\"left_z\":0.065},\"note\":\"The cream teddy’s face is visible at the lower-right of the wrist image. I’ll shift right toward its center and descend around its upper body.\"}",
  "call_id": "call_zl3AuMcrEJDMPbYZNwotZdkt",
  "id": "fc_0dca810267bc1526016ab45f0136f087d0af765d584e4203de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zl3AuMcrEJDMPbYZNwotZdkt",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7536, 1.9564, 1.1206, 0.0444, -0.6853, -0.4694, 0.998, -0.033, 0.8749, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4243 left_y=-0.2399 left_z=0.0681 left_yaw=0.0445 left_pitch=-0.0232 left_roll=0.0852 left_gripper=0.998 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -8.7453, 7.4598, 1.0965, -0.4127, 0.2662, 0.0757, -0.0752, -2.0034, 6.9949, 1.6337, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1aab3b9da7f03c2f28c94e9202eb21363e39392118879e96f1c36f77da6b972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a1e22fe076863eb6be2bf86c393dbafd068b0a23dadb4f7b0c0824f266f05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edffdb05afa8702389aa001848e99bb3dc02c4e58ee77b3d5d5dfd94a3ce568b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.313 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2749, 1.7878, 0.6231, 0.561, -0.3279, -0.1005, 0.9952, -0.0322, 0.8639, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4247 left_y=-0.0569 left_z=0.0339 left_yaw=0.045 left_pitch=-0.0084 left_roll=0.1011 left_gripper=0.9952 right_x=0.297 right_y=-0.004 right_z=0.1762 right_yaw=-0.0363 right_pitch=-0.08 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [0.1846, -9.4974, 7.5145, 1.5751, -0.0073, 0.1734, -0.0562, -0.0889, -1.3197, 7.0769, 1.663, -0.0024, -0.0317, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7269, 1.6833, 1.1114, -0.1837, -0.6739, -0.429, 0.9971, -0.0322, 0.8711, 0.6739, -0.4599, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4042 left_y=-0.2072 left_z=0.1496 left_yaw=0.0411 left_pitch=-0.0055 left_roll=0.0881 left_gripper=0.9971 right_x=0.2975 right_y=-0.004 right_z=0.1743 right_yaw=-0.0361 right_pitch=-0.0868 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -7.1863, 9.0188, 1.3944, -0.2613, 0.105, -0.0464, -0.3624, -1.8803, 6.9675, 1.6679, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7536, 1.9564, 1.1206, 0.0444, -0.6853, -0.4694, 0.998, -0.033, 0.8749, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4243 left_y=-0.2399 left_z=0.0681 left_yaw=0.0445 left_pitch=-0.0232 left_roll=0.0852 left_gripper=0.998 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -8.7453, 7.4598, 1.0965, -0.4127, 0.2662, 0.0757, -0.0752, -2.0034, 6.9949, 1.6337, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1aab3b9da7f03c2f28c94e9202eb21363e39392118879e96f1c36f77da6b972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a1e22fe076863eb6be2bf86c393dbafd068b0a23dadb4f7b0c0824f266f05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edffdb05afa8702389aa001848e99bb3dc02c4e58ee77b3d5d5dfd94a3ce568b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8GgS0GYi1d-JLosfbEN8sIbAlTMWtOE7eTGvrQzsFcDEYC-Xs5Q6o0IFp1XTAd-SGx-wgCat6G8kNH-1hDeArgh3qLThI9XSs-EdibbFhbMdVhe0078D7-K_OWh01v9WHTEaEy7zuJ17BPImHB3_laHjtEzO0vV6k9mbI8sAE-01pnSe6xISg43mfoM8v9Yec5IG-2qEKMe6PmHv4nEtCyc8brSWRMF2BRUVtCzEAPZ-fIC6Fs9UFe4pIYX4Un7mqZgTK23gO6s38mjpU7U5cl9DZPXyXeSjlJaJwFcwhRCkIgbauhO8ecu3BwL3AZ_POEFMRG_oweM4sIyW0yNc-gIJZWGY5ewICGJKjfFK8c4_nDTLIPMXjGaP7sPS5EifZOTwmK6WnRgHWRhY5-lRlvVlfiz2fK31G1swWumacK4zSrg39u_TNi9i1i5QqkSVuuTZu3UHRlLzuMvFZ1VK3G52SgwZEE3ePYhL3wYimdQ3fu08wiMDCleY0f0IsxYX9VOL3jS3-Sswcwed55SgHwkXHe3Ym--Pons0qTO0iTrApnIp6z8tJ0VN7NkdgaTXXU9kTu9w1I4GIcG0Wds942tr3le9l12vcoG7LIOKFDHpk017jTloHi8FmB5HQTc-yZcEwgqskjVe63-3pEuBZoujD6SjlkPDygNf9QOn7tsOCidCAPDkVXLtvgQq7QexiSbmGVCXk2Y8USf-Y7EPK8q-MKTtdz4yB_qJmATGeKMJnibx-osK2fksgExTHR5O2pp5SmtDDZLf516MOtfEZ3iMFlU9ceCz-LtqV79yvCmCvISVuLbM7Xl1D38SOdsoCxeYg_gt2xpi1Qsit1UzEfbqdoE-zmByvoJsKzSOqfKN3ttMLb6oUeJcG53FJ3LA_3AE5dK0liyvsBUk_eSr34BbPbIXIEx7Dn4RpXOMVHM9kVEw651VOeKZEx0YyRcpD-vwUgQKrJ4mmAaW7HLQzqkThJh-B74ag_C7ZaB-7SXtG_WQvKiFZeRCCTpyPpj_R4hNvYt8U77kLOCbW0TC6nwuDxkb3K9IJFQluGqEuqkV-T03UVYbltxMwXc7D8BTTFCgcr69iQRa6wyGfTzU61-sBH2t_6_C6RSvto954SAg7jjHrIHgO7IOjWAU6XSnX0c5xH8grPKBqrsYzTyO1sUfjXsb2l2rxzozDEPzL-aAza2XJZk0dwfbQ6zAglPUezYYEoSRDmEpIVS4-iv3jOKuLuyHza9Q-CWFha2RHk5hEpCw3mbWNsVj5yFTs2Y81-XbiAOMrBMD2H6LzUBIM4Wtwl4IqPHbxYO0IMGnJlHT_NlItePBejV-Rg9QygEH1sVTcCKbcBJ9KO-d8i61XUf5BQVytAVeS1faF0GD_QbO2HwyVkAAwZHIpl3ZDz7LT4aooa_pVZTLekrxlFkUFAYpDr7O6VES1xmgC7p5VJPxip8ggVtlDI-Uni6l1PhmI4Zo1xTcC2-R1fy7nl2plwaLjYhJ5NzGK6njscbT7uugdoZ38xvEAuznqVQaCxCrkVldwD7MBTe0kxJJgfB9XdpK_44lWPjd2zUFebRhcrZICRZnqawzsnEvUOKDJJ3qy4akyDLkNw7UXsjRp2xR0lfmOo1qFaf0LWmWbNKTFUPIE=",
