adhoc

completed
2026-09-24T00:48:33.769260+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
274 s
total steps
493
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and several slim pen-like objects between the two baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the rightmost pen.
move_to
right_x0.3600right_y0.1300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.6163, -0.3805, -0.0219, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3843, -0.0128, -0.0162, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1842 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1813 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.5248, 9.4154, 1.8193, -0.022, 0.1197, -0.0659, -0.7726, -1.1145, 9.7846, 1.8339, -0.1001, -0.0317, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.13,"right_z":0.15,"right_gripper":1},"note":"I see plush animals and several slim pen-like objects between the two baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the rightmost pen."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe rightmost pen is just below the right basket, and the wrist now looks past it into the basket. I’m lowering the open jaws and drawing them slightly toward the base to straddle the pen’s middle.
move_to
right_x0.3000right_y0.1400right_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]: [-0.0189, 0.8017, 0.6151, -0.3805, -0.0219, -0.0341, 0.9995, 0.5358, 1.3186, 0.7193, -0.0994, 0.4187, 0.2832, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1829 left_yaw=0.0031 left_pitch=-0.0042 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3509 right_y=0.129 right_z=0.1303 right_yaw=0.0307 right_pitch=-0.0577 right_roll=-0.0302 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.3333, 7.4325, 1.7118, -0.0317, -0.0171, -0.0269, -0.0889, -5.4496, 9.0735, 1.7998, 0.4225, 0.1538, -0.0366] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.14,"right_z":0.025},"note":"The rightmost pen is just below the right basket, and the wrist now looks past it into the basket. I’m lowering the open jaws and drawing them slightly toward the base to straddle the pen’s middle."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe black-and-white marker is aligned with the jaw column in the wrist view. I’m closing at table level around its barrel.
move_to
right_z-0.0050right_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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0219, -0.0372, 0.9995, 0.701, 1.5093, 0.3595, 0.3603, 0.5201, 0.3981, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0048 left_pitch=-0.0065 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2958 right_y=0.1395 right_z=0.018 right_yaw=0.0508 right_pitch=-0.0937 right_roll=-0.0457 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.2513, 7.2137, 1.7753, -0.0269, 0.0269, -0.0122, 0.1162, -4.9436, 4.7658, 1.6532, 0.4225, 0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.005,"right_gripper":0},"note":"The black-and-white marker is aligned with the jaw column in the wrist view. I’m closing at table level around its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper has stopped at about a 1.4 cm gap, consistent with the marker barrel. I’ll lift it a short distance to check that it comes off the table.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9995, 0.7002, 1.618, 0.3428, 0.5468, 0.5247, 0.3935, 0.1502] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3053 right_y=0.1462 right_z=0.0105 right_yaw=0.0515 right_pitch=-0.0433 right_roll=-0.0149 right_gripper=0.1502 state[joint_eff]: [-0.0752, -1.2923, 7.0632, 1.707, -0.022, -0.0513, -0.0122, 0.0342, -3.2068, 3.0838, 1.2039, 0.1197, 0.0366, 1.0623] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The gripper has stopped at about a 1.4 cm gap, consistent with the marker barrel. I’ll lift it a short distance to check that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
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 marker has lifted with the jaws. I’m carrying it forward above the right basket, keeping clearance over the rim.
move_to
right_x0.4900right_y0.1500right_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6991, 1.3331, 0.4454, 0.1497, 0.5125, 0.3897, 0.1505] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0052 left_pitch=-0.0076 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3021 right_y=0.1455 right_z=0.0658 right_yaw=0.0615 right_pitch=-0.0558 right_roll=-0.0172 right_gripper=0.1505 state[joint_eff]: [-0.1846, -1.0462, 7.0496, 1.707, -0.0708, -0.0611, -0.0122, -0.2256, -5.3402, 7.9521, 1.409, 0.2662, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.15,"right_z":0.21},"note":"The marker has lifted with the jaws. I’m carrying it forward above the right basket, keeping clearance over the rim."})
tool
executing move_to over 15 steps (1.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe marker is centered over the right basket’s interior. I’m lowering it inside the rim before releasing it.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3855, 1.7546, 1.4189, -0.355, 0.2665, 0.1642, 0.1505] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4839 right_y=0.15 right_z=0.1944 right_yaw=0.0689 right_pitch=-0.0914 right_roll=-0.0328 right_gripper=0.1505 state[joint_eff]: [-0.0889, -1.7709, 7.1043, 1.7314, -0.0464, -0.0415, -0.0122, -0.6085, -9.1692, 9.7573, 1.663, 0.0562, 0.0415, 1.0379] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The marker is centered over the right basket’s interior. I’m lowering it inside the rim before releasing it."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe marker is inside the right basket’s rim. I’m opening the gripper to leave it in the pen basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8336, 1.1637, 0.0044, 0.2668, 0.16, 0.1505] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4861 right_y=0.151 right_z=0.1135 right_yaw=0.0718 right_pitch=-0.0675 right_roll=-0.0286 right_gripper=0.1505 state[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -7.2, 5.3402, 1.3993, 0.0708, -0.0024, 1.0281] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The marker is inside the right basket’s rim. I’m opening the gripper to leave it in the pen basket."})
tool
executing move_to over 9 steps (0.9s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe first marker is visibly resting in the right basket. I’m moving above the remaining dark pen beside the large teddy, while restoring the idle arm’s parked height.
move_to
right_x0.2950right_y0.2100right_z0.1700left_x0.2965left_y0.0019left_z0.1842
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8397, 1.1564, 0.0086, 0.2668, 0.1547, 0.9948] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4849 right_y=0.1506 right_z=0.1083 right_yaw=0.0745 right_pitch=-0.0763 right_roll=-0.0357 right_gripper=0.9948 state[joint_eff]: [-0.1026, -1.347, 7.1179, 1.7118, -0.0513, -0.0366, -0.0122, -0.1983, -10.1675, 7.0769, 1.5702, 0.0904, 0.1001, 0.0562] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.21,"right_z":0.17,"left_x":0.2965,"left_y":0.0019,"left_z":0.1842},"note":"The first marker is visibly resting in the right basket. I’m moving above the remaining dark pen beside the large teddy, while restoring the idle arm’s parked height."})
tool
executing move_to over 15 steps (1.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe next object is a blue-capped pen, just left of the jaw column. I’m shifting slightly left and closing around its barrel at table level.
move_to
right_x0.3000right_y0.2350right_z0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.382, -0.0223, -0.0376, 0.9995, 0.9035, 1.3575, 0.9318, -0.4305, 0.6209, 0.5293, 0.9962] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1798 left_yaw=0.0053 left_pitch=-0.0156 left_roll=-0.006 left_gripper=0.9995 right_x=0.2958 right_y=0.2152 right_z=0.1621 right_yaw=0.1043 right_pitch=-0.0914 right_roll=-0.0418 right_gripper=0.9962 state[joint_eff]: [-0.0205, -1.2923, 8.2256, 1.5556, -0.0269, -0.022, -0.0122, 0.212, -6.6393, 7.7607, 1.2772, 0.5153, 0.2125, 0.1294] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.235,"right_z":0,"right_gripper":0},"note":"The next object is a blue-capped pen, just left of the jaw column. I’m shifting slightly left and closing around its barrel at table level."})
tool
executing move_to over 11 steps (1.1s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper closed empty; the blue pen is now visible to the right of the fingertips. I’m reopening and moving a little right and forward to center it between the jaws.
move_to
right_x0.3200right_y0.2050right_z0.0050right_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]: [-0.0189, 0.8127, 0.6151, -0.3992, -0.0216, -0.038, 0.9995, 0.9302, 1.7916, 0.6468, 0.3683, 0.6621, 0.5545, 0.0271] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0049 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3132 right_y=0.2444 right_z=0.0247 right_yaw=0.0912 right_pitch=-0.0149 right_roll=0.0164 right_gripper=0.0271 state[joint_eff]: [-0.1709, -1.4291, 7.1726, 1.8535, -0.0269, -0.0269, -0.0122, 0.1162, -5.1897, 3.453, 0.9744, -0.0073, -0.0171, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.205,"right_z":0.005,"right_gripper":1},"note":"The gripper closed empty; the blue pen is now visible to the right of the fingertips. I’m reopening and moving a little right and forward to center it between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe blue pen is now centered between the open jaws. I’m closing without changing position.
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]: [-0.0189, 0.8127, 0.6151, -0.4034, -0.0219, -0.038, 0.9995, 0.8234, 1.7916, 0.5213, 0.5858, 0.5896, 0.4789, 0.9948] state[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1751 left_yaw=0.0052 left_pitch=-0.0381 left_roll=-0.006 left_gripper=0.9995 right_x=0.3248 right_y=0.2113 right_z=0.0163 right_yaw=0.0791 right_pitch=0.0166 right_roll=0.0522 right_gripper=0.9948 state[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0122, -0.0464, -0.0122, -0.2393, -5.9829, 3.494, 1.2332, 0.1538, -0.1832, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue pen is now centered between the open jaws. I’m closing without changing position."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe blue pen was not secured, and the nearby large plush is crowding the jaws. I’ll clear the right arm and begin with the gray plush on the left, then return to the pen with an unobstructed view.
move_to
right_x0.2950right_y0.0010right_z0.2000right_gripper1.0000right_pitch0.0000right_roll0.0000left_x0.2600left_y-0.0600left_z0.1500left_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]: [-0.0189, 0.8135, 0.6151, -0.4038, -0.0219, -0.038, 0.9995, 0.8242, 1.7885, 0.5236, 0.6334, 0.5831, 0.4759, 0.0307] state[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1748 left_yaw=0.0052 left_pitch=-0.0392 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3294 right_y=0.218 right_z=0.0259 right_yaw=0.0853 right_pitch=0.0532 right_roll=0.0884 right_gripper=0.0307 state[joint_eff]: [-0.1299, -1.1692, 7.1863, 1.7265, -0.0269, -0.0562, -0.0122, -0.1573, -6.8171, 4.1778, 1.0916, 0.2076, 0.0122, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.001,"right_z":0.2,"right_gripper":1,"right_pitch":0,"right_roll":0,"left_x":0.26,"left_y":-0.06,"left_z":0.15,"left_gripper":1},"note":"The blue pen was not secured, and the nearby large plush is crowding the jaws. I’ll clear the right arm and begin with the gray plush on the left, then return to the pen with an unobstructed view."})
tool
executing move_to over 19 steps (1.9s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe gray plush is left of the wrist’s jaw column. I’m aligning over its soft torso and lowering the open gripper for a body grasp.
move_to
left_x0.2900left_y-0.0050left_z0.0350left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5186, 0.7311, 0.5156, -0.4561, -0.4122, -0.3382, 0.9996, -0.1036, 0.8181, 0.6594, -0.4603, -0.144, -0.1066, 0.9987] state[eef_state]: left_x=0.2603 left_y=-0.063 left_z=0.1503 left_yaw=-0.008 left_pitch=-0.0439 left_roll=-0.0117 left_gripper=0.9996 right_x=0.292 right_y=-0.0013 right_z=0.1833 right_yaw=0.0718 right_pitch=-0.0408 right_roll=0.0031 right_gripper=0.9987 state[joint_eff]: [-0.1709, -1.1556, 6.5299, 1.5751, -0.315, -0.105, -0.0708, -0.0615, -1.7436, 9.4974, 1.7021, -0.2271, -0.105, -0.149] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.005,"left_z":0.035,"left_pitch":0,"left_roll":0},"note":"The gray plush is left of the wrist’s jaw column. I’m aligning over its soft torso and lowering the open gripper for a body grasp."})
tool
executing move_to over 8 steps (0.8s)
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 noteThe open jaws are around the gray plush’s torso, and the descent has met its soft body. I’m closing to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.062, 1.1305, 0.1005, 0.5636, -0.0734, -0.0338, 0.9995, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1123, 0.9985] state[eef_state]: left_x=0.3056 left_y=-0.0024 left_z=0.0611 left_yaw=0.0037 left_pitch=0.0975 left_roll=0.0178 left_gripper=0.9995 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0743 right_pitch=-0.0476 right_roll=-0.0008 right_gripper=0.9985 state[joint_eff]: [0.0615, -1.3333, 3.6308, 1.2088, 0.2369, -0.1636, -0.022, -0.0752, -1.8803, 7.0085, 1.6923, -0.1148, 0.0366, -0.0317] 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":{"left_gripper":0},"note":"The open jaws are around the gray plush’s torso, and the descent has met its soft body. I’m closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe close was empty; the gray plush remains just beyond the fingertips. I’m reopening and reaching farther forward and slightly left for a deeper grasp around its body.
move_to
left_x0.3350left_y0.0050left_z0.0200left_pitch-0.1000left_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]: [-0.062, 1.1278, 0.1013, 0.5808, -0.0814, -0.0338, 0.0114, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3078 left_y=-0.0011 left_z=0.0661 left_yaw=0.0107 left_pitch=0.1183 left_roll=0.0199 left_gripper=0.0114 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0747 right_pitch=-0.0476 right_roll=-0.0014 right_gripper=0.9985 state[joint_eff]: [-0.1846, -2.0308, 5.5863, 1.6679, 0.0317, -0.0122, 0.9499, -0.0479, -1.2923, 6.9402, 1.7167, -0.0708, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":0.005,"left_z":0.02,"left_pitch":-0.1,"left_gripper":1},"note":"The close was empty; the gray plush remains just beyond the fingertips. I’m reopening and reaching farther forward and slightly left for a deeper grasp around its body."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe gray plush has shifted to the left of the jaws. I’m following that shift and lowering beside its torso before trying the grasp again.
move_to
left_x0.3350left_y0.0450left_z0.0050left_pitch-0.1500
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]: [-0.0227, 1.4265, 0.284, 0.617, -0.0589, -0.0078, 0.9953, -0.1036, 0.8291, 0.659, -0.4614, -0.1432, -0.1127, 0.9985] state[eef_state]: left_x=0.3519 left_y=0.006 left_z=0.0519 left_yaw=0.0166 left_pitch=0.0376 left_roll=0.0369 left_gripper=0.9953 right_x=0.2925 right_y=-0.0014 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0532 right_roll=-0.0001 right_gripper=0.9985 state[joint_eff]: [0.4171, -2.4684, 4.8479, 0.7253, 0.2222, -0.1587, -0.0708, -0.1846, -1.7026, 7.1453, 1.707, -0.0855, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":0.045,"left_z":0.005,"left_pitch":-0.15},"note":"The gray plush has shifted to the left of the jaws. I’m following that shift and lowering beside its torso before trying the grasp again."})
tool
executing move_to over 7 steps (0.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe jaws are now beside the gray plush near the left workspace edge. I’m attempting a grasp on the accessible part of its torso.
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]: [0.1532, 1.5036, 0.3313, 0.6418, 0.062, 0.1104, 0.9966, -0.1036, 0.8299, 0.659, -0.4606, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3622 left_y=0.0485 left_z=0.0484 left_yaw=0.0271 left_pitch=0.0311 left_roll=0.078 left_gripper=0.9966 right_x=0.2927 right_y=-0.0015 right_z=0.1798 right_yaw=0.0747 right_pitch=-0.0532 right_roll=-0.0004 right_gripper=0.9985 state[joint_eff]: [0.6222, -2.3179, 3.959, 0.4567, 0.2027, -0.2271, 0.1245, -0.1026, -1.347, 7.0769, 1.6484, -0.1148, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now beside the gray plush near the left workspace edge. I’m attempting a grasp on the accessible part of its torso."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe gray plush is not secured and has ended up beyond the left-side reach limit. I’m moving clear to sort the accessible small brown plush next.
move_to
left_x0.3100left_y-0.1700left_z0.1700left_pitch0.0000left_roll0.0000left_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]: [0.1539, 1.4963, 0.3439, 0.6445, 0.0528, 0.112, 0.0116, -0.1036, 0.8303, 0.659, -0.4599, -0.1432, -0.1127, 0.9985] state[eef_state]: left_x=0.3668 left_y=0.0511 left_z=0.0561 left_yaw=0.0347 left_pitch=0.0528 left_roll=0.0866 left_gripper=0.0116 right_x=0.2928 right_y=-0.0015 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0529 right_roll=-0.0002 right_gripper=0.9985 state[joint_eff]: [-0.1026, -3.959, 4.0684, 1.8242, 0.149, -0.0317, 0.9499, -0.1026, -1.4427, 7.1316, 1.6581, -0.105, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.17,"left_z":0.17,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The gray plush is not secured and has ended up beyond the left-side reach limit. I’m moving clear to sort the accessible small brown plush next."})
tool
executing move_to over 20 steps (2.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe small brown plush is centered beneath the left gripper. I’m lowering the open jaws around its body.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8333, 1.2644, 0.7864, -0.2916, -0.675, -0.5583, 0.9981, -0.1036, 0.836, 0.659, -0.4603, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3096 left_y=-0.1713 left_z=0.1597 left_yaw=-0.0012 left_pitch=-0.0116 left_roll=0.0017 left_gripper=0.9981 right_x=0.2931 right_y=-0.0015 right_z=0.1782 right_yaw=0.0748 right_pitch=-0.0589 right_roll=0.0006 right_gripper=0.9985 state[joint_eff]: [-0.1983, -4.5197, 8.7316, 1.3944, -0.3785, 0.0708, 0.0024, -0.1299, -1.894, 7.3641, 1.6923, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"The small brown plush is centered beneath the left gripper. I’m lowering the open jaws around its body."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe small plush’s body sits between the jaws at table level. I’m closing around 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]: [-0.8326, 1.6665, 0.4526, 0.3779, -0.6762, -0.5648, 0.9981, -0.1036, 0.8379, 0.659, -0.4606, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3041 left_y=-0.1647 left_z=0.0121 left_yaw=0.0055 left_pitch=-0.0554 left_roll=0.0461 left_gripper=0.9981 right_x=0.2932 right_y=-0.0015 right_z=0.1776 right_yaw=0.0748 right_pitch=-0.0611 right_roll=0.001 right_gripper=0.9985 state[joint_eff]: [-0.1983, -5.641, 3.7812, 1.3944, -0.2759, -0.0122, -0.0024, -0.1846, -1.5932, 6.9538, 1.6532, -0.1197, -0.0659, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The small plush’s body sits between the jaws at table level. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe gripper is holding roughly 4.7 cm of the small plush’s body. I’m lifting it clear to verify the grasp before carrying it to the left basket.
move_to
left_z0.1800
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]: [-0.8326, 1.6802, 0.448, 0.4072, -0.6849, -0.5617, 0.4952, -0.1036, 0.8379, 0.659, -0.4603, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3056 left_y=-0.1644 left_z=0.0114 left_yaw=0.0096 left_pitch=-0.0433 left_roll=0.0447 left_gripper=0.4952 right_x=0.2933 right_y=-0.0015 right_z=0.1777 right_yaw=0.0748 right_pitch=-0.0607 right_roll=0.001 right_gripper=0.9985 state[joint_eff]: [-0.212, -6.7487, 4.6701, 1.0867, -0.2369, -0.0708, 0.8816, -0.1026, -1.4017, 6.9538, 1.7167, -0.0708, -0.0659, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The gripper is holding roughly 4.7 cm of the small plush’s body. I’m lifting it clear to verify the grasp before carrying it to the left basket."})
tool
executing move_to over 11 steps (1.1s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe small plush has lifted with the gripper. I’m carrying it above the left basket, which is reserved for the plush animals.
move_to
left_x0.4900left_y-0.1700left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8326, 1.2724, 0.8421, -0.3882, -0.6804, -0.5739, 0.4974, -0.1036, 0.8417, 0.659, -0.4599, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.3082 left_y=-0.1683 left_z=0.1654 left_yaw=0.0127 left_pitch=-0.0412 left_roll=0.0276 left_gripper=0.4974 right_x=0.2936 right_y=-0.0016 right_z=0.1768 right_yaw=0.0749 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9985 state[joint_eff]: [-0.212, -5.9966, 8.841, 1.2576, -0.3346, 0.1099, 0.4957, -0.0752, -1.7573, 7.0222, 1.6923, -0.1245, -0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.17,"left_z":0.23},"note":"The small plush has lifted with the gripper. I’m carrying it above the left basket, which is reserved for the plush animals."})
tool
executing move_to over 14 steps (1.4s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe small plush is over the left basket’s opening. I’m releasing it into the basket.
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]: [-0.4847, 1.7866, 1.5158, -0.4599, -0.4408, -0.3473, 0.4998, -0.1036, 0.8467, 0.659, -0.4618, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.4791 left_y=-0.1631 left_z=0.2089 left_yaw=0.0556 left_pitch=-0.0857 left_roll=0.0266 left_gripper=0.4998 right_x=0.2936 right_y=-0.0016 right_z=0.175 right_yaw=0.0749 right_pitch=-0.0709 right_roll=0.0028 right_gripper=0.9985 state[joint_eff]: [0.1573, -10.0718, 9.5932, 1.6239, -0.0513, 0.4274, 0.2418, -0.1983, -1.6889, 6.9812, 1.7021, -0.1001, -0.0366, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The small plush is over the left basket’s opening. I’m releasing it into the basket."})
tool
executing move_to over 6 steps (0.6s)
step 245
top_cam
camera top_cam step 245
left_cam
camera left_cam step 245
right_cam
camera right_cam step 245
assistant
agent noteThe small plush is in the left basket. I’m positioning the left arm over the yellow pen and the right arm over the remaining brown plush; these pickup sites are well separated.
move_to
left_x0.3100left_y-0.1050left_z0.1400left_pitch0.0000left_roll0.0000right_x0.3350right_y0.2850right_z0.1400right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4828, 1.8046, 1.5181, -0.4812, -0.4309, -0.3584, 0.9961, -0.1036, 0.849, 0.659, -0.4603, -0.1432, -0.1131, 0.9985] state[eef_state]: left_x=0.478 left_y=-0.1632 left_z=0.1971 left_yaw=0.0576 left_pitch=-0.1207 left_roll=0.0311 left_gripper=0.9961 right_x=0.294 right_y=-0.0016 right_z=0.1747 right_yaw=0.0749 right_pitch=-0.0716 right_roll=0.0029 right_gripper=0.9985 state[joint_eff]: [-0.253, -11.1521, 6.694, 1.7558, -0.3101, 0.0611, -0.1001, -0.0068, -1.6889, 6.9538, 1.6532, -0.1001, -0.0708, -0.0122] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.105,"left_z":0.14,"left_pitch":0,"left_roll":0,"right_x":0.335,"right_y":0.285,"right_z":0.14,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The small plush is in the left basket. I’m positioning the left arm over the yellow pen and the right arm over the remaining brown plush; these pickup sites are well separated."})
tool
executing move_to over 24 steps (2.4s)
step 269
assistant
agent noteThe yellow pen is slightly left of the left jaw column, while the brown plush is centered under the right gripper. I’m lowering both open grippers to their respective grasp heights.
move_to
left_y-0.0900left_z-0.0100right_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]: [-0.6319, 1.1271, 0.5976, -0.1879, -0.5545, -0.4286, 0.9968, 0.9489, 1.655, 1.0256, -0.1982, 0.6727, 0.5438, 0.9987] state[eef_state]: left_x=0.3108 left_y=-0.1078 left_z=0.1338 left_yaw=0.0402 left_pitch=-0.0305 left_roll=0.0147 left_gripper=0.9968 right_x=0.3292 right_y=0.2765 right_z=0.1261 right_yaw=0.1069 right_pitch=-0.0433 right_roll=-0.0356 right_gripper=0.9987 state[joint_eff]: [-0.3214, -3.9863, 7.0496, 1.7705, -0.3639, -0.1392, 0.0513, 0.5265, -7.7333, 8.9231, 1.3553, 0.5201, 0.188, -0.149] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.09,"left_z":-0.01,"right_z":0.025},"note":"The yellow pen is slightly left of the left jaw column, while the brown plush is centered under the right gripper. I’m lowering both open grippers to their respective grasp heights."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe left jaws are at table level beside the yellow pen, and the right jaws surround the brown plush’s body. I’m closing both grippers.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.561, 1.6669, 0.252, 0.7143, -0.5194, -0.3943, 0.9968, 0.9535, 1.8515, 0.8608, 0.2241, 0.6872, 0.5529, 0.9985] state[eef_state]: left_x=0.314 left_y=-0.0895 left_z=-0.0018 left_yaw=0.0653 left_pitch=-0.0314 left_roll=0.0148 left_gripper=0.9968 right_x=0.3353 right_y=0.285 right_z=0.0504 right_yaw=0.0972 right_pitch=0.0049 right_roll=0.011 right_gripper=0.9985 state[joint_eff]: [0.4718, -4.0274, 1.4564, 0.2955, 0.1734, 0.105, -0.0024, -0.5538, -5.7504, 3.5624, 0.989, 0.0366, -0.1099, -0.0366] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The left jaws are at table level beside the yellow pen, and the right jaws surround the brown plush’s body. I’m closing both grippers."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent noteBoth grippers have nonempty gaps: one around the yellow pen and one around the plush. I’m lifting straight up to confirm both objects are secure.
move_to
left_z0.1800right_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]: [-0.5613, 1.6772, 0.247, 0.7517, -0.524, -0.3931, 0.1549, 0.9535, 1.8542, 0.8585, 0.2665, 0.7063, 0.543, 0.2152] state[eef_state]: left_x=0.3161 left_y=-0.0901 left_z=0.0005 left_yaw=0.0676 left_pitch=-0.0118 left_roll=0.0051 left_gripper=0.1549 right_x=0.3395 right_y=0.2864 right_z=0.0564 right_yaw=0.0881 right_pitch=0.0391 right_roll=0.0224 right_gripper=0.2152 state[joint_eff]: [-0.1026, -5.8051, 3.8632, 1.2039, -0.1734, -0.0415, 1.1209, -0.3077, -8.6222, 5.5726, 1.0574, 0.0269, 0.0415, 0.7839] 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_z":0.18,"right_z":0.2},"note":"Both grippers have nonempty gaps: one around the yellow pen and one around the plush. I’m lifting straight up to confirm both objects are secure."})
tool
executing move_to over 12 steps (1.2s)
step 301
assistant
agent noteBoth objects lifted successfully. I’m moving the brown plush over the inner side of the left basket, while keeping the pen stationary and clear of its path.
move_to
right_x0.4900right_y0.4000right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 1.0763, 0.6857, -0.2707, -0.5198, -0.4004, 0.1554, 0.9546, 1.6436, 1.1553, -0.2882, 0.688, 0.5388, 0.2182] state[eef_state]: left_x=0.32 left_y=-0.0933 left_z=0.1695 left_yaw=0.0681 left_pitch=0.0006 left_roll=-0.0132 left_gripper=0.1554 right_x=0.3378 right_y=0.2891 right_z=0.1688 right_yaw=0.1054 right_pitch=-0.0013 right_roll=-0.0087 right_gripper=0.2182 state[joint_eff]: [-0.2256, -4.3556, 8.9094, 1.4969, -0.2466, 0.0415, 1.033, -0.294, -11.0291, 9.5932, 1.5018, 0.4371, 0.0171, 0.3053] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.49,"right_y":0.4,"right_z":0.24},"note":"Both objects lifted successfully. I’m moving the brown plush over the inner side of the left basket, while keeping the pen stationary and clear of its path."})
tool
executing move_to over 12 steps (1.2s)
step 313
assistant
agent noteThe brown plush is above the left basket, beside the smaller plush. I’m opening the right gripper to place it with its own type.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 1.084, 0.688, -0.2855, -0.5163, -0.4042, 0.1554, 0.8455, 2.4683, 2.5435, -0.8146, 0.5911, 0.4404, 0.2212] state[eef_state]: left_x=0.3188 left_y=-0.0932 left_z=0.1654 left_yaw=0.0676 left_pitch=-0.017 left_roll=-0.0062 left_gripper=0.1554 right_x=0.4865 right_y=0.4059 right_z=0.2089 right_yaw=0.1208 right_pitch=-0.0232 right_roll=-0.0177 right_gripper=0.2212 state[joint_eff]: [-0.1573, -3.6855, 6.7077, 1.7118, -0.2466, -0.0073, 1.0281, -0.8, -11.9453, 5.7504, 0.3785, 0.4811, 0.0024, 0.2955] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown plush is above the left basket, beside the smaller plush. I’m opening the right gripper to place it with its own type."})
tool
executing move_to over 8 steps (0.8s)
step 321
assistant
agent noteThe larger plush has been released into the left basket. I’m withdrawing the right arm to clear the route for the yellow pen.
move_to
right_x0.2950right_y0.0010right_z0.2200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 1.0878, 0.688, -0.2958, -0.5163, -0.4042, 0.1611, 0.8429, 2.4702, 2.4641, -0.7879, 0.5709, 0.4244, 0.9953] state[eef_state]: left_x=0.3177 left_y=-0.0925 left_z=0.1625 left_yaw=0.0677 left_pitch=-0.0284 left_roll=0.0021 left_gripper=0.1611 right_x=0.4847 right_y=0.4058 right_z=0.1789 right_yaw=0.1402 right_pitch=-0.0739 right_roll=-0.0559 right_gripper=0.9953 state[joint_eff]: [-0.1709, -3.4667, 6.8444, 1.6728, -0.2271, -0.0513, 1.0281, -0.7316, -17.7983, 6.5299, 1.5653, 0.3736, 0.0269, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.001,"right_z":0.22,"right_pitch":0,"right_roll":0},"note":"The larger plush has been released into the left basket. I’m withdrawing the right arm to clear the route for the yellow pen."})
tool
executing move_to over 34 steps (3.4s)
step 355
assistant
agent noteThe larger plush tipped back onto the table and shifted the left basket, so that placement needs correction. First I’m moving the securely held yellow pen over the inner side of the right basket.
move_to
left_x0.4900left_y-0.4000left_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 1.092, 0.688, -0.2981, -0.5159, -0.4042, 0.1658, -0.1257, 0.8497, 0.7822, -0.5053, -0.1669, -0.1215, 0.9963] state[eef_state]: left_x=0.3176 left_y=-0.0925 left_z=0.1608 left_yaw=0.0676 left_pitch=-0.0338 left_roll=0.0057 left_gripper=0.1658 right_x=0.3014 right_y=-0.0049 right_z=0.2214 right_yaw=0.0767 right_pitch=0.007 right_roll=-0.0053 right_gripper=0.9963 state[joint_eff]: [-0.253, -3.6444, 6.8444, 1.6581, -0.2369, -0.0024, 1.033, -0.253, -1.9077, 6.9128, 1.7607, -0.1636, -0.0708, 0.1001] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.4,"left_z":0.21},"note":"The larger plush tipped back onto the table and shifted the left basket, so that placement needs correction. First I’m moving the securely held yellow pen over the inner side of the right basket."})
tool
executing move_to over 28 steps (2.8s)
step 383
assistant
agent noteThe yellow pen is over the right basket opening, alongside the black-and-white marker. I’m releasing it here.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8738, 2.7186, 2.8731, -1.0988, -0.7395, -0.7136, 0.1687, -0.1272, 0.857, 0.7784, -0.5209, -0.1726, -0.1379, 0.9965] state[eef_state]: left_x=0.4864 left_y=-0.3899 left_z=0.155 left_yaw=0.0916 left_pitch=-0.0798 left_roll=0.0415 left_gripper=0.1687 right_x=0.2997 right_y=-0.0041 right_z=0.2146 right_yaw=0.0889 right_pitch=-0.0186 right_roll=-0.0104 right_gripper=0.9965 state[joint_eff]: [-0.5538, -17.8803, 8.6222, 1.0183, -0.4567, 0.2369, 1.033, -0.0752, -1.7846, 7.2274, 1.8584, -0.0659, 0.1099, 0.0024] camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow pen is over the right basket opening, alongside the black-and-white marker. I’m releasing it here."})
tool
executing move_to over 9 steps (0.9s)
step 392
assistant
agent noteThe yellow pen has been released. I’m parking the left arm so I can inspect both baskets and safely recover the larger plush.
move_to
left_x0.2965left_y0.0019left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8738, 2.7491, 2.8563, -1.1095, -0.7338, -0.7341, 0.9953, -0.1272, 0.8619, 0.7769, -0.5259, -0.173, -0.139, 0.9965] state[eef_state]: left_x=0.4847 left_y=-0.3891 left_z=0.1294 left_yaw=0.1038 left_pitch=-0.1157 left_roll=0.0705 left_gripper=0.9953 right_x=0.2993 right_y=-0.004 right_z=0.2115 right_yaw=0.0899 right_pitch=-0.0297 right_roll=-0.0087 right_gripper=0.9965 state[joint_eff]: [-0.1026, -18.1402, 7.0906, 1.3309, -0.4664, 0.1441, -0.1783, -0.1846, -1.8667, 7.0632, 1.707, -0.1343, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2965,"left_y":0.0019,"left_z":0.22,"left_pitch":0,"left_roll":0},"note":"The yellow pen has been released. I’m parking the left arm so I can inspect both baskets and safely recover the larger plush."})
tool
executing move_to over 35 steps (3.5s)
step 427
assistant
agent noteThe small plush is securely in the left basket, but the large plush lies just to its right. I’m lowering the right gripper around the larger plush’s torso for a more controlled placement.
move_to
right_x0.3400right_y0.1800right_z0.0350right_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]: [-0.1467, 0.8494, 0.7776, -0.4931, -0.2577, -0.1913, 0.9967, -0.1272, 0.8639, 0.7765, -0.5266, -0.173, -0.1421, 0.9965] state[eef_state]: left_x=0.3018 left_y=0.0045 left_z=0.2238 left_yaw=0.1577 left_pitch=0.0188 left_roll=-0.0129 left_gripper=0.9967 right_x=0.2994 right_y=-0.004 right_z=0.2107 right_yaw=0.0915 right_pitch=-0.0327 right_roll=-0.0106 right_gripper=0.9965 state[joint_eff]: [0.0068, -1.7162, 6.694, 1.6337, -0.0562, 0.1197, 0.1245, -0.1709, -1.7709, 6.9538, 1.6777, -0.1294, -0.0415, -0.0122] camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.18,"right_z":0.035,"right_gripper":1},"note":"The small plush is securely in the left basket, but the large plush lies just to its right. I’m lowering the right gripper around the larger plush’s torso for a more controlled placement."})
tool
executing move_to over 16 steps (1.6s)
step 443
assistant
agent noteThe plush shifted slightly left, and I can see the blue pen underneath it. I’m repositioning the open jaws farther around the plush’s body so the pen can remain on the table.
move_to
right_x0.3750right_y0.2350right_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]: [-0.1471, 0.8551, 0.7734, -0.5045, -0.2508, -0.1944, 0.9968, 0.6796, 1.6302, 0.5114, 0.3641, 0.4652, 0.3283, 0.9986] state[eef_state]: left_x=0.3007 left_y=0.0034 left_z=0.2178 left_yaw=0.1531 left_pitch=-0.0028 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3297 right_y=0.1692 right_z=0.0253 right_yaw=0.1113 right_pitch=-0.089 right_roll=-0.0495 right_gripper=0.9986 state[joint_eff]: [0.0068, -1.6889, 7.2274, 1.8242, -0.1343, -0.0122, -0.0073, 0.2667, -6.735, 6.8308, 1.6044, 0.3297, 0.0708, -0.1538] camera 'top_cam' (step 443): [image omitted: streamed camera frame] camera 'left_cam' (step 443): [image omitted: streamed camera frame] camera 'right_cam' (step 443): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.235,"right_z":0.045},"note":"The plush shifted slightly left, and I can see the blue pen underneath it. I’m repositioning the open jaws farther around the plush’s body so the pen can remain on the table."})
tool
executing move_to over 6 steps (0.6s)
step 449
assistant
agent noteThe jaws now surround the larger plush’s body. I’m closing to secure it before lifting.