  "id": "rs_0dca810267bc1526016ab45f04324887d0a6efe9968d620572",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.265,\"left_z\":0.045,\"left_gripper\":0},\"note\":\"The teddy’s body is beneath the fingertips, with its head just ahead in the wrist view. I’ll make a small rightward correction and close around the torso.\"}",
  "call_id": "call_L5Cf5YAPRCkGpkbbxZEAQgsD",
  "id": "fc_0dca810267bc1526016ab45f06179487d09e5fc528abde426a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L5Cf5YAPRCkGpkbbxZEAQgsD",
  "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]: [-0.7971, 2.0258, 1.1667, 0.0914, -0.7422, -0.5331, 0.212, -0.033, 0.8753, 0.6739, -0.4603, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4273 left_y=-0.2615 left_z=0.0639 left_yaw=0.0753 left_pitch=0.0249 left_roll=0.0406 left_gripper=0.212 right_x=0.2977 right_y=-0.0042 right_z=0.173 right_yaw=-0.0368 right_pitch=-0.0914 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -7.2137, 7.3504, 1.16, -0.0269, 0.149, 0.9353, -0.1436, -1.7709, 6.9675, 1.6728, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8545cfd69a0aa56d4574cb86051496d8fd09286abf13334f795be8073772590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cab8738d6008b92fe41ed342e91e2f6f94d779f72fe1587a80e5089cf077e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb0e43114fdcf25d8965e31f3e9e943002e2f07570704cd803e9d461430aeed",
      "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 · 4.447 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2714, 1.7786, 0.6266, 0.5449, -0.3325, -0.1043, 0.01, -0.0322, 0.8696, 0.6739, -0.4603, -0.0109, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4246 left_y=-0.0546 left_z=0.0358 left_yaw=0.0543 left_pitch=-0.0106 left_roll=0.1014 left_gripper=0.01 right_x=0.2973 right_y=-0.0041 right_z=0.1746 right_yaw=-0.0366 right_pitch=-0.0857 right_roll=0.0291 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.8444, 4.9162, 1.8584, -0.0757, 0.0122, 0.8132, -0.0752, -2.1265, 6.9675, 1.6581, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7536, 1.9564, 1.1206, 0.0444, -0.6853, -0.4694, 0.998, -0.033, 0.8749, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4243 left_y=-0.2399 left_z=0.0681 left_yaw=0.0445 left_pitch=-0.0232 left_roll=0.0852 left_gripper=0.998 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -8.7453, 7.4598, 1.0965, -0.4127, 0.2662, 0.0757, -0.0752, -2.0034, 6.9949, 1.6337, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 2.0258, 1.1667, 0.0914, -0.7422, -0.5331, 0.212, -0.033, 0.8753, 0.6739, -0.4603, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4273 left_y=-0.2615 left_z=0.0639 left_yaw=0.0753 left_pitch=0.0249 left_roll=0.0406 left_gripper=0.212 right_x=0.2977 right_y=-0.0042 right_z=0.173 right_yaw=-0.0368 right_pitch=-0.0914 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -7.2137, 7.3504, 1.16, -0.0269, 0.149, 0.9353, -0.1436, -1.7709, 6.9675, 1.6728, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8545cfd69a0aa56d4574cb86051496d8fd09286abf13334f795be8073772590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cab8738d6008b92fe41ed342e91e2f6f94d779f72fe1587a80e5089cf077e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb0e43114fdcf25d8965e31f3e9e943002e2f07570704cd803e9d461430aeed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"This close retained about 2 cm of material, a more substantial grasp than before. I’ll lift a short distance and check that the teddy follows.\"}",
  "call_id": "call_Xa1zQm3Ru32MrNjRQziczt0Q",