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]: [-0.1474, 0.8577, 0.7734, -0.5079, -0.2535, -0.1947, 0.9968, 0.7414, 1.8038, 0.8143, 0.2043, 0.4938, 0.3584, 0.9985] state[eef_state]: left_x=0.3005 left_y=0.0038 left_z=0.2164 left_yaw=0.1552 left_pitch=-0.0081 left_roll=-0.0098 left_gripper=0.9968 right_x=0.3678 right_y=0.2281 right_z=0.0377 right_yaw=0.133 right_pitch=-0.1024 right_roll=-0.0594 right_gripper=0.9985 state[joint_eff]: [-0.1162, -1.6068, 6.8991, 1.7998, -0.0855, -0.0708, -0.0122, 0.5675, -7.8291, 7.6786, 1.3846, 0.3492, 0.1685, -0.0317] camera 'top_cam' (step 449): [image omitted: streamed camera frame] camera 'left_cam' (step 449): [image omitted: streamed camera frame] camera 'right_cam' (step 449): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now surround the larger plush’s body. I’m closing to secure it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 459
assistant
agent noteThe larger plush was not secured; the gripper closed empty underneath it. I’m opening and lifting straight clear rather than dragging it or the baskets.
move_to
right_z0.2200right_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]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.816, 0.8158, 0.1951, 0.4862, 0.3542, 0.021] state[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3653 right_y=0.2289 right_z=0.0314 right_yaw=0.1425 right_pitch=-0.122 right_roll=-0.0695 right_gripper=0.021 state[joint_eff]: [-0.0752, -1.6068, 6.9128, 1.6923, -0.149, -0.0366, -0.0122, -0.1846, -9.2923, 5.2444, 1.6093, 0.2906, 0.0366, 0.906] camera 'top_cam' (step 459): [image omitted: streamed camera frame] camera 'left_cam' (step 459): [image omitted: streamed camera frame] camera 'right_cam' (step 459): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"right_gripper":1},"note":"The larger plush was not secured; the gripper closed empty underneath it. I’m opening and lifting straight clear rather than dragging it or the baskets."})
tool
executing move_to over 13 steps (1.3s)
step 472
assistant
agent noteThe large plush and blue pen remain on the table, and the gray plush is beyond the left reach limit. I’m parking both arms safely; I cannot reliably complete the remaining sorting in this arrangement.
move_to
right_x0.2950right_y0.0010right_z0.2200right_pitch0.0000right_roll0.0000left_x0.2965left_y0.0019left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.578, 1.2873, -0.5282, 0.4786, 0.345, 0.9959] state[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3682 right_y=0.2332 right_z=0.1977 right_yaw=0.1523 right_pitch=-0.1369 right_roll=-0.0797 right_gripper=0.9959 state[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.7363, -0.1001, -0.0513, -0.0122, -0.212, -9.6068, 9.2786, 1.3895, 0.2173, 0.0122, -0.1392] camera 'top_cam' (step 472): [image omitted: streamed camera frame] camera 'left_cam' (step 472): [image omitted: streamed camera frame] camera 'right_cam' (step 472): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.001,"right_z":0.22,"right_pitch":0,"right_roll":0,"left_x":0.2965,"left_y":0.0019,"left_z":0.22,"left_pitch":0,"left_roll":0},"note":"The large plush and blue pen remain on the table, and the gray plush is beyond the left reach limit. I’m parking both arms safely; I cannot reliably complete the remaining sorting in this arrangement."})
tool
executing move_to over 20 steps (2.0s)
step 492
assistant
agent noteSorting is incomplete. The objects are plush animals and pens/markers; the small brown plush is confirmed in the left basket and the black-and-white marker in the right. The large plush and blue pen remain on the table, the gray plush is beyond the left-side reach limit, and the yellow pen’s final position is unconfirmed. Both arms are parked safely.
give_up
hindsightDescend with the jaws open, then close in a separate motion; closing during descent missed a thin pen. Cross-arm approaches to the opposite basket reached lateral limits and sagged substantially. A bulky plush released near a basket edge tipped outside and displaced the basket, so verify the entire plush clears the rim before releasing. The gray plush shifted beyond the left y limit during unsuccessful grasps.
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]: [-0.1688, 0.8551, 0.7734, -0.5159, -0.2703, -0.202, 0.9968, -0.1383, 0.8509, 0.786, -0.5266, -0.1841, -0.1398, 0.9968] state[eef_state]: left_x=0.299 left_y=0.0005 left_z=0.216 left_yaw=0.1517 left_pitch=-0.0103 left_roll=-0.0053 left_gripper=0.9968 right_x=0.2989 right_y=-0.0053 right_z=0.2187 right_yaw=0.0884 right_pitch=-0.0094 right_roll=-0.0075 right_gripper=0.9968 state[joint_eff]: [-0.253, -2.6325, 7.4598, 1.6679, -0.2564, -0.022, -0.0073, -0.2256, -1.9487, 6.8171, 1.7314, -0.2711, -0.0659, 0.0855] camera 'top_cam' (step 492): [image omitted: streamed camera frame] camera 'left_cam' (step 492): [image omitted: streamed camera frame] camera 'right_cam' (step 492): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Sorting is incomplete. The objects are plush animals and pens/markers; the small brown plush is confirmed in the left basket and the black-and-white marker in the right. The large plush and blue pen remain on the table, the gray plush is beyond the left-side reach limit, and the yellow pen’s final position is unconfirmed. Both arms are parked safely.","hindsight":"Descend with the jaws open, then close in a separate motion; closing during descent missed a thin pen. Cross-arm approaches to the opposite basket reached lateral limits and sagged substantially. A bulky plush released near a basket edge tipped outside and displaced the basket, so verify the entire plush clears the rim before releasing. The gray plush shifted beyond the left y limit during unsuccessful grasps."})
tool
give_up: Sorting is incomplete. The objects are plush animals and pens/markers; the small brown plush is confirmed in the left basket and the black-and-white marker in the right. The large plush and blue pen remain on the table, the gray plush is beyond the left-side reach limit, and the yellow pen’s final position is unconfirmed. Both arms are parked safely.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.27 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6163, -0.3805, -0.0219, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3843, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1842 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1813 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5248, 9.4154, 1.8193, -0.022, 0.1197, -0.0659, -0.7726, -1.1145, 9.7846, 1.8339, -0.1001, -0.0317, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae68b5216ac0386edf27e03d4147c1beeb03f16ed956b6e483707304131416df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd45cb09e5bfcf432d65040f974737ac033bfcd27229d9518c1a76405b4b553",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b190dbb94b574655cbc9a313663c8565c55c9cc6ddd95554fb9d9b6c5b2c8b",
      "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 · 8.427 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHN59pUwfPg95rdTKjONu9TGoaNj41y5SVEcFc4j2NJxSXbOV30rUnOkDRq5pm2EtkzNrzuO7cqA1-FIaBAX-dK8a7nb2sv-8lrYYY_KjhHUctfTron_Z7svtdwABfAx2FCmVeLfdH3IALxOQPw9sCuajm2jrUyUEhWX-rIP4sQVYnXNvxYIncEpLKf1ygyr9rLAXsiE3Tngx8imzJOWvx1fnvwhIy3lUeq4Uf4_01UMzf67m6I5DDfaUvd1Y4-RoEGLrUmunC-an8R74TrZAXYWSKgxl32L2Ehf9p2dVQGf3J7cC7SYBS41xeq9wUm2PY-o5wuYjvEPwoOpYbdtc22GD5cvoZkkZnZnXJaj-fmesMwaaG3WPfo4TcaHk6bpfxHR-Vb5I6k8-R_1R9L55GS4SGt4GnVTgheJ-8KnROU-ymnJLG7ndsd22B-W5uT3d24OSK8LOy-4TEp-OkxV7usl-PUii8XTlGjwcvV6id0s82ZvTl5FOUD-KOCFLMT7w3xRRZ-o-dKTj2I2eW3J7ly4CPB4tKj4zqPGFKKDs8QTR0mhhXM-OHpyeh6RYt5SGxTnnls8BpfiGw_uhcz-Tg3oot2d2hmtl-j75WYUpJOcqslbmosdEk2D6mVxi0stIkvrcEsgG7jEcnjWXl31AK3n0xA71A66d-2ff_8_rMd0gjvroG67zSP-8frtizsvLPGMUev7pwXPFNT9yReRxGnOiD1ESSZyGdgCwcT9J1iGfHLWGLq1ugIGSxCBMMLbI1HapfyFOXAzk2AxH9ux_JXgxhcaZnS012HivS0v2RQy1q9lIv9muDAKWZSOFqMMdDnb5jaRwEUYZzOT1OB0mogXa2c67QJnaVMni5MMNlEJmLFIfztQEqNk1mrcqxKHRsQeT5VoJ0g2EXwXJJcYNiHDFBxSokjb99gn-abfs_dUTSQT4TP8tpr1lIWDn9gpm-Cr_iF7g8ZqVjcWj-qcUVCmNIJ3zX9zV8TkyC0nni5KmwzTI28s804BECjcgUzFqtDZWQneE6mK7Az9bNl5XWnwVpZ6ZfDyzRRZcgJpoQN_k5fC6nLDkvAlURjJo68iCdxyGcyx6uvBQUgM9uh_AJp8lN1a8O6E8AnVC3aOGg88gKtiMZCSNOpVO-gjl6T-BxYebJ3YMTGLZReB6N01Vswee7mjQyY5wa_-awohuOleTMx9vyhBtJJWJg7VeqjBy99KlS3JsRapSaxBIgllOwnId25Zpo7H0t5J5dRXoZPVJPlyH2ziG-sTlpTBcjXdaRj9Ys1nTk_dwtUZZQJCJnTXSpRrRqqty4rELXAYIybH10snU-UbuF421_WBbQcsUzjjVoPZHPo8tAeD3R9Tvl0_NcPLIyKuteDwiHGb7Bm2y577Nbl5pu4CTJhJhYW3AY__8f6utaOm4TZd68Hn9SlbOAxQ35PBS6zUjQ5elB6n_GJuDaQmrVqLjGKzbxWjv7PusJNA5i7luUeee-zjRBbc2oT7h0qeN6QakaKj1Z1mraAErLMn6V6Lk4Wc5ENv4T-hUSn75CKMGbLw7FnGv4dK_a5OhT3Y6j2L357zC4PsrKRmguXdW0ZLUkbONNNzPBTVTRuYtp9jNCCnQ5r3PfWG2yri39SqBUX9b_AlNd1qCesFohiu96ZTfK__PE8uHwPjDo5bXuD_iHrBm0ede4UszPTLxb3M4yUtxrPNN2sKtNO3reMOkjjWRvV3Yjs8JJ74AsEBmpGRESfksVl5JaI9K-UgUs55v-ZI8BV_15-MvmI6G4uOY9DFPiT2gJ6kuEVDkSeX3xtEElJPw8qkk0F-2DLXJSckp_x5wA4smtCK2t3lvx4EoUj7ABy_vg9BeuroW_ngEQfR6SWYMD3OcDmwK0AvLPD7K5mc209ECftY6t1F_UT_poYUJeHt-POxLsNpcNydduIum5vHEChk5m_Bo-DC-mOr1MviR2NaADSa5eQp1NAmRXtSGFba30T4tDwvTyB0VHTtMDEQM8j4GYaq_knjrOpMql7Wf71IGJHqJj0JwxWegnf0MN4tA7PNdtm7hI70xfB_Vhl7A98e_iOvRDE2X0RKO_A8MBPv7k3VWwE9YoXRafGBaQ1tMRmNUCnDzhEZcN76T2_R6jQYc_H0ilekjkuiungJvCMkSkzgLjs2rYUs2Z5_TVm4NpoCDNwmOVDUgkbGjvrAoaG5F69dmBrfaPQjBOSRa-pa4F50ThLewiURA6hA7yHanf6BaN5FyWo7WhjjINNMz7NFmzy7JpSyBDmTC0FDLswRxBXwCkwa2HehInTImSWu38aapI8EyvDxuaOwlDHWEzKfhbmoG7GsLy_sDgPMe_y4s2kfXerRgduTnnOTQ52gOktMv1Js2Vod24d2RuP_E9ImF2snZvAIDc-nhtWKjwGmT4sMCe2CiBqSDmSfP66JT4dvN9euszyd2FrYOGIBTZtL42rDwp-1UNbxqt73FwdD7dmipT4D_cmEpug9QfxlN1Nr3FQBFRQVav5Yb3xFcwo7_g51_2sW60gs87KJsKxyKxzLyF59zTzyKsI0LbySeNVpTJYJ4SmYWYl77SzRmXcbrnvziynXKlL3BQ7yn6p5u8z6_Lbao89a0_vKGEBhxJ9eru1COvGfw4WC-OnfFZckr6oGyi98MQLV33LQkv9ZiMbRyuLC1TZKfd3e2vlUilj8CXsQio1b9eYDPhNs8cXhCOwvzXPMI9_Bt67DOjDnDFUjse2Nml7T6N6_zNoTDQG6y4DbjNrLNBu1Lcb3Lb4lTse2DiNijoiEPwJOXt_2H5Vntkp-a1KvEMk3iDU2IT-NhVbw-HHE2PFt4r7vZjjZf93EwE-tI4WTK6bVw8iKeJf-MwIZ6LiVHg0hH9hYJg19STiPfQXzpRWTM3jnR3Cj-RgL6UwXBk1o8wNaZP2DS_yd3guRlMoe74McK-5rdhkb71RMHoUgybZIfowHfHMEAX08yfAr7aoOT-I7VVpvvUiflXA2gINSO6dUCJsgBLZVLlEqACMIHUVI_ZvGQvtbF6Uo1DIpkMlW06-6d7DeOsL6w6QY8i0SFkGCQGMbHm2BsValyaWHF8CM17ZqGiXHgFtRJ1VWBtLv1H9q9QOQDIRolMf9ubjTDBHMbR_oud7OR7MlLz0VKP5pqbSf9VQUvDNiZA-xDJGsR2p1C6e3kVn_0mPAb0EWOfmxRtW_m98QrwPee-Nkw9M86mHaCbkhhVrazeKpSgchPUZlCr8lMH_aRoH6U1f4khZodZ954zKS2SAQDNHAO7psMomItH64rW9pjzU3rb6gInlir5Gy6RIm1YekML0nr82MbxjcMVwdEW-3_ab6_BrweurzwHCcJZJvnVW3c4_gX8SXQvfda2u3C7iimYjeu2CQbDM_m9jGN_D5qZqfFiH0AhEqLhSfCJIj642wR6zt4PLNZOcVr0UKYH8=",
  "id": "rs_0e22b9bb7f98c4bc016ab47370f2d887d0b9e93adafbed155c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see plush animals and several slim pen-like objects between the two baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the rightmost pen.\"}",
  "call_id": "call_4m6e3cTSZR1v9gXrMLSTRB7B",
  "id": "fc_0e22b9bb7f98c4bc016ab47378a27c87d0a283c6796ae4b33d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4m6e3cTSZR1v9gXrMLSTRB7B",
  "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]: [-0.0189, 0.8017, 0.6151, -0.3805, -0.0219, -0.0341, 0.9995, 0.5358, 1.3186, 0.7193, -0.0994, 0.4187, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1829 left_yaw=0.0031 left_pitch=-0.0042 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3509 right_y=0.129 right_z=0.1303 right_yaw=0.0307 right_pitch=-0.0577 right_roll=-0.0302 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3333, 7.4325, 1.7118, -0.0317, -0.0171, -0.0269, -0.0889, -5.4496, 9.0735, 1.7998, 0.4225, 0.1538, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de51b4852692e6b5b1cb219d5859cbd77706eb27ade0d56035c9c1117d111300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b4c0bc9847a0b9f8be8854f80e10e44b0c9424a2e2e376256eace3b24ba244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63162e3be4b9601462cf8933910b9b5fd8fd77e9bb0f0b801bd10500eebcfb4e",