  "id": "fc_0dca810267bc1526016ab45f093fac87d0a696a9a966871f5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xa1zQm3Ru32MrNjRQziczt0Q",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.9717, 1.2381, -0.1162, -0.7486, -0.5591, 0.2141, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4218 left_y=-0.2546 left_z=0.0859 left_yaw=0.0936 left_pitch=-0.0226 left_roll=0.0849 left_gripper=0.2141 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.9675, 9.6205, 1.5653, -0.2857, 0.2271, 0.6618, -0.0615, -1.7436, 7.159, 1.6435, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6daeb909d8af7199cf25c6eaf6bf019c9df5d7f037a27dae07be1ba5e770274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690b80c40ed0db24cefe5364aa336c2105c35502ac84a9f06e1a01b13e661514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d24472466cb129d653311f718ac70388be9d5e61da6a0413a66e642241ad42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 7.168 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 99 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7269, 1.6833, 1.1114, -0.1837, -0.6739, -0.429, 0.9971, -0.0322, 0.8711, 0.6739, -0.4599, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4042 left_y=-0.2072 left_z=0.1496 left_yaw=0.0411 left_pitch=-0.0055 left_roll=0.0881 left_gripper=0.9971 right_x=0.2975 right_y=-0.004 right_z=0.1743 right_yaw=-0.0361 right_pitch=-0.0868 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -7.1863, 9.0188, 1.3944, -0.2613, 0.105, -0.0464, -0.3624, -1.8803, 6.9675, 1.6679, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 2.0258, 1.1667, 0.0914, -0.7422, -0.5331, 0.212, -0.033, 0.8753, 0.6739, -0.4603, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4273 left_y=-0.2615 left_z=0.0639 left_yaw=0.0753 left_pitch=0.0249 left_roll=0.0406 left_gripper=0.212 right_x=0.2977 right_y=-0.0042 right_z=0.173 right_yaw=-0.0368 right_pitch=-0.0914 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -7.2137, 7.3504, 1.16, -0.0269, 0.149, 0.9353, -0.1436, -1.7709, 6.9675, 1.6728, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.9717, 1.2381, -0.1162, -0.7486, -0.5591, 0.2141, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4218 left_y=-0.2546 left_z=0.0859 left_yaw=0.0936 left_pitch=-0.0226 left_roll=0.0849 left_gripper=0.2141 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.9675, 9.6205, 1.5653, -0.2857, 0.2271, 0.6618, -0.0615, -1.7436, 7.159, 1.6435, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6daeb909d8af7199cf25c6eaf6bf019c9df5d7f037a27dae07be1ba5e770274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690b80c40ed0db24cefe5364aa336c2105c35502ac84a9f06e1a01b13e661514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d24472466cb129d653311f718ac70388be9d5e61da6a0413a66e642241ad42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8PFK0lSFLLmR0xI11KemP-FYScIgS0QTZV8twKdRQugjLpZ76aAYxkwRZpknUribAxd9yKcfpR9DlVI0WjbP8r_z4ID2oGrqTNUqUuvkYu6ozuV97EB8tAoVN5ZP-vXQbGtVz05-JlROHi9o3FmFDO6D20P96gHPEWiC3J-s3NpfFoi84qKLD45E87Ex4dLiLIWSTEpxmvRwQ72fAFp43ueY7Vy7zQTDf5eRS_zdPH6pRG6UzW42WYSFsQv56yea4iwStrjaD5zXj0lTEJsYRpTztrHMGK0Pip9LW1arMZe3wfvgagHZHV0dvE19FVvuZxrOR0CR2hY-NypUD7ZmTpnOCRK7hP1-iy1-SjNoU02KmA7IeZAdb_D4jByGv8rTaBtgLkrLe5f-vh7ER8lFm0_eqzLd0eOjrRw20VZlnUyfbW7Sl2sF5OcOe_hsFxREc6pfqksmBIjQ7R1KCL8Z48rXl2DRIivkYts8srmvAyCf2Yux1WJF81jH-U6RUHdmaFBDSzOsWU8Ys3AStCtMzbTWGlLcxQ-m--OkATwV9vKjwWM9bbPxAraBCM5WI2Jbz5we9hluR8CPkfK2Jp896LekKel9v6HhHmEqTyorWO5wcLrQztftBG5PWqoxXTFksyvGuhkCDC2jjMHId3kruPfBpC_jNbYfxuKOnb0OlXpBDsFp5_ZuBxqrRm8OgaiBmMuDkPVOi42mfbsWn1oTDHK5MIDX9y3VUB_PcVdYhtM01xya0MmIr8lPKX1aZ2CVhIC0ja5rhyZAXEUgSKd8HyUVYzp2oFzBVYTjhjnW1w51sf15x0-d8EBoaTR1thOhn1Xk4Qh4ATmm92o_5xa-WvkXim5LQeWVGvJtqFPrnCGReBdN14sl5Z_g6Gr1zk5HwgnL1DSJLfQB7Ge_z7M1XmiYWYWjoT7aL4voxKQ7VmME9ldykL68t2397FYrBEg1RsmYWawhFv-FolZPKS1b3rqQt_DbPuN8UBC_n24gzyKZWQ3-p2W863uo3O1Ir5wMNM9NVPRoQtCtAQu8ohvhxVTMdkOqWFU4yXHBbcvRsKbK3J_G_152SGCT0ZqOKMmWTCH5dNUD93J8oxiISxLyApM00PEbdSj2jCVCpqMdRL1cRMtZJ9eJPc8ZazBD06n9SWeay1KjZNQbVrqmj-HPz_O3Nzlt2d24qDzhuUns1PI1fBQL8HHicSTwEVxCuJGUWeP19voQ-jqlKAzcL4SwFcRrohzo6Mb2OfnnwiqS4OgSePm-5Px4fHGHCtcBmsVrNvJNw0uAbc3tjs-mq37XcyXenAW6qOgNzGeVVnwrubNGp_SzMlzKXj__x2u_sjj5A40blElygKK590ofnPh7XTNjA4B3rM2BEKWMhu__fPWIMESfEulcV8lAfZUbQY8XojnAL1TT_UZtWJYyFKhSGgcOHbILfmkaHhJUYadcXNs_lzPGKB2sYyUSLVtLoHFKPC5OHuom-RszY2LmHwTLL41iofLAy3MS5HywYukqgT87Nv12ZDaCGetwAeVyPNkh1YElrITvxxDzY7Gz03ri3khB84JaH9ifH1-KVvMlQgzWXrte6QiqFqD1Xmra3OdDz9nxqhjkGa1ffuhrq3ytnh3nx0SK8zNrs3U5Y2vtdGUVUCcDPFRKtYV9OsiYZ2QEYD_Rzan_BFUA_FeG-AhE3A0Q==",
  "id": "rs_0dca810267bc1526016ab45f0c610087d08e85cd2ba9a0e3ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.23,\"left_z\":0.25},\"note\":\"The gripper is holding the cream animal, but the arm is not reaching the requested lift at this extension. I’ll draw it slightly closer while raising it to clear the table and basket rims.\"}",
  "call_id": "call_2D0W6C4hiVBH3XTv8lrBeyRD",
  "id": "fc_0dca810267bc1526016ab45f0de7fc87d0a025cf31bc6685ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2D0W6C4hiVBH3XTv8lrBeyRD",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8398, 1.7252, 1.4792, -0.7017, -0.7567, -0.6376, 0.2133, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.3792 left_y=-0.2358 left_z=0.2103 left_yaw=0.1015 left_pitch=-0.0729 left_roll=0.1021 left_gripper=0.2133 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -12.5333, 10.1812, 1.2772, -0.5885, 0.2759, 0.7057, -0.212, -1.5248, 7.1316, 1.6923, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb9c2c71ddaf9fb8f7618afdc9a2fde56be40f32fc40903f211157eb4664367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49deaa25bf1231274eb407185e5f6fa50e8f3f6fa9464aa5b69a4b778fba781f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecd6d73707970831d531c69fb70e66aad5a831e5ad65489c726a7e436904bdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.275 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 99 changed as sent

message 103 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7536, 1.9564, 1.1206, 0.0444, -0.6853, -0.4694, 0.998, -0.033, 0.8749, 0.6739, -0.4603, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4243 left_y=-0.2399 left_z=0.0681 left_yaw=0.0445 left_pitch=-0.0232 left_roll=0.0852 left_gripper=0.998 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -8.7453, 7.4598, 1.0965, -0.4127, 0.2662, 0.0757, -0.0752, -2.0034, 6.9949, 1.6337, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.9717, 1.2381, -0.1162, -0.7486, -0.5591, 0.2141, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4218 left_y=-0.2546 left_z=0.0859 left_yaw=0.0936 left_pitch=-0.0226 left_roll=0.0849 left_gripper=0.2141 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.9675, 9.6205, 1.5653, -0.2857, 0.2271, 0.6618, -0.0615, -1.7436, 7.159, 1.6435, -0.0317, -0.0464, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8398, 1.7252, 1.4792, -0.7017, -0.7567, -0.6376, 0.2133, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.3792 left_y=-0.2358 left_z=0.2103 left_yaw=0.1015 left_pitch=-0.0729 left_roll=0.1021 left_gripper=0.2133 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -12.5333, 10.1812, 1.2772, -0.5885, 0.2759, 0.7057, -0.212, -1.5248, 7.1316, 1.6923, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb9c2c71ddaf9fb8f7618afdc9a2fde56be40f32fc40903f211157eb4664367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49deaa25bf1231274eb407185e5f6fa50e8f3f6fa9464aa5b69a4b778fba781f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecd6d73707970831d531c69fb70e66aad5a831e5ad65489c726a7e436904bdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8XsadzyKtIh83GoExsTsTStj4DcW4hvLh8mgC83BlaZxwQxtli4sdYLOHnXRhCIA7zshAykz1qcFCukwtk2UAQhpir3HXA-UI8LMz3maNx_sPM1MADnBw2jbSDA6LqpjamRHYl9T3mKrw0BGlJCxY3-vxFjkqtvzY7zViqNlXQDzzyrDaSCBey2IApiJ-Jh9vfvM1w7cuK3KhXA1eHSaBiPxWLyXsX7OTZ5hIaVXuiUoBMGKc_sQ4Ga7cp4kdEVe8i-I413XJwZTdJvkJ80FVZvnFuLUi13qBmS3ClkzaKD3U43R4Jcy0eK3SbahxaR65GFPBMjaCLtQtNgF4N-CwlkTuKeYlZ0il0C9yPuiZGSUVeCNQiJSsU5sxp-nfQ8U-QDH5TPsRTHwGOexg4Ehs0gb8N8-b5lpIZmKELge4dPzUiJ2S-Qv-a6UdWK0h5QCz5sZgBUszx_WFC29lnZK6GYtwWc1VoKaRwZO0YaHxhDCnwPwydBShy-NNR1HuKZa0Dr2jpSRDG-c1SBjUV5KqMAG4Nxk2QK0UrgvFXT28oy03rVQRAheMmgmiLDjCdSCP5au-NG6kOYTEXG7EBcdHTk5LuHLhvLjVTesTlqp06yxzZ1IGVeaTFTCQIIgdzFsvO0uhI0COt33NXExajV-Iw35RsGndcZEMoTtB09FxgvxXpWy3j3HSo6q8pWvuHQ8NgAMljV_DNXcW8Cc4R3qhFDk8Xcm5cXidxbxbHlDkS-9x-qynym87_X7_ZweQSZzY3OxVBoTNre1pHHBo9s58VGDtcZVTPCz7xcGv5QQ1Aw-Pdk04rA6e3RSwIF09okmkijwtZ94MIJWJiOJnMBCblllZwdpsSzS971qTy1oSpUNMjyLl_7rDt9gTffvw9GJcB7HJsxsEJwEdNlGS4jEQ5kfhBkwrdLQ9nqNxJqa14GWyqY0LdizcGWblZAXW2QlGWj5EfZkx8aPiPzqrJjhFf3jktypvK6p-mHhlkjvJNB9dNtXEpfwV_Wk6hmk8NEV7-QKHjR5eXyTb8TEAg13e_qAqCfd5VzSX4LzoYHiOIlbKic2ys0KJRlXEuEt71Bwg57vxGAFEafdy86BbGn0DvL2ntwokEIal7oLZoMJBeZfUijTDyIHpSWfuUFMUJ_MPTse-d6vLOPnJbjQMXSfFGzfIOe0-wizbvCVSyWe0IZvCXY25yP8lLiqqJutdXiR6z1blW9NZw863t0ggdTO9p1KJCSs0BYA_jco-qVkKgy392pgzMSEf99hU1ZbBJbT7qj3FcLjsFggd2Mup3oPnusMBLsampXNrRZ85crcXGli9ugO_rqkpijcglRKfKNI5NpY_QogZjnbmCKYNekcCS9YsU-W7