      "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 · 3.749 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6163, -0.3805, -0.0219, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3843, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1842 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1813 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5248, 9.4154, 1.8193, -0.022, 0.1197, -0.0659, -0.7726, -1.1145, 9.7846, 1.8339, -0.1001, -0.0317, -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]: [-0.0189, 0.8017, 0.6151, -0.3805, -0.0219, -0.0341, 0.9995, 0.5358, 1.3186, 0.7193, -0.0994, 0.4187, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1829 left_yaw=0.0031 left_pitch=-0.0042 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3509 right_y=0.129 right_z=0.1303 right_yaw=0.0307 right_pitch=-0.0577 right_roll=-0.0302 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3333, 7.4325, 1.7118, -0.0317, -0.0171, -0.0269, -0.0889, -5.4496, 9.0735, 1.7998, 0.4225, 0.1538, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de51b4852692e6b5b1cb219d5859cbd77706eb27ade0d56035c9c1117d111300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b4c0bc9847a0b9f8be8854f80e10e44b0c9424a2e2e376256eace3b24ba244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63162e3be4b9601462cf8933910b9b5fd8fd77e9bb0f0b801bd10500eebcfb4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHOJYOVXV5z_GSE-X7JrJ2zytDeotzXWuHLW79Cy4_PoMgjnSg6XiCvPmWpY8RjRTJqZUGRNsexE3PqU-DsXNcbEx3F4LQsyWW5Ym-mn6BswuVU1LJvof0qPqzj6nXmL4yAIlARbKAf9vrSRSonxa7_pkXK1hlKllkiV0nGXYdAt3h0_Y-paHdmqOX_yMpKRelSD4FYiMQaNf2vjZsQYRMHDfQ7iVXp6sTcWP-Cap-MRo3cu9tq9KkLiW2YTqFxjNyoQB7oubfbXIb2t3Nm2K165Dh6y94iFtVcXcOzfpbw0HamK6s5HqK13kyrWSq5ZFXzblBN8DnR5iaZbgx1e5iI3FVQaqy_2je4B4lFGVdv2F7OEETTLlwDstfQ12opboTH6s4TbwQ2BrNhWzGkb0StfZ0NUjWBD-zkLjrZ0IAIEvBcWsxBQXeBtPsJSGMInlTTSLRUAp2UWYTAsPzkzUmo6Taj_NXToJ1E-W3DG8WD6Nuqpga66sCaOvBE3NmrRYyUqsNjL8h_IRlE_OZBB6Oea6A3lP_9Nla5Fwmz9l77VoETbQa2HepHq53mEEePxRy80O_I0bkHFTyCbuuTC8NB8OunGNRpH0KozcSSmYWTkH5j5Xn9_qZrz1lqkno-wlEkX0GNcI65YYv7PxgY9LCC_muGm4DntuSaz2eBYWjm3caYgdOf8IVXzxvb21tcVWXzcCqLavzNekQ9lyVQaAee13Sy-CuQEJ_0xzU6pHw5GwvO25GYWXpKliEZRL6zC8KljjsNtoNknr6FjU1gzH7aYgQLVbG4DCa3T2GIUAjFTaNsQkd67uv5KoguuexRgPqJEAVby0wu-ziXzwaL8t0tEvZFjCmdXv9TiYvlN7aVqIU5LdepEvbegZERvDjy0k3eUW0WO7baCFPXPLj-5ielsviSiTFirUs4spdnTrnWSgLppI1CqRpIcGdx4bjemzwy0Xgc6cqTWOnzfuypdUc0EMLdzMiO7z4MfTz2EkFZCYR_HZh6QuRkEychQWN4IOuuislDoClDzivMEXPiXeaETvuwZdflghGUDXAUS0zIwRCndxa_ig__ouqE9wypTwNjBqoUXznT4WkZ1gH4shUpYykNO1xQMKEKPdVo1v2bZd7dRDlJgVQLeA2waRbfc2ay4ewPVzj6E4mtIBnnjvYI4Yux9g_mkTpaJJypIVnRRtUNlKrDUIM2VNTZ6dhRn-J33QKQ6rG1dN1TRM2j2EokrRGYOVdR_zEEqwPYum0lBnXFlPp6ON5NcZPCtbqbE4zmCp0X3LwuOyhIvkyvnr4t6zhrsw2eAV7SorVZQ9OIaV3oMVISW1Z56iNR2xOSt4qIR4z7tNgPZaEDUX1Ah50krLdisTN9RQhCsRm3bfuMBzHdfwypvK9KC-6zuSCiMJVRiVUJtLXXHUdRm7o2xq13SNOfRi7glCwNwXoLVUtzC91quj8dJyQx1V99lDGc8BwyqikB3IEupkQIpYxqZdof6Lxlg2nQqgyO1RBT9H-bgNMQ_MTchzszbrBPFrkreC3tfFduwyfTmFU0K4Liptw-jBla6cdeO7cPzEkD7LfppaT8mxyfboUeofAPJ2MOLYqb09rBPQO9VWvaSBtgHVx5IFphXkX2NwPmpjgcdzHQJZdc9gIfKUC6Qw8iTnfH0d96Ty6_2LV6O4BwSyzvowDpYBfr4GRAD3pkMJW9SqPTDOEbCW9eeuq3Jm3OUb3IEkAhzEVYyxVv5y4LoleTbIBBPoklhdCedpoOyU_ptTRftDufPEcdM9GjJl615d6RGB5EDmXBkiMjmgB3qZxQL9W4Aqf3NafMDiHJbIOBxNWsVJ7eg7Cb69lp89xhCPTJoIZ50N0Z9n5GwQiftrCY_ZSV5LooX7UnpHuM4gfHDupgeXabB-CPaxgy_KXJR-wJCJG6SRnFwim2KrCv9D6HnlFZ2aOAegpTQjbsRM9-nvsQDpw9yohGge1Gyk8lDHl29W5OLMo6YvAkFRTDNUVUzAT0_buB1-ftduv2122X7qvr1X1PGQohoSOR34Ryhdcc-RycqM84HjRBCMZgPFTUZDruv7lLjb0gVRW-IYGSwmYzw-9i32Dl6FuxRs0wO6G8JyAumpjrplzmdaGtXUal2DEYEtk38yjTqXEKwwa8uXhGvlSXlTFVqBWVBooPAwEkeEMFDSl5d6yPXOE2jwBczIvah8_jJWt1wp2HYNszqXHNCw83DUFp0exqZRoRqrAqeKssawuLwn_OUYfk7vtRN265lgSxdAeMr3a1FpxwMmzTDi3GLoJbNCiTzlNaNp3qp6k7xTh0VXsiIigaJN9NjDH0rA5lNRPgPtjpeaOiJMiNTM1-D6csxd_KR1sAMTuY4o6bBggneMD4k08YotUuteqC0cd-fMeb76NvXfg65cPJijyTTOsMNlHUjUkgOKGZ2N0bpA3nd5p9fmGPa5dQ3DAUgexWIcZXoB9syKFKe1M6CzZxN9nAFLm0k2QIFFFOnd7rJhkBuxJ4RivOwmOwc2j2O3KfXZtvGmHg50q92iD3U29Ox-zUyHudJSzeKCEoU2DfvwUl_pAjBphSmUxKRDM4Jr9zktNRHOMs4dRJydD5MD-SGBtjSto76s1LIK39IqW0kR9nFOEpQHdTXCAYAciATTA-xYobYnLdBg-0dfH-ocZMZVzdN-G2VdoIX7F6MmSmsSRBmanxDqKnetIiMXy-tGv5icACMGoWw-ghwwj7UTzJLZxjI3C9sivL668nEg1v8FKRkKOmGvlX7Og0Xh8wmp3haugGwvUC3rsNG6kmjQ66qUS0wqWBJSrl5aDUbzj6_yc7ABTDLMneEwUwWxFxyxdfDo-v2H35t9npnQb4651Cu9bhd2dz_kwAWQqmQJMrkLu4aOOaUxWPffL2S64ldewT2xP27b0Z5TYewsMcDBNltkzzQkN-e6XHTsOsvXOvA",
  "id": "rs_0e22b9bb7f98c4bc016ab47382566c87d0bfa02cfa3293fce1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.14,\"right_z\":0.025},\"note\":\"The rightmost pen is just below the right basket, and the wrist now looks past it into the basket. I’m lowering the open jaws and drawing them slightly toward the base to straddle the pen’s middle.\"}",
  "call_id": "call_N0nP3IUUvbwjGnE6gVN4gjLp",
  "id": "fc_0e22b9bb7f98c4bc016ab47388679c87d09c193197b6c5203c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N0nP3IUUvbwjGnE6gVN4gjLp",
  "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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0219, -0.0372, 0.9995, 0.701, 1.5093, 0.3595, 0.3603, 0.5201, 0.3981, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0048 left_pitch=-0.0065 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2958 right_y=0.1395 right_z=0.018 right_yaw=0.0508 right_pitch=-0.0937 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.2513, 7.2137, 1.7753, -0.0269, 0.0269, -0.0122, 0.1162, -4.9436, 4.7658, 1.6532, 0.4225, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab493aa34c04ae44bd7ea0e36e508fb02a1dee018e976bd88d0aeb56b1b4309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a640c81d822a4b6045a8fe0e246993ec856aca8275d4fcf09483a61028a8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ad0feb4d69e66385861e1544bf89d48e1288b12efb5594ca7cf829cbd5f1ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.331 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]: [-0.0189, 0.8017, 0.6151, -0.3805, -0.0219, -0.0341, 0.9995, 0.5358, 1.3186, 0.7193, -0.0994, 0.4187, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1829 left_yaw=0.0031 left_pitch=-0.0042 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3509 right_y=0.129 right_z=0.1303 right_yaw=0.0307 right_pitch=-0.0577 right_roll=-0.0302 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3333, 7.4325, 1.7118, -0.0317, -0.0171, -0.0269, -0.0889, -5.4496, 9.0735, 1.7998, 0.4225, 0.1538, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0219, -0.0372, 0.9995, 0.701, 1.5093, 0.3595, 0.3603, 0.5201, 0.3981, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0048 left_pitch=-0.0065 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2958 right_y=0.1395 right_z=0.018 right_yaw=0.0508 right_pitch=-0.0937 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.2513, 7.2137, 1.7753, -0.0269, 0.0269, -0.0122, 0.1162, -4.9436, 4.7658, 1.6532, 0.4225, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab493aa34c04ae44bd7ea0e36e508fb02a1dee018e976bd88d0aeb56b1b4309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a640c81d822a4b6045a8fe0e246993ec856aca8275d4fcf09483a61028a8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ad0feb4d69e66385861e1544bf89d48e1288b12efb5594ca7cf829cbd5f1ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOPQIf_NQ8XGroRoyLCfSmAHSSVHP10HK2kKdSvStCOSCd_AAf-YXcJjxiQa5EhOG8UL3SRNEpJjTFg2DHjT-YOGqLFFUZit6iuQkRAzOfvjB0V9492Fsb8U2hlAY3zwaZXFgnT_e66TV4E0nRABW1om-iwcUFmmOrvcNvxdeI1w1iR7xKBcdnDv3o8bW27XNIbyQfmsKCUzbamkuOfNDmp4ugCTneXEogtnfCWs-im-pdjeuAg7mOaCvk1Bcp188e2cfgo5jbKI5Ru1k9o4eHJs7dM8C7n6TK6uxcVr7v9rgCS4HU0CKh-Bb5gAgyVDbD5ZE60at1JLJR76fKKIB_yW_qyhTJ3Wb91BYYqfw7vsbXKZBBGUee2eqNFOSz4setKnfAD7XHrbycRN0ZHVcvFQ7SFj6QE0M2Zi_U-2oxx9DGTu7MepsRXj81_LTqS4bu6neQd8gu2F3NLj_MigjTH8SScFHvBQ1ajdDkuf6YtFQA2z7Qnh7xHqRgmXgrn_0p3tR6rKtX0M3c7Yj3yQEx9YlsyqQOh9OYqCryJYMbl1KfiVpQMK4kdRSMx2IgKzg6mx4NQsGb3RspzxE6GOcKR0pbO3n3Fj4_GNKiG518Gupgo5YoZKeKmlT8OlrC_Yl50TiHE4b-2EWCM-Xact_pNTeHMCWu_wkczBGtlxmanGfDV3tKx-rymXNfPH0scBC676vuyXcEP3fN0eHqA1ttx5nVPfoNZv39qFXhy52chmn4kvpeXNLLzhbJ5JFFlYa2T6mYtxpZLIUpD_VIgZPjR51Dje4z1tgsD9ZdSK_06fbWBFVNQu2av1k-hBhAWKorRFhygbu8EORj_iVmoTmcuQl32tbF8FlAzKjLYr9NrQN1S6Uaa9TuOhvRcjehF0BS22oBIxruV47RzDNlTdduGPSkeuQw44oJa6Iiw4Rq6sSNpi8GnsYiv67SpRN9HLdRiHjiP77NctYmiDHEtvyfvR_lgPHEaeD5H7GWgUEdP5_GubZN04CrNnVrVjGnUIdkBNeNfgAM5RFsWAYVUYmO16jgIzDcUjBhHKJ3XS_SxCPFFgSZ2yb1jpwKLG4zH6-C_z3RIRnf-9Mn0pTZEeNNnbmNHzn_oCt81VaByrpc5hfTN-XU2br4Y57jVb6i9nkYyUkAgUUVEwESAgQ9o8FpmdTt4LBG1R96dRRZKvn6uHHnTfI40VtoBj9GadQSCcCn3JSXTNh27AOjCFlJMkGQW1rX_kYeKdLG69xr5zWBPvQxhY5uTflMfmcXg_H3zXEkS4YwXy9tu9ys8fMAQ6ZhIBRGvFuXvMcZcSess4nQbjC1POH_5o3PMmi5yaRKypJr4y1QVZN73DlmE8z7QWp23WAgG3tGbu9oS9W8cJyL8mOXEFNUORjEyk9NBGCVXdPZt_sCyM41XaPnQaBxonOPdrMfOv8RfOaF48iiueEH0_LcsynCcMolnR7oS6tbISesJy28043KK68UuZXQw6viuVYmAXD2C58SPPM_gey58Khi6_qmaIhEDbE11UNP5BhsXDLMYhyUkGNPqrMWS2_HwzfyMR7p1xeGAHb2JWK1vDx4=",
  "id": "rs_0e22b9bb7f98c4bc016ab4738cf31887d09c490cf148615042",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.005,\"right_gripper\":0},\"note\":\"The black-and-white marker is aligned with the jaw column in the wrist view. I’m closing at table level around its barrel.\"}",
  "call_id": "call_hOHRTzzhiPhlTLxzSVg0rqxa",
  "id": "fc_0e22b9bb7f98c4bc016ab4738e892087d09f6bd6f2202cf2d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hOHRTzzhiPhlTLxzSVg0rqxa",
  "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9995, 0.7002, 1.618, 0.3428, 0.5468, 0.5247, 0.3935, 0.1502]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3053 right_y=0.1462 right_z=0.0105 right_yaw=0.0515 right_pitch=-0.0433 right_roll=-0.0149 right_gripper=0.1502\nstate[joint_eff]: [-0.0752, -1.2923, 7.0632, 1.707, -0.022, -0.0513, -0.0122, 0.0342, -3.2068, 3.0838, 1.2039, 0.1197, 0.0366, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77dee1ab9eeda8876b1c9a8b5f2b65a7b33431281aa11dcba0fd6fe7c19ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f7ea5a265d37ff29eb6a14e0218d1fd47f017e9fe0b7f9ed037c6540ac6e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd70e9a8f410adcbfc309379ee6092698d48f08f9fa11ef766a39e931e4e151",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6163, -0.3805, -0.0219, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3843, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1842 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1813 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5248, 9.4154, 1.8193, -0.022, 0.1197, -0.0659, -0.7726, -1.1145, 9.7846, 1.8339, -0.1001, -0.0317, -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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0219, -0.0372, 0.9995, 0.701, 1.5093, 0.3595, 0.3603, 0.5201, 0.3981, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0048 left_pitch=-0.0065 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2958 right_y=0.1395 right_z=0.018 right_yaw=0.0508 right_pitch=-0.0937 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.2513, 7.2137, 1.7753, -0.0269, 0.0269, -0.0122, 0.1162, -4.9436, 4.7658, 1.6532, 0.4225, 0.1148, -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 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9995, 0.7002, 1.618, 0.3428, 0.5468, 0.5247, 0.3935, 0.1502]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3053 right_y=0.1462 right_z=0.0105 right_yaw=0.0515 right_pitch=-0.0433 right_roll=-0.0149 right_gripper=0.1502\nstate[joint_eff]: [-0.0752, -1.2923, 7.0632, 1.707, -0.022, -0.0513, -0.0122, 0.0342, -3.2068, 3.0838, 1.2039, 0.1197, 0.0366, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77dee1ab9eeda8876b1c9a8b5f2b65a7b33431281aa11dcba0fd6fe7c19ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f7ea5a265d37ff29eb6a14e0218d1fd47f017e9fe0b7f9ed037c6540ac6e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd70e9a8f410adcbfc309379ee6092698d48f08f9fa11ef766a39e931e4e151",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper has stopped at about a 1.4 cm gap, consistent with the marker barrel. I’ll lift it a short distance to check that it comes off the table.\"}",