M3TIw0r0L3s6hS-K63fejN07R2NVZA7rl5ffBNxwuWEWMDFPhQ4JnUiF9Ko8U3PIjeYh9QTdrOVTP8FngHUgE6gVJVR_Ez-3S2xuuO4JNv809vV3Uq3DgUd_iBJm42WRquneW6YAjiQWFWQdqBq9bqeK-9byPO1EOGjt7s2h7CSsvm6C9V9FeLY0Rhv8d1ROfVwJijvyMlNq8WI84ubemEB4QXM5rOQPFTQlOx04R8uHper1fTTxqGALG4gaJyFV20SfIIMoJqMzzLdJdbzcRDBpFMWbu9g3aud2uM-xrMPJ0LcGf-g9FtO-sRD-3SbyaSiUcM8AXqXXZtmBnkCqlZdkBYVmiVEiByJAK_307MTJGtoATQFjDH3hF7f0Pi_rOhO5TtGsTbhKhE0yKwcllQ_BByyhvVJPNVto23bQKic9T3FJUcz9vOWpNjtSL-R1-pioxjC8J1ts_6_CFxUMLhh92-QxhKToEnyBGAEkHspmMvlkjNtiidZRUPUuXOLL8Qjmad4n1K_qfxG3993b66R6NQsG1CjYrzPUoKpS672EYDHv7TCwgJVy2OeypyfpS4UZOY5nYX51ZGnMvHhNDQsJ75MSSzNnD2NaFo5pkD3bhsfvgnHqDkkGUCAopZa3mlOaYR1bS5TGf09yE8bTyIh-t_MCnOSFRxSnqUjl_BRW8XuTXlig8K9MmNyU9RWXN-kxL5Q0Q2WJ24_EneyFXQJw-16cPou25vKQ5XGlQNK_rwvNHbigAX0Pdd2u2KafXCAmwn50wcSuaHTLmo1QmqCSGlpZfm_ZgmOqW0UBxgJMGzfEK_Dd3JoC2OdXmqGvT69SNgkMtjt8VY_5IqVyUPpdQd2Xe7ZWGZ6fMiVvcp_0lXZ1_qqwnzmzOmlOnnGWYkCS7FeMHC51qZQM=",
  "id": "rs_0dca810267bc1526016ab45f11d97487d08c7059ff92648cf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.115,\"left_z\":0.29,\"left_pitch\":0.25},\"note\":\"The cream plush is clearly suspended from the gripper. Since both baskets are still empty, I’ll place this long-eared type in the left basket and reserve the right basket for the other type.\"}",
  "call_id": "call_MeNgsvv1zYmPe5J3dCuO4zPe",
  "id": "fc_0dca810267bc1526016ab45f15be3887d0b4b23edfa4b0f40d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MeNgsvv1zYmPe5J3dCuO4zPe",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 1.705, 1.4143, -0.2089, -0.5785, -0.1741, 0.2131, -0.033, 0.8772, 0.6739, -0.461, -0.0113, 0.0063, 0.9984]\nstate[eef_state]: left_x=0.4975 left_y=-0.1061 left_z=0.2566 left_yaw=0.1597 left_pitch=0.1461 left_roll=0.1103 left_gripper=0.2131 right_x=0.2977 right_y=-0.0042 right_z=0.1723 right_yaw=-0.035 right_pitch=-0.094 right_roll=0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -8.0205, 11.0838, 2.1368, 0.0122, 0.3883, 0.6911, -0.1436, -1.8667, 6.9949, 1.7118, -0.0464, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea52d0cc8f85b9600f506acfc0749bbc47a7ec5d4b0893019f7515336a0f4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9f4c9cb0ef5e8cef674ead28d0225021b3d6fc61a04f8a9bd9ad0787d6b529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0bc1b24b24367cf024b7d47b07437a8ce9cffb0a1c54e1187f09f76840a8f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.754 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 103 changed as sent

message 107 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 2.0258, 1.1667, 0.0914, -0.7422, -0.5331, 0.212, -0.033, 0.8753, 0.6739, -0.4603, -0.0113, 0.0097, 0.9984]\nstate[eef_state]: left_x=0.4273 left_y=-0.2615 left_z=0.0639 left_yaw=0.0753 left_pitch=0.0249 left_roll=0.0406 left_gripper=0.212 right_x=0.2977 right_y=-0.0042 right_z=0.173 right_yaw=-0.0368 right_pitch=-0.0914 right_roll=0.029 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -7.2137, 7.3504, 1.16, -0.0269, 0.149, 0.9353, -0.1436, -1.7709, 6.9675, 1.6728, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8398, 1.7252, 1.4792, -0.7017, -0.7567, -0.6376, 0.2133, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.3792 left_y=-0.2358 left_z=0.2103 left_yaw=0.1015 left_pitch=-0.0729 left_roll=0.1021 left_gripper=0.2133 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -12.5333, 10.1812, 1.2772, -0.5885, 0.2759, 0.7057, -0.212, -1.5248, 7.1316, 1.6923, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 1.705, 1.4143, -0.2089, -0.5785, -0.1741, 0.2131, -0.033, 0.8772, 0.6739, -0.461, -0.0113, 0.0063, 0.9984]\nstate[eef_state]: left_x=0.4975 left_y=-0.1061 left_z=0.2566 left_yaw=0.1597 left_pitch=0.1461 left_roll=0.1103 left_gripper=0.2131 right_x=0.2977 right_y=-0.0042 right_z=0.1723 right_yaw=-0.035 right_pitch=-0.094 right_roll=0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -8.0205, 11.0838, 2.1368, 0.0122, 0.3883, 0.6911, -0.1436, -1.8667, 6.9949, 