  "call_id": "call_md9Lj29YJQvMPHVPHUebTGr9",
  "id": "fc_0e22b9bb7f98c4bc016ab47391826087d081df3d4dbc8a4e2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_md9Lj29YJQvMPHVPHUebTGr9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6991, 1.3331, 0.4454, 0.1497, 0.5125, 0.3897, 0.1505]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0052 left_pitch=-0.0076 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3021 right_y=0.1455 right_z=0.0658 right_yaw=0.0615 right_pitch=-0.0558 right_roll=-0.0172 right_gripper=0.1505\nstate[joint_eff]: [-0.1846, -1.0462, 7.0496, 1.707, -0.0708, -0.0611, -0.0122, -0.2256, -5.3402, 7.9521, 1.409, 0.2662, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea082e3971ccdd9a5f5983c87feab6b2352ea659426b9abfb4caf40b4189985",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dabd25feb8d2d2466ae43cc4e830cf2d9ea7f59473822eee38887e29c65051",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f8ce52cf54136934327423ef946894e87a6d0e6c0660a89a1ecd5a9a0c10d2",
      "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 · 3.728 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6151, -0.3805, -0.0219, -0.0341, 0.9995, 0.5358, 1.3186, 0.7193, -0.0994, 0.4187, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1829 left_yaw=0.0031 left_pitch=-0.0042 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3509 right_y=0.129 right_z=0.1303 right_yaw=0.0307 right_pitch=-0.0577 right_roll=-0.0302 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3333, 7.4325, 1.7118, -0.0317, -0.0171, -0.0269, -0.0889, -5.4496, 9.0735, 1.7998, 0.4225, 0.1538, -0.0366]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9995, 0.7002, 1.618, 0.3428, 0.5468, 0.5247, 0.3935, 0.1502]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3053 right_y=0.1462 right_z=0.0105 right_yaw=0.0515 right_pitch=-0.0433 right_roll=-0.0149 right_gripper=0.1502\nstate[joint_eff]: [-0.0752, -1.2923, 7.0632, 1.707, -0.022, -0.0513, -0.0122, 0.0342, -3.2068, 3.0838, 1.2039, 0.1197, 0.0366, 1.0623]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6991, 1.3331, 0.4454, 0.1497, 0.5125, 0.3897, 0.1505]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0052 left_pitch=-0.0076 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3021 right_y=0.1455 right_z=0.0658 right_yaw=0.0615 right_pitch=-0.0558 right_roll=-0.0172 right_gripper=0.1505\nstate[joint_eff]: [-0.1846, -1.0462, 7.0496, 1.707, -0.0708, -0.0611, -0.0122, -0.2256, -5.3402, 7.9521, 1.409, 0.2662, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea082e3971ccdd9a5f5983c87feab6b2352ea659426b9abfb4caf40b4189985",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dabd25feb8d2d2466ae43cc4e830cf2d9ea7f59473822eee38887e29c65051",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f8ce52cf54136934327423ef946894e87a6d0e6c0660a89a1ecd5a9a0c10d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOX6-1R0HDb2z769iF42_IxwG76dy4Q1dyVKbM9c6Fg1w0q54IVD1wP1f0YFTNxsPgkAnVvqYddvSj3i9MrHJ__g2558AfDjd-fO5UfgaZGJkWIAIPz3L_8k0104CxNmF9mPzXK_QOVRDuhxUkpoXJIMUcfcSR7HdJxSZ8e8DmakbRRRZuk8biySDvi4w6gR146EhSmGTi7CXePsZ6vzlskYK6eRv0FT5ZvKhbfxZzudiR1U--oE2PXnDmaMBhrIjh4FX840hwwqUSSN8E0YcZjkmehayOhhpLl8e6q67G5Q27MxzUtmUGEGYKJ9WcbNqZovdqvkni6UtodpYMXmU6qI_miYlxMPyqUdvLMtn7tG4OJ0mEmcCAgm1Q6A4X_mddX-uhZ4He2U7GnPp1eOtFTuFlOz_myhZSGp4KfSyTS7lr5Pc57o3swTTiw4xVlNqDdMYLA9SmmXuNGVNQtYbsxtnpzPPydrqL3MvhrTmrLm2djaKAq29_l9LFXEGm7-DWWfp_wnuAX1289MVXSRMnVSC6p4ODdm4D38_XRZrkvhIgLBtrsEHCh2wfW041S_YKe8rY5ywUQTT5RfbLpaxtHVaR3zl-2yXdtSADX1oraMxhzVauBHx6mCWGq8STq82Xudkqp3d1jzXGsDxsQ945tpT0skVjC4WV-OiARwFQHP_0d88P6tGODi6_xVPUw2IvOg3Osj6mka7dic42QVt0qrnVXA3A4qqFqdk1p_dfdMaEeIt9VZZGZvonsxshrcWDoYE-uhJTKu75MbyILr2UJrlqjdgqhiMTr87s398EDje-DHrRWTwR8DjKaAOIp4B9ofaP5oGnvIlkcheEXoHdQ_V348O8wHgflN02Oi21yuoktvSWAJL9MZwyWerDWbJxORB5NlQKLcrCJ4jmqW95qGTzqE-0JGQFzRm2knJiGtsINnCokw93InmvkkuozkbPnRzVi1zYZ98uO0emL7hbNfJkuP7UIJ_hv1q98sL820Urg8Shd9LpTaQH_Ya4Z7X9OmxXSq6ia9rSt0dcU1wAeLrcnjG56YZ8NmTlB0_c76OUEaPFH393sHM2Li1cySYbDpvwirk9rsLKHM1l1qAFlwNeb85Ch8uEvB-5fd9Elj8j1Y7Mr1Pu0uinwGYprNAyRhSeiCh2CVY7Jhio18yXu2STRRaf7PyGNi7mtiR2Et3XNX2d3HxLn9h2Kk3DmcSG80BfzX6cgOIxzsirFzXKT-bmykryIsbW8Cuar52-qD_MMbgwYM8hs-AvndWLOL-6C3IN5ZI8EOkaiRPJ6s2vLTo3jgPUIJJy7dyXGaWh-V3mvpAGDZvcdx_Efwn3LtezEIN7Gg_EzAd_rRBq2odjFZr66i0TGCEd9BWE4Ki2dSrIxDldzCeUWIPcyH8RyNWVRW7CgvH_5pUY3pdGFWLnSsr6Rig-UObB2GUXlwkORaMSRCACDa2cN0I-T-_kO7V54To3X7toshFx3L6GuQ8Ex_Rlm3dlNJDSJPRbda6LDECGBO6SY2wXCgwYD4HmMZiFBif0thrkFuhQ8-lQkrcGN2a2NqZoQMfSn8JYcRKK9V0VcU9eSxmd6wAkl_0hHZfGd2O0sm5cR7of-lYLXEdbOIRGo_yPMQgVTek96-Synm5gi6_nvjFDG9U0lwDiglTtm",
  "id": "rs_0e22b9bb7f98c4bc016ab473951e0887d0b36da6034f6b2ec4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.15,\"right_z\":0.21},\"note\":\"The marker has lifted with the jaws. I’m carrying it forward above the right basket, keeping clearance over the rim.\"}",
  "call_id": "call_u20A97P4pRTGklSqrRpDGONw",
  "id": "fc_0e22b9bb7f98c4bc016ab4739709d087d0a6563ffbbf0c1a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u20A97P4pRTGklSqrRpDGONw",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3855, 1.7546, 1.4189, -0.355, 0.2665, 0.1642, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4839 right_y=0.15 right_z=0.1944 right_yaw=0.0689 right_pitch=-0.0914 right_roll=-0.0328 right_gripper=0.1505\nstate[joint_eff]: [-0.0889, -1.7709, 7.1043, 1.7314, -0.0464, -0.0415, -0.0122, -0.6085, -9.1692, 9.7573, 1.663, 0.0562, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779fc800738004c3ea0b697f3ccfef062d01c10e211ba22d9622e93f1c6942e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af6f020fcac4e00e986cdbf373478713b97973cd1ca56dd12c96fa61957b765",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2ba28cb2338987097ee3274f0d10134f4c4f73b72e8d8985f0303d57fce841",
      "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 · 1.968 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0219, -0.0372, 0.9995, 0.701, 1.5093, 0.3595, 0.3603, 0.5201, 0.3981, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0048 left_pitch=-0.0065 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2958 right_y=0.1395 right_z=0.018 right_yaw=0.0508 right_pitch=-0.0937 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.2513, 7.2137, 1.7753, -0.0269, 0.0269, -0.0122, 0.1162, -4.9436, 4.7658, 1.6532, 0.4225, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6991, 1.3331, 0.4454, 0.1497, 0.5125, 0.3897, 0.1505]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0052 left_pitch=-0.0076 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3021 right_y=0.1455 right_z=0.0658 right_yaw=0.0615 right_pitch=-0.0558 right_roll=-0.0172 right_gripper=0.1505\nstate[joint_eff]: [-0.1846, -1.0462, 7.0496, 1.707, -0.0708, -0.0611, -0.0122, -0.2256, -5.3402, 7.9521, 1.409, 0.2662, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3855, 1.7546, 1.4189, -0.355, 0.2665, 0.1642, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4839 right_y=0.15 right_z=0.1944 right_yaw=0.0689 right_pitch=-0.0914 right_roll=-0.0328 right_gripper=0.1505\nstate[joint_eff]: [-0.0889, -1.7709, 7.1043, 1.7314, -0.0464, -0.0415, -0.0122, -0.6085, -9.1692, 9.7573, 1.663, 0.0562, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779fc800738004c3ea0b697f3ccfef062d01c10e211ba22d9622e93f1c6942e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af6f020fcac4e00e986cdbf373478713b97973cd1ca56dd12c96fa61957b765",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2ba28cb2338987097ee3274f0d10134f4c4f73b72e8d8985f0303d57fce841",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHOinqsXSHEt5W49csfci6LPBBQ2Z1i8VqpH0Q1YK3hzKXEN0XiyJ6igbOORDYQz3dmfU4kgn903F7dcnl29H2k8cJ5sjp--PsIsvjmgbj4Bzi9hmZAF3651lxL89g4QtUOqMQhREgR8Sjbh9wgV80h2Boufs_8uFXKARnPINWDnaTdpzoUv_fz8jShARc4PI86qo6Zy-FO4tTp7FThKG8EG7N-g-rOOF5yjkawSiiEbqpeOxepmmvbUZQlV81N-tNANJowH6XgWhTtHiNTYgsHLeWPRjMR28nn6wkN2giAvcIZl4Y4CwSwE84shQsZe2f-GNkm4t_rPVoNlB0CWGrJynh0p2VdahOG9MAN06EmQnewRdr102wQwFj8mP5eBN8rSyLA94FAuRm0hzqdLvxCtmEPbWGFHo55UAbJ6dsUTRcnMNTUBeNPCyhKjj10P8s7noiMCuZ_tlyBSCCGPnp1f8BBBKWr2cni1nouXVkCKvPehbRGbAWtRm0idRBFZzXzUknyYVGLokR3McOe0lGaypn2ReaD8FcYidbA0-SSmg6YU0dlw00JrfUjKZjhNHiOGkU0rvhUCAYz4TmepP0xun2SCLE2MU0NBpZiY_jhxYtg8qTAnELp03QQrd1GhyCoSeNItdjN0O2lzbqnOPe_qgRumI37CP-nwaae2W-HrAL7tAbvmXjPeoCn-QgNh6g4CfHgY26qXNm-cfaqA8YIx9u4ffXHoZwXlTVoPPuNQMw2nYLusBALCpwNl3-AS4FD9XHLMIqEdHq-DAHGeoFsRLtkE5mcGt7lIns2Vbf0N_TlPXQ2h218lPW4OP3N4N2T7JefYXD1YryPmCCJzMerTdRSGwpMclOMWMT80B48In4ZB4t-oGQ9RlHwLdVmCKMHBQAyY7FD58BzZVwD1X0Uxm4gr06MerX6H3GmWcdC-zCHyS3dTmcOn1Uw9YPSapmJBNAbLW2_fZwoLb7MNtwTAHt9iohdqGuibzMuF2WrMoqjfbhPQTB-A4C_t649M_DYDLe1CXG5kZvXFrozThdxBO6nfoVw4Mmkh6NmobKNKe-eIoUJjfWuuws8a8ywRl54IlFeWfgqQXk0K517fwQjHY3gnTJ-0Y0h1E344rdikagiQAzgyLo9LPpG-xsJSFpo3XHxgKvTD9MTRgXpb4JBklrrXEHThvk9qj3-JgYEUCysAt0t29-mCkcDxj-FCCynxALJZQvCLn1XmeaeicjhnyOFXpzhqjboEuAsu5Olbj5N8O07r23XdFA9rB7sarAVxR53OXTIAcV5QvQ_gEQDHjlHNylDR8J-WsHwAfHOae5IANUTPfao9uC6RsR75EJVx8Jaf2SD9IxXmKsUn5bzSrjTwuc2pW7uH5ncK1GECfPXIUZqMI8zpC9dspP2Z1uwg2fZDepFSpaaf_hcgWWCvj50Ip8E94uxVk78m10YuaE-aXKTay5AjQTL9ed10pmY5GK5DAdkmW0utUAXsy6VhczYlkQQ-Csfm05eiNIaZATIIekYohhMgf4uvvkJ36rMQ",
  "id": "rs_0e22b9bb7f98c4bc016ab473a07db887d086d19d430b27846f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The marker is centered over the right basket’s interior. I’m lowering it inside the rim before releasing it.\"}",
  "call_id": "call_EgSIMoUhwcbvdskN8a16TvWo",
  "id": "fc_0e22b9bb7f98c4bc016ab473a26c3487d0bb05eca6d0316859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EgSIMoUhwcbvdskN8a16TvWo",
  "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]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8336, 1.1637, 0.0044, 0.2668, 0.16, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4861 right_y=0.151 right_z=0.1135 right_yaw=0.0718 right_pitch=-0.0675 right_roll=-0.0286 right_gripper=0.1505\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -7.2, 5.3402, 1.3993, 0.0708, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60f65226b201534796fa3159bb64163ad1d9f58e10a47cc47bbe3d9744a15f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625f07bdba59433ed44687e9f6452741456a6ca319f2abbf6c419463edd3537e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a95c45e579a8de47e76360540906e7e435527e3468ea935491fac604d7881a4",
      "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 · 7.352 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9995, 0.7002, 1.618, 0.3428, 0.5468, 0.5247, 0.3935, 0.1502]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3053 right_y=0.1462 right_z=0.0105 right_yaw=0.0515 right_pitch=-0.0433 right_roll=-0.0149 right_gripper=0.1502\nstate[joint_eff]: [-0.0752, -1.2923, 7.0632, 1.707, -0.022, -0.0513, -0.0122, 0.0342, -3.2068, 3.0838, 1.2039, 0.1197, 0.0366, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3855, 1.7546, 1.4189, -0.355, 0.2665, 0.1642, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4839 right_y=0.15 right_z=0.1944 right_yaw=0.0689 right_pitch=-0.0914 right_roll=-0.0328 right_gripper=0.1505\nstate[joint_eff]: [-0.0889, -1.7709, 7.1043, 1.7314, -0.0464, -0.0415, -0.0122, -0.6085, -9.1692, 9.7573, 1.663, 0.0562, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8336, 1.1637, 0.0044, 0.2668, 0.16, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4861 right_y=0.151 right_z=0.1135 right_yaw=0.0718 right_pitch=-0.0675 right_roll=-0.0286 right_gripper=0.1505\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -7.2, 5.3402, 1.3993, 0.0708, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60f65226b201534796fa3159bb64163ad1d9f58e10a47cc47bbe3d9744a15f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625f07bdba59433ed44687e9f6452741456a6ca319f2abbf6c419463edd3537e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a95c45e579a8de47e76360540906e7e435527e3468ea935491fac604d7881a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The marker is inside the right basket’s rim. I’m opening the gripper to leave it in the pen basket.\"}",
  "call_id": "call_bGKl1k2qg0spRMglepXtD1Oj",
  "id": "fc_0e22b9bb7f98c4bc016ab473a5d65087d0ba9756a298e4b058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bGKl1k2qg0spRMglepXtD1Oj",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8397, 1.1564, 0.0086, 0.2668, 0.1547, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4849 right_y=0.1506 right_z=0.1083 right_yaw=0.0745 right_pitch=-0.0763 right_roll=-0.0357 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.347, 7.1179, 1.7118, -0.0513, -0.0366, -0.0122, -0.1983, -10.1675, 7.0769, 1.5702, 0.0904, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142782d495cf0ae7e2ea6c9deb4bdff785f6e7617f10c131d21a2356ed05d4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3192b3cd983b80f57ce623317d1994a8ec35c3500a34042833c063a7c244cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4308f6bbbcd499cc89e294f41056d0f20b5fd2dad9c3be836a0bec8912780c5",
      "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 · 6.237 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6991, 1.3331, 0.4454, 0.1497, 0.5125, 0.3897, 0.1505]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0052 left_pitch=-0.0076 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3021 right_y=0.1455 right_z=0.0658 right_yaw=0.0615 right_pitch=-0.0558 right_roll=-0.0172 right_gripper=0.1505\nstate[joint_eff]: [-0.1846, -1.0462, 7.0496, 1.707, -0.0708, -0.0611, -0.0122, -0.2256, -5.3402, 7.9521, 1.409, 0.2662, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8336, 1.1637, 0.0044, 0.2668, 0.16, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4861 right_y=0.151 right_z=0.1135 right_yaw=0.0718 right_pitch=-0.0675 right_roll=-0.0286 right_gripper=0.1505\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -7.2, 5.3402, 1.3993, 0.0708, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8397, 1.1564, 0.0086, 0.2668, 0.1547, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4849 right_y=0.1506 right_z=0.1083 right_yaw=0.0745 right_pitch=-0.0763 right_roll=-0.0357 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.347, 7.1179, 1.7118, -0.0513, -0.0366, -0.0122, -0.1983, -10.1675, 7.0769, 1.5702, 0.0904, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142782d495cf0ae7e2ea6c9deb4bdff785f6e7617f10c131d21a2356ed05d4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3192b3cd983b80f57ce623317d1994a8ec35c3500a34042833c063a7c244cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4308f6bbbcd499cc89e294f41056d0f20b5fd2dad9c3be836a0bec8912780c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHOuO3PrOpkVPmyXsI95ZeVbrw-VA-n8PXpYRP_XapSGEYANNvf1muR7BKD_JUM31YpIwqwSfqtT_GHG0rcpghiyyUjy8T3cL0cY2pm7C0BTrKHYWp3pf15-4NHtoZ8sZuPadIPdIjZTbgL_CgCHLQnVUeeG0VNrNxxbbEarQ5Yi5h50lIu8Ur1Stc2dQuy6bvRra205d2C9IvF1FoHmm-REq25RbvwZ0vFpqZQyo10yO0zH_hFMiFdEiMW2YogpJHQoiOgvszCJzc3lf9jF1PJXTe7j5LAHAsrri87Sto8F-YIjOh9cHDOBL75QVZL9bT58es1drXfvRMr5wUycjvXmJXIlep3sQhtlmzhK1IKCC8xVGX574XfpDi8nJRasLGpmRrs8thJzfEhreCbLyrEtChfTxD4OLbNrh8zMRTESUk6I_F3tAzQiRj3ZYYM1Rh83F0l74lbMBS0WcDxziAOISnnvVN0goi-rvrjC6IDv9conGpf8-DH6VKwwtWB5vVKElwiPkkmBaIK5pQyJmf1f1wqILqd-HoUFdoMJuv3hjccO-xKyb0VdkA95jY35o582iH67IP57KfFWv57NmFo8suL3MERcrAHbE3Tt-ywk5NfnrrmPDdwjseFfqFR1IQOq9ZQZmAMB9hSguCQ1E4hg0MhbJMzVN6AAWQN-Z1Y0bToMgHHyxuBm5d8a-pwYF5RC3QrlucyfRiXwKz45-BLIW6iNANI-XsIATfjll2z7ERmTTX0VN34jzsdjHo5uKNDGEp_IWPfUnqYuH8nDnJUvVGjIHJDLbKb3nWrGD9hsUN073l2gY-z70gEAilRS2w3GmjMqzCqJarRO6-jCIz1RzEeFH8bOItXvpPgrkK1fDpuQM0cFGMXOznD9PYxcAgDEI85kTWU6hZI5Ecam1CL7Cc45g65goNzDJIVmG3RJp7DKtq8pIT5QsptkGwvQXLYVB8Ed_nijDGLczqxnZWMOdB2GFtARL-2qawaO4wFrqHn380OkWtoy0Hdas7zfkyhKxA54WnFh1Q5IWDVnIS4TGM3q4hsvc6KqIWg58WVNsJkUTAYvYF0qxHtWQL6VgXxtDJyyIpsdxfoxJ9W4KNHP6sejBU-YSyzvnSK-cmIhlDSOoCS5xlJqeAoSwxj89ZTHvmZF0hIt0Q0vqTzdHWxFuA9TtIkEQKgr8LX_p6ud7rnO2YBkOehV5EuJu9OWooJLbJTCquR1Ln7lhuW4-3G9yzb1R4drkq4DdmOrdm3U7_4S1yyYecBRSgzZ3Jyj5n4yQgSTc0v0JlOtJ6-bZZHLAXJdR_sBqcYeSFC5_7MTg_HF2rsTlwkiFohJ3-yXb1KosOatEzM_-Z9S3zVONIPJYY8POHNQUcr7SFmJlMumgugxpk9_gp8eDgSFLvAcREk6hk7YZlc4QK7UL5o96kgTHW_gFiAQe_qBSue5nIfLx1MwzQppEG9oS2SOJ5IUMOaaWGV4vUDYAPsKzQbiQicLcd9BMypdcC4Ev1vxcXWyHZNr5tBmfURaULszXdtF_jYi6VNHF1QOGNVIzAbEATdFMLMrxNpfBo1OD_awIxaQqWdDQOv_fX4VVT1jyz9k2VRMUVoQNkG6doZ9B740yYqsNYYuMh3XMBJyOe3KIFS3xOrmB-jPNt81k6r3lUDL89bupzzbaHRhtgYgnCQLcUhOdKJJeiCAAbYUv37OuvdaQQFkZRereOkludAvSNrIQwD5ykhZQwWGyYYyOWBUc26vDw2DbLcFl9TCirWi5zCJ9PRX6vAKovb_SmtU3qqcj9rWv6F7VlwtJlfeoenyOX24pwUvme_xz3GQB3OA5j8yF0FKumZTvaH2RueNWnSbP6wDVSW-Lxl8v2b9mrK96v2keR67yHh0adYdqOvVrFiMle6FXDisI0AtB__TNHAsYm58VemjgIB3jaCM2a01e56yiaXlnlpoiMmBKgq5abzsgfLBYi_KaG11SN7zYIL2OoAL4dE4xJwVhDJf0LcGZ_ZCVJvvfBZHu2baUbnH4bfwtubOccUD8R7631usk_k2_Na00cta5zPmh1cMLgHjXwm2U0LjtisQGas6aJ1eyBKgu0hrSYP3Zg0xubsKebA3QF0dLqkTIoVuqCYzWL4wk3HJ0LgNjGwM1aj8JHMR67FcD0mnN4fPjo3BcZtJfRsn6jbKRPkJhHo5hQeSb3GC6FSsZa8_bm684u_-55KBVq3VB6ZT8R_83_kIyUcTeEkQEcCVpwq1g9_x21ZEdAnOA0iTBVYMe_9Jyane7FmQbyU5YoI_bcSeg18JUbcVhXMfEaYfNxLe7HZmdDr5_kNyNS0EBeWG6RjIhmMxnD6wQOQkF2m4x_HYHJBhRnAG2KiyTZsuL4n7PL7RBVPO50SJgY2qWZEnGxMp6i9k-Ma7kfB9axL9JMMeUWd8gEGRy6K55U8cPoPOH9ucdpB8RYk1qXeO5URUOPFA3d_zdkRjdkeR6Q8Oh6arUDh47P_YBHYJuuzKqd5T75Dnf9xnZd0H79nXCmB32EerVNoVJgkooALcj8xWfJVkQBCaQAxKVnOaQ5nL7PpgXR9QUdaVzRJ2FyNrK18c3ewnomaziGZCeQN17pL4Q-vt1lEklgjK5k0RXuMJQDRpC9XNpKbpWUMSgc-nV9ISLNdWbaUxPnU7a6AjDaUrj1UOJW5ep3zZf6dTkWG3Avzsc3itTobeyXoT9jSNX1i-PeFjus67fq6IrcuMkNQaUIrnlnYP2-75xjP6xAr2Fkx_U2PrBN9dQRfEXk2ffhjDtp_ZiCvp97-G2pwDQL_UEl3RG7YL3vl0CzWqQ6BfeoRChN6CQ0TpnzeQG1LkxVKHd2B_O7ycLMGX54CMEK_XfOWpghzmaUL3qpHIERjMTnLAUuO2pSePXyIVlSPqUTZdJL-XbUyNutFaoRtF3Fc=",
  "id": "rs_0e22b9bb7f98c4bc016ab473a89df887d0bf11de6dbce6c13e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.21,\"right_z\":0.17,\"left_x\":0.2965,\"left_y\":0.0019,\"left_z\":0.1842},\"note\":\"The first marker is visibly resting in the right basket. I’m moving above the remaining dark pen beside the large teddy, while restoring the idle arm’s parked height.\"}",
  "call_id": "call_ksVdsahA1yGxqhLojIs1fN2K",
  "id": "fc_0e22b9bb7f98c4bc016ab473ad84c487d094d6578b90280898",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ksVdsahA1yGxqhLojIs1fN2K",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.382, -0.0223, -0.0376, 0.9995, 0.9035, 1.3575, 0.9318, -0.4305, 0.6209, 0.5293, 0.9962]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1798 left_yaw=0.0053 left_pitch=-0.0156 left_roll=-0.006 left_gripper=0.9995 right_x=0.2958 right_y=0.2152 right_z=0.1621 right_yaw=0.1043 right_pitch=-0.0914 right_roll=-0.0418 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.2923, 8.2256, 1.5556, -0.0269, -0.022, -0.0122, 0.212, -6.6393, 7.7607, 1.2772, 0.5153, 0.2125, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17aa4edc0b122484466c7fbf2ad786fe0006f13aa9e18eb8bd5983928e588c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf6abf889a41f735506cc2ef8bdb25b5da35a7753a07175847bc433edca99f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e023dd4c301e5a9762ad990da547ef3f9a570f737e4667cc6a5eb51374b2739",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.071 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3855, 1.7546, 1.4189, -0.355, 0.2665, 0.1642, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4839 right_y=0.15 right_z=0.1944 right_yaw=0.0689 right_pitch=-0.0914 right_roll=-0.0328 right_gripper=0.1505\nstate[joint_eff]: [-0.0889, -1.7709, 7.1043, 1.7314, -0.0464, -0.0415, -0.0122, -0.6085, -9.1692, 9.7573, 1.663, 0.0562, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8397, 1.1564, 0.0086, 0.2668, 0.1547, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4849 right_y=0.1506 right_z=0.1083 right_yaw=0.0745 right_pitch=-0.0763 right_roll=-0.0357 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.347, 7.1179, 1.7118, -0.0513, -0.0366, -0.0122, -0.1983, -10.1675, 7.0769, 1.5702, 0.0904, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.382, -0.0223, -0.0376, 0.9995, 0.9035, 1.3575, 0.9318, -0.4305, 0.6209, 0.5293, 0.9962]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1798 left_yaw=0.0053 left_pitch=-0.0156 left_roll=-0.006 left_gripper=0.9995 right_x=0.2958 right_y=0.2152 right_z=0.1621 right_yaw=0.1043 right_pitch=-0.0914 right_roll=-0.0418 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.2923, 8.2256, 1.5556, -0.0269, -0.022, -0.0122, 0.212, -6.6393, 7.7607, 1.2772, 0.5153, 0.2125, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17aa4edc0b122484466c7fbf2ad786fe0006f13aa9e18eb8bd5983928e588c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf6abf889a41f735506cc2ef8bdb25b5da35a7753a07175847bc433edca99f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e023dd4c301e5a9762ad990da547ef3f9a570f737e4667cc6a5eb51374b2739",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHO3HNhEaXQlGqjOkH9Yzo9dM371Mr7kHDYtru0ycFTmi5iw-GN0b2jTV849Rd9jcdeuvL_NoybB_RmuB7xAamUDg4lOFmZT4MCWo9uMdDGNVgYccGh_HuorpwpWqhuYp92s8Ppc2r1s3H2pvKPgrsmWLND84JGDdpQxDlDfJYQAxYw5in3hPmvVhtQGDKLbh0XpQ8ZKT2_YgXttIEpBdh_5GFc8ee45Np4liYcXkVsVIkbIFtONlKDsnaQA8zOPNVzStbfPhhOz-rUaX-N44oToSBH6rT58XnaeIeiEcdcd_MIhiwDvZNt4H8MGwB4mIILsc5DBGr_wDRgsxrWX6lEf6SWUOjCGL8p4UeAUk6O9Cql4X-hHRHw3KjKxO0J3KJ_26nV9AUtUcKB3zzDHkYDsEpnWNKlhZcCMrIw4OzdByefEoeXG5R1z2cP_mkzbR67snGx3H7cE7d_0xxoQLP8ok_LD3Q4JBeSE5IXIDvIG0dF10wqMw867Sgu0ahkpoLSQqKI5ZRoZOOkYd0hdp_26U300nQORkocxhVm4WpV5eumdYS-cQeEdGpjKlS1BKAPh1d0a6MMxQdbgsjCuOI1xQwxRXOXusEJw0Kbz5PbWAdXQ1wHUWb1AQq92HzJ0myBKOBm9lkKjiV8SdbiaEteL2h8Zio50ZcgSJKz8IsbWwqu2BvYrP9K1k7zhcLgCdV4tM7k5N-iPa187hWcUnJdjRyXyoVCqLUAuJ0S-zWt2WgAaZ0cYnqj5NcnX1FjYaqRW5Lzd1PZWHx-tb7xdxuxU8Wu3dVosM9c5oBQ6xW3Wq64139PNw_Le5vrZ1CIBF9SwaKGLZmWWx95lKm9jUY5180pIlnVlkrAbj158tWI0RyN3QO7_Ku3qBGh_5gMHtGv0Jbf3XkiemOR4P1zU2hvAvna9mO83RDuSNJxkLUvlwGenlTg_7CFDzOdSaihsYbPWNhXJSht-WDj5L53_7zW-bQH2VBYLfsGjav4rC-vFB6Bawxtu6wgoQ6u1pIRgKV0ySpCGnahYwHN3fXZpn49bx_8xG6U-KNNu0PLmuX5EcloMYLO38SRDrTvhdGoyAjdw4VpSHcK-h1zhP-yVVM4Xn5f1kjcks6CzPPH495vFVmCfX0AS9BYha3L-hTKSX-W0sdbJtz3SeUBDO5yUE0ZKe49ZJOQBzFYVXS61FEBPyeRIpmRfkgWfNkNKMYANiU-89lexVVVbI4Wb0SXOQjP8ayZvfkXs3HMlhWGu77mAOSOzqaL6-LDhF12QEnb8XBu6RFskat_B2BPhZevfvVVn59WA_W3ZN_92Vwok7gp7QAa45Tfu_YsiTC9OE9r3RnnjT6C255g4ulbfetdiKAU_JXf52LuHqx4SR9xmMgVGvUePj_p-sb_NjlozsgzpLNNIezC8gjdGDiJxvT1hl8kyDb3O4a8R-m4i8NSdcqvIEcmcDHzasi98udA1Ag8fBnyFUmg85kCoGN-tzDU5cxmXgxs39vGzFNbwnoeDsseJxPUMU1V0vUgb-YZ73CXAtr9kMLX96g5j40W36Zj59hwlJ5oAC6vd640369cnhxRgSmoKYQ9TDoOh0wXcijUjtOzXorC0AzWTTJaYaSMDt6oJ0_PIDAjUGFf1cPHy3gxoxbQsHOeUQ7H5kki9nDdQ_F13U11I6sHnIR_TsuFD9tBF6xi00plab6kYknDLaCl5NKyeNQgF1d9o4oujJgKyEkCgLoCPXq1TJyhUsvZJXBvB3fn8nsFdeXwG3gDi4BBhbJCfwrFNKQlR3XBEOF1kyP0hfK0dW8nw99amHnwPTIbjGFYx5S8IjiJaKaerKnElgSxDkr6rBaYEKo2lrBeVqU24F4bvg-cA27S5Y3VyouU5v9v8XJcZ_6xqLTT4Kxv2dPKh3QrSJnGvT3P8E5nizpiSo_pyldhoKLUzCupxLsCGd97182ciZ3ub7PikoJB0F6ScLL0cO0xsUKtT1DX52vnpWX_doUwAvjDT6sYgT1MpIO_oBjkPd5hd3LX0K1H4AoLxonUf2aop04Xa05xtmxbOKCavVxpOEQhPcIjPq-11r1ekaJm0u414Kb-KgDYq9HdCJcbWplsTH-9s3V-P9f_BcRj0L3YslgJYaAawT95NAifUkrwRsPxxGOJQWiFFbuU8CznorLoJvza08TQzYd4i",
  "id": "rs_0e22b9bb7f98c4bc016ab473b2de8887d0afeda884a9e17cf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.235,\"right_z\":0,\"right_gripper\":0},\"note\":\"The next object is a blue-capped pen, just left of the jaw column. I’m shifting slightly left and closing around its barrel at table level.\"}",
  "call_id": "call_XUuzyhzYCepeZPGuhv3xyCIK",
  "id": "fc_0e22b9bb7f98c4bc016ab473b6c6f487d08173f2b07ae0a2ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XUuzyhzYCepeZPGuhv3xyCIK",