1.7118, -0.0464, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea52d0cc8f85b9600f506acfc0749bbc47a7ec5d4b0893019f7515336a0f4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9f4c9cb0ef5e8cef674ead28d0225021b3d6fc61a04f8a9bd9ad0787d6b529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0bc1b24b24367cf024b7d47b07437a8ce9cffb0a1c54e1187f09f76840a8f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8clbBcvG8vujlu57genG66yRzdfwZQI97Dc-9MMVsrmDy0sDnZKEPdr9K0s1h_FTj2Fg-pjBtY5xyveJAY8alTFM6CLGxCqU8p2BvRucLbeHVCWhL8EKxU7kaUMT4g9250qb6IA6GDkPhtsFWrocE5R-jVDb0bQed_zJUbJKwGkDgvuohktG29IjCGae8zi66eU337ckO5alR5l3_dVdjyDLiMZqH4GMlMAnQB__8F5-RcKpFi-NaqQdm52B1_UZ3Mv8khfj36Wlod7kCbdORU64iReZi4isgbSQoFH-MxqIX9W4aF46M4H9HpZVw2Jqhtnb3DLzpB00Jj-zMv4KQYz0XYh2AMZ-RdPQMbvVE3dCd-YNZznuyG3U75mLYjoabydw2KwASMARz9dQedIs9e5u0IFu4z_YKQjRbr8BjH7QotPmHHefdvJBLNNk8Av3dEliBs-NkA3lsQf8426jeawyv3lwrlA1eQSR-rKMa6KTMdVZj29jm_1IaE9FQoZt5VHA8WdwUBeDuFb6HiLguGUsYXt2FjQdKI9uegnDPC-ZsT9aF0OQqOUjkoj5CUaVxEGVgOdBLqI4rMgaSI3OuaQwakocX436p7v7MNNM6l9hVYtjEI9SIl-r6Dl0efTF5v74Wyctz-kaXlXehnRceRjDVuHMdF3kmzM_eoRqsR1ligXiusMdZLZZI3_A_faE14EuP_IfXaev72mdZaA0BCcxrvBf2E924fWTSgFGtBwG1u2pITjlIAKZ9VgYTpkaN4JT9FdRIEF7CF0O0iE4pTmSnCC-TeMwY-z65tIQUVz5LwDF3fJqT_YgRmpSxFsJpXMfE2mlw1cmV52iKsvrT3g61Se-QdKpkzQOclZHaKsInx7UoihRPp_op1HxTSabkowFPUhUrHcZnR7_KVXkCzIzroBn1i0bJxf9tStkm8z-zrLcrOCqmlbxaxOMh0YYxmAmnmZGb0YuhH_yZlCfGb0_rYUrYHOu4osc9ThcArMIdh9a6judL8-98tFtmfp0k6mcxEVqBtgDjlcem5Q869SD4oFyJRijk3hRXEtEYevkQeYM8wmBPBBqDV1dag8YaXdZzmM18AlSK6ET0bAYms25TdpHXTMDQPQ0zT7nws9-FrA5midc0rZ4jylvQFxCckwvNjs1Qwaxfk9U48GN1-_b5xsnixxKQnQg1yn20-SQ5wju1LE8FWsPTwZwErh0Mcn6YjrPaTZZfBe3pRDQGo_gFgE8-EuH9ZuuZ4c8Ebu5ACEVOzPD83MlWNld5pLb5-JNL6IBN2K3bKYl7Lljwq0PSZfnOIMbCnPgeZ4OpxhqLzb9iVLaUzfew-WUMx8olBCkgjl37Xuc5sxS4w2oHj20OyZYILEwwskKWN_SvlCXSwWQOdzyRL6mZwUkGsB2kI0vM8dSQZNWoDuAfGmCF-EEpiI6VmSThV18R_MDPJpgj2Pu9x3QAzSMx_2ThFkfalyX32VVLh9YRNsvWhs624V4a0XJfNXhF1N5ptAzyIxJXcZZ_9wU00ZflUYZud45lt025rO2hqYNb6IaU-BRpmxeHL-0Pgd8SH87_ZFDCQlnskAaMPZAUNsFRfMJrVSJWJVZP0E1A4iixT-9U1Q7X3mAiU1Vp0rdM3X_H7ptElPmFYe_MoVYnC0NdHo6ioP5o62ZzmQNW_ETODsselkuOqDJ7WYUfKU8ws4JBZNCd7xw8=",
  "id": "rs_0dca810267bc1526016ab45f198fdc87d088cb033f54daa7d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_y\":-0.105,\"left_z\":0.235,\"left_pitch\":0.5},\"note\":\"The hanging plush is still near the basket’s front rim. I’ll extend farther over the opening so its body will fall inside rather than in front of the basket.\"}",
  "call_id": "call_NhI52bYGkUZAJRH5PECsTEpb",
  "id": "fc_0dca810267bc1526016ab45f1b735c87d0b4bed1417b6f48e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NhI52bYGkUZAJRH5PECsTEpb",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3626, 1.9564, 1.2938, 0.4843, -0.6025, -0.004, 0.2155, -0.033, 0.8772, 0.6739, -0.461, -0.0109, 0.0059, 0.9984]\nstate[eef_state]: left_x=0.5621 left_y=-0.1023 left_z=0.2152 left_yaw=0.1806 left_pitch=0.4126 left_roll=0.1114 left_gripper=0.2155 right_x=0.2977 right_y=-0.0043 right_z=0.1723 right_yaw=-0.0351 right_pitch=-0.094 right_roll=0.0257 right_gripper=0.9984\nstate[joint_eff]: [0.7043, -9.894, 7.8838, 1.956, 0.149, 0.4029, 0.7643, -0.0752, -1.7573, 7.0359, 1.6435, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ad69fd123f5857af58e77ced4196415e10ca3657b06c073f5f4f27322c019d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141d7ccb1230119eaced4325917b647bc7e60643cf128168a61b1c5c90f40b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2384f606f31deaa02e7a7d2580541772c09e8053946dc100ca2e07d6ed61ff23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.9717, 1.2381, -0.1162, -0.7486, -0.5591, 0.2141, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.4218 left_y=-0.2546 left_z=0.0859 left_yaw=0.0936 left_pitch=-0.0226 left_roll=0.0849 left_gripper=0.2141 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.9675, 9.6205, 1.5653, -0.2857, 0.2271, 0.6618, -0.0615, -1.7436, 7.159, 1.6435, -0.0317, -0.0464, -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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 1.705, 1.4143, -0.2089, -0.5785, -0.1741, 0.2131, -0.033, 0.8772, 0.6739, -0.461, -0.0113, 0.0063, 0.9984]\nstate[eef_state]: left_x=0.4975 left_y=-0.1061 left_z=0.2566 left_yaw=0.1597 left_pitch=0.1461 left_roll=0.1103 left_gripper=0.2131 right_x=0.2977 right_y=-0.0042 right_z=0.1723 right_yaw=-0.035 right_pitch=-0.094 right_roll=0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -8.0205, 11.0838, 2.1368, 0.0122, 0.3883, 0.6911, -0.1436, -1.8667, 6.9949, 1.7118, -0.0464, -0.0024, -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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3626, 1.9564, 