  "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]: [-0.0189, 0.8127, 0.6151, -0.3992, -0.0216, -0.038, 0.9995, 0.9302, 1.7916, 0.6468, 0.3683, 0.6621, 0.5545, 0.0271]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0049 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3132 right_y=0.2444 right_z=0.0247 right_yaw=0.0912 right_pitch=-0.0149 right_roll=0.0164 right_gripper=0.0271\nstate[joint_eff]: [-0.1709, -1.4291, 7.1726, 1.8535, -0.0269, -0.0269, -0.0122, 0.1162, -5.1897, 3.453, 0.9744, -0.0073, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b9b97b69ee38b14dac4a9171f43e13e2c2002d251a763f8379b94eb26f4ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351c5a44b758449db0427b99d03d42299460c640f0db7c768575407bd9d29137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8048414694eeeb14d62227e68c8147b3a1c3dd7590a5c1bf85c86d40697427d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.019 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8336, 1.1637, 0.0044, 0.2668, 0.16, 0.1505]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4861 right_y=0.151 right_z=0.1135 right_yaw=0.0718 right_pitch=-0.0675 right_roll=-0.0286 right_gripper=0.1505\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -7.2, 5.3402, 1.3993, 0.0708, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.382, -0.0223, -0.0376, 0.9995, 0.9035, 1.3575, 0.9318, -0.4305, 0.6209, 0.5293, 0.9962]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1798 left_yaw=0.0053 left_pitch=-0.0156 left_roll=-0.006 left_gripper=0.9995 right_x=0.2958 right_y=0.2152 right_z=0.1621 right_yaw=0.1043 right_pitch=-0.0914 right_roll=-0.0418 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.2923, 8.2256, 1.5556, -0.0269, -0.022, -0.0122, 0.212, -6.6393, 7.7607, 1.2772, 0.5153, 0.2125, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.3992, -0.0216, -0.038, 0.9995, 0.9302, 1.7916, 0.6468, 0.3683, 0.6621, 0.5545, 0.0271]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0049 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3132 right_y=0.2444 right_z=0.0247 right_yaw=0.0912 right_pitch=-0.0149 right_roll=0.0164 right_gripper=0.0271\nstate[joint_eff]: [-0.1709, -1.4291, 7.1726, 1.8535, -0.0269, -0.0269, -0.0122, 0.1162, -5.1897, 3.453, 0.9744, -0.0073, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b9b97b69ee38b14dac4a9171f43e13e2c2002d251a763f8379b94eb26f4ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351c5a44b758449db0427b99d03d42299460c640f0db7c768575407bd9d29137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8048414694eeeb14d62227e68c8147b3a1c3dd7590a5c1bf85c86d40697427d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHO-Zhy2HXzwY7SV2MyRYKEbSsYae5n305-KfGgmCgOvXrL5hssMNKoKqwB6ktQ8cxYrdTilx9GfJWJgCGfVrLiNp-YvN3Vfpx2pHCoKgvxp4olIgiWXTiy87fkfygz9GYXyjmGhhfOvgi9xcA3U8cZLRrzBtDyfmgStcvdfyr3AVt8pvgUbVRS4MlDUYPGxn5Y55nq3klcGl0Qogcsek91LuUTGIIstLq25gT90XCgiD7jevd3xctCX80qANYajZKZqkJfK5LJcAB8ChpXsaFfPDPVY3snb5JtS8dcI2khZuMyOjxjxxEkNrpb6An7cChDPACjaV6rX-BcQTzyR8WDO3wKpvl_NZN9YAxGfRYzE4vKwwoz5SnfmPp2F30feF5mzsBO1-Dpa9C-NFMQa-BvnDYw_kIKdQZv2DckEkpbYJBuu07yMVYzw5zLTczlEoM042oHfKrhmmwd-uoVZWK8P75zBETeoGcniCbeFfpR_i6CCQXjfMIEUfYyQK4VGvcTxLPK-RnOVqeq8K-IwJ_sljVSAdCjPXlZds0powqastqx6-Tbx-RxbnZVF9Y-8c14KlQ9QKKUzw2GaAt0Mvv0HKReqz0huHZQL1OIxnGyCpJbTrTFGoLrA5RUm2b8NWcMV43cbK7kn7MY5ZcCk_LIHytoZXy9AqFizh0OF1GYNWL2ROQJF1RWxPHypzZbqtQUisRm6s8eq7uvKsBHfc_Pux-LvUkJC_xyuFXYmwZgYsKojzxf4qkvxReXLoXFIkMgi50mpAKvAjvrsWCB91APdvcjkWPrfdaVra1MTHhkj9HaJrCPCC6unHT93N6IwxxqyTo87Ykjk5l3X7MeiXy_EtXTK8C9sQyOP3cTP-j7V-QvOM7EKzar0olNyDpY5aoIeYOOq0RmEfhRCtG3igNYHcJ4Icwzwo5Eyy85NF-M_0Y6-ZkDVBgYYydxa6t6BGI_iwaWLayMkST5Tmdr66zWhkFacBF_C3T9DJBDLME9QpEoogBB2QosrVpDj-OW7djBAL4gHWc6HphIfwZXbYbAat1KTArbzNk7EjkEpIarTWdAl3LMh3nE7kCTIRopXTMxgEJ7m3oMSRWHmdgeC0kvZxWTAMk4O9WYIGYCHJlqRIkTxARD_IrSi_KusH5hOlnqkGJKp_3N9ClXHk23iVso7K76C7YQlFkR8TTXPCgTfTKz26stAEK0a6Psi_Sxm032rx4wxuKvEvgYiiGC1OaGmncwKkg4qz8yHywX_NmGl_xh7RaEzwJj-Yr4ruZrA4iYFpI6T9djOK1IKR__JVxIAMVpyFjt8qC5JllhFkfKpMtKslc1bprCjNcn_TSzy3BQoY-L-fIr2tHkLjinv5o06UK0GOHchAmkpzv3bB8GD6pja5FFIRA-PDUAUeRsKUsoTHNI2QzQkh3jmgqfNb2ktKxFLAvCqi_f0AdIcxoQYzjFVWP-DpxMsyhZQu1hsaEm_ITMJn3htOPQz4LJc_yg4IbXnZWBWM_x_g3S4MXKRa04RuZbl7KgN1eBrVHdLaNTY7ELV2pCJ8CRPD5q4g-ADzQ==",
  "id": "rs_0e22b9bb7f98c4bc016ab473bc95d887d088262f7e849d6cff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.205,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The gripper closed empty; the blue pen is now visible to the right of the fingertips. I’m reopening and moving a little right and forward to center it between the jaws.\"}",
  "call_id": "call_a3syMeaTvN0UPgXvRIGjxZRI",
  "id": "fc_0e22b9bb7f98c4bc016ab473bdcbf887d0abd2043dc164a337",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a3syMeaTvN0UPgXvRIGjxZRI",
  "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]: [-0.0189, 0.8127, 0.6151, -0.4034, -0.0219, -0.038, 0.9995, 0.8234, 1.7916, 0.5213, 0.5858, 0.5896, 0.4789, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1751 left_yaw=0.0052 left_pitch=-0.0381 left_roll=-0.006 left_gripper=0.9995 right_x=0.3248 right_y=0.2113 right_z=0.0163 right_yaw=0.0791 right_pitch=0.0166 right_roll=0.0522 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0122, -0.0464, -0.0122, -0.2393, -5.9829, 3.494, 1.2332, 0.1538, -0.1832, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4185595403f0ac7b2f1d2ef9f44d00ff7d55a36eb29efd9ac76d5d728d9464c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790ad1d9595bb84191bb6bb89e6cdda15bb2d7db24d9f43eddec2da3f43cb1ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa057e0f12f848d3595a6e8eddf8a20583840e0b60e1479ec506a33e5716b5ac",
      "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 · 5.202 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.3859, 1.8397, 1.1564, 0.0086, 0.2668, 0.1547, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4849 right_y=0.1506 right_z=0.1083 right_yaw=0.0745 right_pitch=-0.0763 right_roll=-0.0357 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.347, 7.1179, 1.7118, -0.0513, -0.0366, -0.0122, -0.1983, -10.1675, 7.0769, 1.5702, 0.0904, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.3992, -0.0216, -0.038, 0.9995, 0.9302, 1.7916, 0.6468, 0.3683, 0.6621, 0.5545, 0.0271]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0049 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3132 right_y=0.2444 right_z=0.0247 right_yaw=0.0912 right_pitch=-0.0149 right_roll=0.0164 right_gripper=0.0271\nstate[joint_eff]: [-0.1709, -1.4291, 7.1726, 1.8535, -0.0269, -0.0269, -0.0122, 0.1162, -5.1897, 3.453, 0.9744, -0.0073, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.4034, -0.0219, -0.038, 0.9995, 0.8234, 1.7916, 0.5213, 0.5858, 0.5896, 0.4789, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1751 left_yaw=0.0052 left_pitch=-0.0381 left_roll=-0.006 left_gripper=0.9995 right_x=0.3248 right_y=0.2113 right_z=0.0163 right_yaw=0.0791 right_pitch=0.0166 right_roll=0.0522 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0122, -0.0464, -0.0122, -0.2393, -5.9829, 3.494, 1.2332, 0.1538, -0.1832, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4185595403f0ac7b2f1d2ef9f44d00ff7d55a36eb29efd9ac76d5d728d9464c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790ad1d9595bb84191bb6bb89e6cdda15bb2d7db24d9f43eddec2da3f43cb1ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa057e0f12f848d3595a6e8eddf8a20583840e0b60e1479ec506a33e5716b5ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPBu3HshG_MWg4Obnars7poDMMbVL9TO2_h6QQXvy2LoIXhDbBec8yM8QOT2ZSnseu6d6XwP9wfulRPi4GXFPc22vdYYuFTCnYNJMe7LH_Mv5dbxdG6zCCBkNreewKfJ5GHLUBbwX1CsAyYZwoZWaSuOLnlGlHoVPO4d3tWkco0Xd8LZde-jL3xy_-drEJJ2CBC40zMgdM-W3s2hVJw2jHjtrnznrd1QXlQH5nGbrIZSACz0G-GAdU91dmG2loup1gLbCJYkjYG1kiyj82TK2ypBE5tgRtw57PQAzSXuPkCpYLKvL6-9U3iqNysO-ZZ1MWQj0N8acYrqmAb_jmS4S4ummJfzmgvJBG_PkF8X8I4Ly9CFquAHwBLWDMEVGLt0aihv7mL0TE86IeqTG_B0m3RS-KhtD0WSNTDEtUezHIKlVgp_6AADRHsfv_jJ9RxwSLKqiDQE7AkPyvqt3vjBM-A3A2AU8steGG0fgchUWie1eB63ptiH6h5KqWESWIUZmYU0no3-qxyt3SdHfSoYVCBDM1ayg7xco1LtkwGphmA2UV7PotGyqJ_CiRflNlnlTNUlW1vTYL4-lR_VpRAxw2qKbH96xsonoyiKDspPwpFLZSaE1xMyHDtQTEb90D1TDcjeqK2JmKJA_UnC8E56s5Zjh66zAsFBFEnVbU5EJdb9zITSevHqok20308NX2n2g7WYehemw2_1ulQWn1RchKJ-uGaA47E98aUSckTBmnTwqBGCzg1vR9mW5Gp2oLkGdouC046MqBCelVhFmTzdARz66cZiLdogHLtSz4NT4KBDdQMeo1yA6qxY_svrViBojXrEd1_ok_1m-FJGS0EFw8_XFzFN6LvalK9yqHqr7QsnuUrFp-0BZJ1DqGtxyi8TlpfgJf7SbgxvJATCPbTAYNQGPCPoJd5asrs79eMW4DvK0t8JnN7-qArCrubLGgYXHlAJ19Zd-18F5vS5tT5ORLt5ExLVXa1e7PSWvI6XeTrJ9qVSb5R-TkzpvwzGsx1JYQeg7VivJ9XbveO8itzE5R6m8qT7PdK07ZecvFCovtJHYAM96ihtXquoVu-BI6udVTI4k839gg1xsaEUXh6BXA7BeQfwmCtKkUQa--8viu0SA31lyzF0yfEE9uXtku-LrYuIb_f_Ap3wFdiiWc7ACMIy0jRB-cf7kh7etDyRU80bZeGqyYTCtnO9M5Zb9c9ScBV",
  "id": "rs_0e22b9bb7f98c4bc016ab473c10f5487d0bba20111a5b15b3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue pen is now centered between the open jaws. I’m closing without changing position.\"}",
  "call_id": "call_gG1QhwJ80KAwQDFgygQiLVLE",
  "id": "fc_0e22b9bb7f98c4bc016ab473c12f9487d0a8539b113d71eb4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gG1QhwJ80KAwQDFgygQiLVLE",
  "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]: [-0.0189, 0.8135, 0.6151, -0.4038, -0.0219, -0.038, 0.9995, 0.8242, 1.7885, 0.5236, 0.6334, 0.5831, 0.4759, 0.0307]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1748 left_yaw=0.0052 left_pitch=-0.0392 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3294 right_y=0.218 right_z=0.0259 right_yaw=0.0853 right_pitch=0.0532 right_roll=0.0884 right_gripper=0.0307\nstate[joint_eff]: [-0.1299, -1.1692, 7.1863, 1.7265, -0.0269, -0.0562, -0.0122, -0.1573, -6.8171, 4.1778, 1.0916, 0.2076, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c99ad986fa2ba266875cd8fd77b58717826a6d9f23fed58436e4b61765f0e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c008f50a3f8d1840a5ec0554bb7497c22ff3026cd33cee4fb361dbbeac4a1d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffde149371f6dc22737dac9346dc9e6f4b0b44b159edc5b7c064e4f85cd3dd0c",
      "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 · 5.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.382, -0.0223, -0.0376, 0.9995, 0.9035, 1.3575, 0.9318, -0.4305, 0.6209, 0.5293, 0.9962]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1798 left_yaw=0.0053 left_pitch=-0.0156 left_roll=-0.006 left_gripper=0.9995 right_x=0.2958 right_y=0.2152 right_z=0.1621 right_yaw=0.1043 right_pitch=-0.0914 right_roll=-0.0418 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.2923, 8.2256, 1.5556, -0.0269, -0.022, -0.0122, 0.212, -6.6393, 7.7607, 1.2772, 0.5153, 0.2125, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.4034, -0.0219, -0.038, 0.9995, 0.8234, 1.7916, 0.5213, 0.5858, 0.5896, 0.4789, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1751 left_yaw=0.0052 left_pitch=-0.0381 left_roll=-0.006 left_gripper=0.9995 right_x=0.3248 right_y=0.2113 right_z=0.0163 right_yaw=0.0791 right_pitch=0.0166 right_roll=0.0522 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0122, -0.0464, -0.0122, -0.2393, -5.9829, 3.494, 1.2332, 0.1538, -0.1832, -0.0904]\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 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]: [-0.0189, 0.8135, 0.6151, -0.4038, -0.0219, -0.038, 0.9995, 0.8242, 1.7885, 0.5236, 0.6334, 0.5831, 0.4759, 0.0307]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1748 left_yaw=0.0052 left_pitch=-0.0392 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3294 right_y=0.218 right_z=0.0259 right_yaw=0.0853 right_pitch=0.0532 right_roll=0.0884 right_gripper=0.0307\nstate[joint_eff]: [-0.1299, -1.1692, 7.1863, 1.7265, -0.0269, -0.0562, -0.0122, -0.1573, -6.8171, 4.1778, 1.0916, 0.2076, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c99ad986fa2ba266875cd8fd77b58717826a6d9f23fed58436e4b61765f0e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c008f50a3f8d1840a5ec0554bb7497c22ff3026cd33cee4fb361dbbeac4a1d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffde149371f6dc22737dac9346dc9e6f4b0b44b159edc5b7c064e4f85cd3dd0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPJMH3N7-AnHPzSwERvlc6VzmLRfhE6B5XUdmRtgGZE4-4-uu0kGGUDdQawW99tCyuEcSc6fYbKfgomgQdx3x50pfF_IBrgYRt9XKc4y94o71VVifb-BgXyLhmFqwSBorF35DDiL03zapGegUcfVvqf5OPXFYXlwLcshAhp7K2N3X6C2uwQXKxbcMQ5zvxe4bNRAQDIEYikF6f7qH3v2WzbUXvSziesuYrRJsVe0yo6srPDXStoHExthJw21Fspf8h2xz2S8XVgXtKaGA1LTfXRqC8EuDB9n2AO4VNGLRzAHLpUpw3KG3yfwmqrzrGQ3jU9aebgu_yS4IHUB92DSVEU6tiVEicFn45RlB3EaMy_g0RZld3TClNlHUad6jDBAyKDMRk3XZ2sJAiHqrxU8XkfHCGKE8szsBs7EzZGkoxpIRPuFw0BUMgKHjNylPp1RtWnH1FLWvTN9tIdzJb7wy9Whtumq2W-Wa3UuUZTI9lzlyQM612FGq4Ic_I50KnUVxUUjJ3_lhT_JsL79xgt8ZIGSzbzuOh08awlk32BGnku6AGycRvICNUhs7qCgUbJ54wPb1Z6QFu6pQ-qulitL_uKK7VQKcr147QaBjWOPhexlCwVmkjlkCc9ZC6xf772YPhW6WRZkN5UCub1E8GbOYbqsg5Sfuv28yemjj8holCN17Te7DUK6qZ8DdfkSPjJOYC1uiYUZJ3hgzT_Ig2we8Jv_5BPNRkmsGEGIZVmgMA0rkPuPnPbEXrxCOHulTU0xld4EW4hdt1S9A5MQHT3e_aSXL8T16t-dooDWi_pP710gV11suFZmnBwdBLBWpxzWQqH88p3dDBL0gO7XA1P7qfhBz5WdD6UFTQKkjvBotXmndVj-VV5o5JdorVcdjlJPhJkrNUqzMK3YhoQqJZ4-aCh2N-DdE_1FaKWpC10Ci8WPCf-90b2_KP9rgo2liwZeLXU62XOE04d5B8fOY6zQ0QhkEG1SPYpvbCqdtsafCitC8FyGRqtqUlt30hdIp-30nWeZDcQQcsBRz44Yh18VYt5pP5q7-16r3EZOmfXymrhek6drqKgR0g6QUyFx0yKduP_xjBW_5dM2yZY9MXQD6abcDX_QN_FJUktqIKjLQraW5tmOyhkGPqIGnZfNDc5BOiqYhIjQJF9aRwlIQWIFlfhnyQCMLiUVE_f47a8fIVrURDS99gZiM8ngdki3fXkoUXKVEVMbY2vb5wR6Wy2Sf5a3GQWZzeNamayLG8MnLF7jL6NZF5hYJFGulGaJYGaXq8B3YXOc6U66tFo9ll8_bGcAHyez1hx6fS7ovJ_1x-QRWh-xam7HUTD5SIo2S76YLF0UNxRP06P93fvlFiCxsb-VqhWTPDDUQWrKkxfiL70F77StPUyXNlXqhsrzN8cYtN6j_aPTqZeW9Y4Z2cicjHkwZ7hVd3sOtmBJIrmepD05ClgYNrKWKyj_FdvUfHMCQc2mWrs6-X6RzneA3sQFqFmX1SFrelejGx0OYD4dmMAddpMy0eyi7eyEs1B8lg571CadZmparQp_tAQYw_2FUdoX__hgboSec0-DpCfnSZzLoi6Qlnims44D_62Xyb-J0s4F8XZ7XOXIeXVtf0S8fZpUKynpqs_kiITUpVNwMppDibIFn95BfOGFKC4LsxtXTOc2O21EXiWriVm4rxDGCsQIkfPE9D7E6kvdwZecvf6SmOyv2y8AdnCArMjrwGEcNIVKmrjDH1H88u5Aoup6pd0Pi0x8EOyR47pu8aATpapGuVXhKcdNk27KYT_jmEmbrHLJ3Q_DZAkmksb1pZe6SzNA-I47R2u1AjYjkmyFfO-qRTnIQ_wxFaTjIbCRdgwMFp8wWcl3XBxRYc-22-d57wAP5HNsknJEf8S1b2yA5XQia8rk1Qdp_mQoFnAPXc5PTdZ",