1.2938, 0.4843, -0.6025, -0.004, 0.2155, -0.033, 0.8772, 0.6739, -0.461, -0.0109, 0.0059, 0.9984]\nstate[eef_state]: left_x=0.5621 left_y=-0.1023 left_z=0.2152 left_yaw=0.1806 left_pitch=0.4126 left_roll=0.1114 left_gripper=0.2155 right_x=0.2977 right_y=-0.0043 right_z=0.1723 right_yaw=-0.0351 right_pitch=-0.094 right_roll=0.0257 right_gripper=0.9984\nstate[joint_eff]: [0.7043, -9.894, 7.8838, 1.956, 0.149, 0.4029, 0.7643, -0.0752, -1.7573, 7.0359, 1.6435, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ad69fd123f5857af58e77ced4196415e10ca3657b06c073f5f4f27322c019d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141d7ccb1230119eaced4325917b647bc7e60643cf128168a61b1c5c90f40b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2384f606f31deaa02e7a7d2580541772c09e8053946dc100ca2e07d6ed61ff23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8goVGUUuiDjyHa3UzJQwDcDwk07jST44eH_UiINKP4jXsHo8Wu_dt4tdayVDPzjVy30y9v4tO-heBnJ8Ium5RjD30uEEBfX07qytDTPtHMPAxUEhQXdFTbbtBH9sc7DPbkLOGrMi3X2GNri5PTQGwAJv-Hgm96GlpZKITz-VVQiFl0i9fO497wZF14xgtCq9dtbEG0r7lem_kgASNDsMudxKWFVvbHLuaAyinQj3hGQxXhnDtGBQRrHK_f90LqSmkApoUJbq8GBHWJtFnDD60NZUG1lu0zI3p6q7j-1orAJc6yCU0uGYulE_pELV9UaKgDgu-EGF2UBnkcYuQvBjnan2V8qBSsn-QVoOa0e2ZCKHv0ozSPMMCXRFjgsb9J0PoQV18sq8nfhGMyKAHIXYlclUgkfXt7wcqL_sfyN9lSEvC5QDQCoYZKDcTTJAWyaed9meCYhzrL8Oz9GfVzbt2wqVkHdbfKGx2aZxppnwA-Q48lAGtmNKGqXZjwq5RepNvQVPRVN1ppW5q_lrLO8kOB7DKR96TVwugA0r5PnPpS79_8qlgNX5pOivoxCN7q9ljMhFByFTRR7gYG5Xp7FjlgvPbueMyEfMUqxjYg_w-rdJN-jLx6i1D449VEwkY1S5i4f_KEPHCQnZYB3QOg1QfsODgRs2kDQWw24DMZQ4GwcygJNGo8Bn5lcRTWPNSWB2dVmQnOdyR6jlFSBUlxidPAcL5LdAlzWQh0DKjOYxg0RWSI7kDOuf2Rbp9bViCu5zzX1TgI3bvxQOfX-yovKRs2MT5hih5TTJD4vjkjy3ZHz0EEhWrJlyViWwT24-KBQBzfXDLPAE0hCrS_yyZx2ALKchACF2qYf9aUvqXhlG8CTByvZR_H2mDx6ArzDwXwUNwEfJS6euMAYlNnmcyebRTXWbzILACrrMwqDgMGalXAYTzZHLmQV1CLCvkdiGLk6NgMupPX6eUMOyV8wAbOdOhasiVznh5QgAY5oiUf-212hEtzbK-Ttpfx-s-IA7ems6qA4cbn3B0kXd_ODc2pGOpa8a4F57KTS9Si61J0YN1IKKHIEW3NSKkpXGm2Cysh21_y-Mb0GWX0tBE0MPcMibYwE6XEbyjqV_DrAeyhOBizFNrTq2W7MlYFOhIwm63jUNngLYB19BCZvjtOJi8WgodNBjDQLITBLOzVSuv6yHdolQr6JTxlZLwjYX1TQCExV8a6gOyJIYSTgZfeGCn_7gDykjDH_cCfk-kCra8OT6LYujvK83gvleAAFGuwjSpKieqg",
  "id": "rs_0dca810267bc1526016ab45f1f447c87d0a82b3ab37c4b4ac0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cream plush is now centered over the left basket with its body within the rim. I’ll release it there.\"}",
  "call_id": "call_aXb9ntky7DLVfTYLAZZbD4xj",
  "id": "fc_0dca810267bc1526016ab45f1f8cf087d095fa3c50a1db4fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aXb9ntky7DLVfTYLAZZbD4xj",
  "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]: [-0.3592, 1.972, 1.2934, 0.4896, -0.606, -0.0158, 0.9953, -0.033, 0.8772, 0.6739, -0.4603, -0.0109, 0.0055, 0.9984]\nstate[eef_state]: left_x=0.5639 left_y=-0.1004 left_z=0.2077 left_yaw=0.1916 left_pitch=0.4046 left_roll=0.1053 left_gripper=0.9953 right_x=0.2978 right_y=-0.0043 right_z=0.1725 right_yaw=-0.0349 right_pitch=-0.0933 right_roll=0.0254 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -12.1778, 6.7761, 1.6972, -0.0513, 0.1148, -0.0464, -0.1573, -1.7299, 6.9949, 1.7021, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be0b387f7acb221204f40102a738ffda2a5942ad6cb5168eb22b697bcbe0782",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5665f6b57f66345d3a353f8a206c0193f9a6e2fc9d784195adb2011a4c258cac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7391c6333e095f9b3c7a0b81d92bd88dad19fa5d8cdebb2a9d8ec8d9512f5e0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 10.65 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8398, 1.7252, 1.4792, -0.7017, -0.7567, -0.6376, 0.2133, -0.033, 0.8753, 0.6739, -0.4599, -0.0113, 0.0101, 0.9984]\nstate[eef_state]: left_x=0.3792 left_y=-0.2358 left_z=0.2103 left_yaw=0.1015 left_pitch=-0.0729 left_roll=0.1021 left_gripper=0.2133 right_x=0.2977 right_y=-0.0042 right_z=0.1731 right_yaw=-0.037 right_pitch=-0.091 right_roll=0.0293 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -12.5333, 10.1812, 1.2772, -0.5885, 0.2759, 0.7057, -0.212, -1.5248, 7.1316, 1.6923, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3626, 1.9564, 1.2938, 0.4843, -0.6025, -0.004, 0.2155, -0.033, 0.8772, 0.6739, -0.461, -0.0109, 0.0059, 0.9984]\nstate[eef_state]: left_x=0.5621 left_y=-0.1023 left_z=0.2152 left_yaw=0.1806 left_pitch=0.4126 left_roll=0.1114 left_gripper=0.2155 right_x=0.2977 right_y=-0.0043 right_z=0.1723 right_yaw=-0.0351 right_pitch=-0.094 right_roll=0.0257 right_gripper=0.9984\nstate[joint_eff]: [0.7043, -9.894, 7.8838, 1.956, 0.149, 0.4029, 0.7643, -0.0752, -1.7573, 7.0359, 1.6435, -0.022, -0.022, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 1.972, 1.2934, 0.4896, -0.606, -0.0158, 0.9953, -0.033, 0.8772, 0.6739, -0.4603, -0.0109, 0.0055, 0.9984]\nstate[eef_state]: left_x=0.5639 left_y=-0.1004 left_z=0.2077 left_yaw=0.1916 left_pitch=0.4046 left_roll=0.1053 left_gripper=0.9953 right_x=0.2978 right_y=-0.0043 right_z=0.1725 right_yaw=-0.0349 right_pitch=-0.0933 right_roll=0.0254 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -12.1778, 6.7761, 1.6972, -0.0513, 0.1148, -0.0464, -0.1573, -1.7299, 6.9949, 1.7021, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be0b387f7acb221204f40102a738ffda2a5942ad6cb5168eb22b697bcbe0782",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5665f6b57f66345d3a353f8a206c0193f9a6e2fc9d784195adb2011a4c258cac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7391c6333e095f9b3c7a0b81d92bd88dad19fa5d8cdebb2a9d8ec8d9512f5e0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8k-HQLJJfg6rm4jVSq8Y1j51v4o4z0NYGXNmazsHVshpFoQ0DJs_j-B_OcdNzxbYUJdSPHS9PzexWOP-3m52mzNXLShVC1SVVBd2W8UYlVwmZsLqtcSVyf42Q97skNQ9vvEd6dUmhwT8JR6AROomAI2pqJwuhO39qLKB4qE6H61db3uZncWFZuUP_0Qs2_A3gqRIbNmnuVdN4b_Nm9tb4sEDOLH0WXirjiTpayRi3dBgQYUfVWLLzoFGdZdj9BG8UC0BvXMyyEhOl_34psrXNbMYvKIwFZPgT531neQ47Esk3rLRliLGtT3bhKmZXCZ08I9TRGwuiubQB9mndjgc7F7-F45qifcLcegXuIpY0GdSREsY92Jwx2a9NRPF0EOUKt4TIyEAMJGMoTxX6WyIwuncqu-D2IA405l2CLMRPnkxM4qm7n5fQASXWtlYO2yHUUtQZf2zqIdCplysDWcN9W3I5LtaUm70wrJx6gmS6UoNgIJpq0Z0O7ZZLOdQHZin-8N_4GIpLbP8jUz1D_eGZJg1RD435xWsiKBC8MXKYtFx28qlqxdwYSmfncSfAbbArhnbsKJH-18SvB8q1zUjhxWXUs_j8a9d-zNmhDWEOujbVY1MJEcSnslUlXVQiO5hkbGUrFLXRWLzuCyVE9U2i4oTHoa2rfAM56nPTEXi7tjYdNA9z4z_aqo0Cn4hgdi5aoMNxVaWvDBUFPu9lkBXJiEdf9tOVdJfyjBmnDZkSjhs7T54F0DTSB_4fLKIXMjzeOIpMldBV1iiGEmBmSWrUEbdVjeZFXq5YRyeQK53k3FsamZ5ae7oedErgMfSQNR-b0aEuYve5Yz30KCGW7HTaLqUUN4BvTDuN0661JBgwO4nWecC9z1KacRxbLg4IRaI3LOnxS4ja3tKCdWb2vBcW1pYZoGECJcxU5LmrfawjQ8LZ0x9tA9RwyF9IqqN-5dVD1_djkyRDpLaVuRkTe11M79e9F-aQN2o3gNS2Pj1UCbL4RcWxj173UO4hQM3UWWGgi88TLF6nvouO_GcCR9Gefg0abHLMBqX6R1w0lTTAs9xPmfKDM1Y-9YCMSVCN3Ekpl39q6QBsG8vNFbVnjC4jAa0M8kLdUK9yKWD3yvrOZV5yuZ6c8OdbZeIWQCoOgzvlB8EL7lFukc2fqWUuywClEmdBESMOfs6rzlteE1Ex9rrXt6qfB_1vjvDPYoi-hMQZbuE3jDQ9WMZaJZveWc9lTFXejyznAgrtW94k52CadqG6av9NmR_wkaTONQ6cYkAqLtH8MbppuvzE-zGFMUejPw8jFVTSJXeivr_PRXm_dIB4im05FAuu9uXIqKOMrPuYd9IlsqpyKeSSeCE-x7qE_E2OInNgz8qM59FEpjJ0JjLUlfq3-6D24bXtxbp5aLVocAp2T95pZnubq8474a0lmUmX5inmPqDFCac_ob8CpdLn38AWaXXgGryKrR6tifnfxLD-iHT4GxfzSAz_Fy650j-x-TMpc5C6wCbtRlEoB86-Qqb80LW5GsbjnzFu7at4q",
  "id": "rs_0dca810267bc1526016ab45f22b30887d0ab3ec02051cbaa1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.24,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2},\"note\":\"The gripper is open and the cream plush has dropped into the left basket. I’ll withdraw both arms to clear the view and check what remains unsorted.\"}",
  "call_id": "call_ngtB4tbj2yQaCbSlHETAn8mY",
  "id": "fc_0dca810267bc1526016ab45f23e0fc87d0884b36035dea0ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ngtB4tbj2yQaCbSlHETAn8mY",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2745, 0.9298, 0.8845, -0.5274, -0.4652, -0.1814, 0.9966, -0.012, 0.8982, 0.7536, -0.551, -0.0006, 0.0036, 0.9984]\nstate[eef_state]: left_x=0.3125 left_y=-0.0019 left_z=0.249 left_yaw=0.2013 left_pitch=0.0543 left_roll=0.09 left_gripper=0.9966 right_x=0.2961 right_y=0.0001 right_z=0.1846 right_yaw=-0.0216 right_pitch=-0.1252 right_roll=0.0172 right_gripper=0.9984\nstate[joint_eff]: [0.212, -2.1812, 6.9538, 1.7802, -0.1001, -0.0708, 0.1245, 0.3897, -1.3197, 10.0855, 1.5458, 0.0952, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b25be6d0f645e68ca37aa4796a1bf1ffa99304dbf357b10124b757a80b81a79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a14868fcadcca9a47ef32c35c804811e55c90e758386819599c2e4e7efb73e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833ea2c0820cc28e4ea00fa25449fea340b21280de64e8a20e3c0fcd1c8cc47a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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