  "id": "rs_0e22b9bb7f98c4bc016ab473c5cccc87d0a6a96bda2cce03e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.001,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.26,\"left_y\":-0.06,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The blue pen was not secured, and the nearby large plush is crowding the jaws. I’ll clear the right arm and begin with the gray plush on the left, then return to the pen with an unobstructed view.\"}",
  "call_id": "call_IKVFP9baiPUDyUAfc8A98b6w",
  "id": "fc_0e22b9bb7f98c4bc016ab473c8179087d089b04038d16e4384",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IKVFP9baiPUDyUAfc8A98b6w",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5186, 0.7311, 0.5156, -0.4561, -0.4122, -0.3382, 0.9996, -0.1036, 0.8181, 0.6594, -0.4603, -0.144, -0.1066, 0.9987]\nstate[eef_state]: left_x=0.2603 left_y=-0.063 left_z=0.1503 left_yaw=-0.008 left_pitch=-0.0439 left_roll=-0.0117 left_gripper=0.9996 right_x=0.292 right_y=-0.0013 right_z=0.1833 right_yaw=0.0718 right_pitch=-0.0408 right_roll=0.0031 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.1556, 6.5299, 1.5751, -0.315, -0.105, -0.0708, -0.0615, -1.7436, 9.4974, 1.7021, -0.2271, -0.105, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37cae1bee7868ee46dc79c5f599fbfa8d639d57328842930080e33dc84badc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66969e0d1cc9456bd2370d2fb4a91b6bcd31bc934942ce2fac5a2b1336ead055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85ea2e970152b57878d543f73c3abb349d6add8f14b6604380333c131b92823",
      "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 · 2.656 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.3992, -0.0216, -0.038, 0.9995, 0.9302, 1.7916, 0.6468, 0.3683, 0.6621, 0.5545, 0.0271]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0049 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3132 right_y=0.2444 right_z=0.0247 right_yaw=0.0912 right_pitch=-0.0149 right_roll=0.0164 right_gripper=0.0271\nstate[joint_eff]: [-0.1709, -1.4291, 7.1726, 1.8535, -0.0269, -0.0269, -0.0122, 0.1162, -5.1897, 3.453, 0.9744, -0.0073, -0.0171, 1.0281]",
      "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]: [-0.0189, 0.8135, 0.6151, -0.4038, -0.0219, -0.038, 0.9995, 0.8242, 1.7885, 0.5236, 0.6334, 0.5831, 0.4759, 0.0307]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1748 left_yaw=0.0052 left_pitch=-0.0392 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3294 right_y=0.218 right_z=0.0259 right_yaw=0.0853 right_pitch=0.0532 right_roll=0.0884 right_gripper=0.0307\nstate[joint_eff]: [-0.1299, -1.1692, 7.1863, 1.7265, -0.0269, -0.0562, -0.0122, -0.1573, -6.8171, 4.1778, 1.0916, 0.2076, 0.0122, 1.0281]\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 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]: [-0.5186, 0.7311, 0.5156, -0.4561, -0.4122, -0.3382, 0.9996, -0.1036, 0.8181, 0.6594, -0.4603, -0.144, -0.1066, 0.9987]\nstate[eef_state]: left_x=0.2603 left_y=-0.063 left_z=0.1503 left_yaw=-0.008 left_pitch=-0.0439 left_roll=-0.0117 left_gripper=0.9996 right_x=0.292 right_y=-0.0013 right_z=0.1833 right_yaw=0.0718 right_pitch=-0.0408 right_roll=0.0031 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.1556, 6.5299, 1.5751, -0.315, -0.105, -0.0708, -0.0615, -1.7436, 9.4974, 1.7021, -0.2271, -0.105, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37cae1bee7868ee46dc79c5f599fbfa8d639d57328842930080e33dc84badc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66969e0d1cc9456bd2370d2fb4a91b6bcd31bc934942ce2fac5a2b1336ead055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85ea2e970152b57878d543f73c3abb349d6add8f14b6604380333c131b92823",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPWUMucNDYA_0fl_s08sWGmf_xH6tEGLS8vvXCgT_PSrM2-gBc4zksLMRdjRUF7zmdTo3dHga_HculCXFwTobtrEdUl8SVHbaebO5oZDbI0FKBQoPGnod52Uqx09uPmsc_FXKlZHTJSPQGfjtU6N8twRQ1RB8CUnIYYUZeTl0lxXf8yAPA02egAIXFr4NmwMDBoz7asbWTMUEFWrciicDVmSDepV9DtOVcNz38V2lqM0WhlQ7qY2sc6zb-zL_M23z5f4jFRRhIN6ZPAyKXljN6UNdIzKOPUl6unPXGHpfbja1_GHCqcaE5D9FBSNwhjxnxAesSLNks3L3V-Ekm36nRw5xm574MYUiej51hMuHNWEA9X4W8nvg-5OYBzIQ9gBoPiivqiYa61QImCCanCfSl9hTwrdg9zbnf_SgBxelVN7Xq5Sz8yaiZStCDhD2-rPXIjtWzTLaUSKC2K6x_90vqld81gSY-fh5OFLOPa8Uen8r3u9qMH3s5FbIJWk0cU41BlCsFEYMnlglA-QEkkSpisWANUTMkmpb4y6bUOdj6ofMIt9Egb0QxZ_Qj8IFRhRoYRe58Yc7N01_Os2oyfuin_7vlKaKSqvIlMMVEOF9AwMpHlofSI7svocGBX_uJLgMnnojzlgRhawo6rcJ8pf5Y2kfHXfhJWHMvmfA6YiHPo4YU-dukZ-Y_HqvhB-dcSRcfP1Z1TH8AeErS8T-6S_kzvGDo5Qdkvi7YcEwJKpBZS9jf6XnFA8ihy6JEVs88b0JpjKjnFLhAsqq6Bxac5xX8QKFpyAfGOdln5UaStlBpwOxURPZ2TgiERDZQl3-DWZB65-b1SV281pAZbBt7SNtcjVIBiIX6GcU5QUAi5nvyLFcMagGSt5nI1JjB2QvD3e_rASPkL3-B5T5dJqOS4z5G6C_-BNW_pDL4vdkbaUtEYjX_bLjLhR1nBEp6ktfkNW6w21YNWdjNIeTEgQKrp0T83iDhHrsI8IfzPGevfZb9yPoGnpD8_k85Rz4z4FkmfTort4gBGs4p59Olco5tGpQTD3yobPo47Jf6hG5NSN_JVhA78rXCW8IEGR1dwjJdAXCcA6nAoZA79Ewe5gkLITZ4xIqF-H81EilCqGPxvWLcG9m6ai_pcyHiCXibmOuFeHY4syJ7YZbXL9tHbPLhnWASXOnIot_BOu9FV2GVAoja6kSyQE5SXKCXBauSK3i9qGnEz7VBH9fQls9dvQyAUpsVxTMXrLdYnwFnqb9cRtMLrNvtsc-e-Dy_RCPnUyDQsr_17brKicssgDCw1Rs2pVxLjAD87j0eazmcpykrNYfItZ4qZ2EGgwXRpNRi3VWEwvfvMcUA0d6s7sZYKqngP5n-_USpwlUJ984xK0jhVs05x_dn-r4gzgnAlOMh0wQTjls_wYaWYi0MGYyIAOCtjQK7-8Kj6qTWwX065b-MNivPJY5eGY41DIVUnS340fUd96imSeEoq7dUXsGgSbX62o6LHhJnxy4hymFt2bAQ0ZmXAQN_V6TWjjaMUR-AXvQDRn5bt2IEfWX4rddA4-jBBYWdZebuk6pf2rjq1DKbkEV0hONuFjCU6cAvJwdIzrcBkcEGUeretWYuDI4jTML_9liZwhru_pKXxXHMiluS1UC4gWUiTo2NQs38i-2-sLAXb_p_gzr921f7msq-Ol8LmqhHME4L6Sh8b6I08R_BrawSjczuhYVl_qyLGOpq03NM1MftAc2sKzEvkjO5VNQMj83F0mCIiwM-nfRZais8ImhKp9DM9pXjjBVS8IFTpHE4D6JBitmrNoCAJwz6O88gSDdMmLNjXnKAUovVcX8UcPQW-G7-UuVMoIPqN3JNQu15rqiMNtGUQzP8z3TtmE-534LdjaiQStq0KvEivWpZP-aCQ5yrlcfHq_KoGDCBDF3_g95d3hxOc2PO20a4azK7jUbExPpPPByqrF80he6WbGPrLnYhFGmdb0qC5C6JA_Pj5oVWY3o9PXb8hhYnNRANeJYEY7qavEsDUS8dgOzv-q_kwh2y9KApU3k5466ljflWv-4ZT",
  "id": "rs_0e22b9bb7f98c4bc016ab473d242fc87d0b6351b77736b1383",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.005,\"left_z\":0.035,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gray plush is left of the wrist’s jaw column. I’m aligning over its soft torso and lowering the open gripper for a body grasp.\"}",
  "call_id": "call_HkpApDUeuKSEWmHK6NnsVyVi",
  "id": "fc_0e22b9bb7f98c4bc016ab473d5470087d0b698297613a00a64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HkpApDUeuKSEWmHK6NnsVyVi",
  "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]: [-0.062, 1.1305, 0.1005, 0.5636, -0.0734, -0.0338, 0.9995, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.0024 left_z=0.0611 left_yaw=0.0037 left_pitch=0.0975 left_roll=0.0178 left_gripper=0.9995 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0743 right_pitch=-0.0476 right_roll=-0.0008 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.3333, 3.6308, 1.2088, 0.2369, -0.1636, -0.022, -0.0752, -1.8803, 7.0085, 1.6923, -0.1148, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1123b9364d7ea70b5642c177ff9a1126056f3762c5058cb33245e5d5831b769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb7a4e7989991f7d33ca8690fd993d9d9baaeaeb520676d4d0c54220daa7e11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331a99ce0589e2d9894059b2dc63aa65be1d42a032e6f5fe7677e7a169238b36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.966 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6151, -0.4034, -0.0219, -0.038, 0.9995, 0.8234, 1.7916, 0.5213, 0.5858, 0.5896, 0.4789, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1751 left_yaw=0.0052 left_pitch=-0.0381 left_roll=-0.006 left_gripper=0.9995 right_x=0.3248 right_y=0.2113 right_z=0.0163 right_yaw=0.0791 right_pitch=0.0166 right_roll=0.0522 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0122, -0.0464, -0.0122, -0.2393, -5.9829, 3.494, 1.2332, 0.1538, -0.1832, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5186, 0.7311, 0.5156, -0.4561, -0.4122, -0.3382, 0.9996, -0.1036, 0.8181, 0.6594, -0.4603, -0.144, -0.1066, 0.9987]\nstate[eef_state]: left_x=0.2603 left_y=-0.063 left_z=0.1503 left_yaw=-0.008 left_pitch=-0.0439 left_roll=-0.0117 left_gripper=0.9996 right_x=0.292 right_y=-0.0013 right_z=0.1833 right_yaw=0.0718 right_pitch=-0.0408 right_roll=0.0031 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.1556, 6.5299, 1.5751, -0.315, -0.105, -0.0708, -0.0615, -1.7436, 9.4974, 1.7021, -0.2271, -0.105, -0.149]",
      "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]: [-0.062, 1.1305, 0.1005, 0.5636, -0.0734, -0.0338, 0.9995, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.0024 left_z=0.0611 left_yaw=0.0037 left_pitch=0.0975 left_roll=0.0178 left_gripper=0.9995 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0743 right_pitch=-0.0476 right_roll=-0.0008 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.3333, 3.6308, 1.2088, 0.2369, -0.1636, -0.022, -0.0752, -1.8803, 7.0085, 1.6923, -0.1148, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1123b9364d7ea70b5642c177ff9a1126056f3762c5058cb33245e5d5831b769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb7a4e7989991f7d33ca8690fd993d9d9baaeaeb520676d4d0c54220daa7e11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331a99ce0589e2d9894059b2dc63aa65be1d42a032e6f5fe7677e7a169238b36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPc3q-rDmA6pezDJz0QtfuKqIZBHrM-B-XQ_nwubY2ERSN6_jdtww94l51QH9dtYcesp6DxNoP063vWiebiO-2txG0jtQOoGN8O_P-21m2vJ3WPd2878o2-HzJecsbWdtHar-S3YonqTvjk4FF35CA-HtjswOQAFIDCEQIemTvWoGBifX8qPC2yQYLyzf5pmTiWwp6NCZO7qG8W9gwn4415WFDyunl0JjECBAECiZQPoetCEZbjEHbi6GbQOHyRmlp9mRUIk_YKYasItVCccWwZRDklswzpKeeZMpq9Akq_-vei6jaULstAZY22wNlklSO0nNk28ZnWlMCnmAWE-0lYlfHr3FylAYHxkXPbAEONb_tXxtPNW6jV8t-Rv0C1z1OpYzXwxhIGzkeRStrDuvT3hXofE-GlbnBrU3Hmgm1blEqTQInztCkvyrmnFMYb8gXD0TFfhDR1F5YDVvvQhLYeMbUHcAXCs2NXcZhvXpENwoTe7IesqT1jyVwN0RL7foKGx5SFj5F1RPoLfyBd9Wh8KM3RK_IHL7mtpH2cohorZw9fR_Mr0lsenJMGR0huppV7NKhjR81uDFNboKJY31-yt_UT_Paqs9In1MVaNlyuxpfXYTm6aOIGE44ysJIIBeOS4cQB4uYWpjlP_tNQ9vRPbwwp1P8CQ0sONAirRTfQ_XYmgdIZ7YPaGl7_DCzFL_7EMW6lDWQV9Tv0oEOdIvtlnFJSd9ilc2tJpxTJOJpw3SnSGeMs31wjxeZ0wCAEJpz_Usb2Cz7I3owBiL5U_wxMn0jcf8_JwG_eYaSVHjTgvIeVtc3FFgOdMAEag13MDs3nmlzHFK_kbkdaXGu5yw7hrRX8_ns4vqnlIt5lmu1oQlqOGh6Rh9bdtOVO358qFGCoaxur3N3jgr03QycB6jxj9Uqzg7f5Hj5kDOLwCo0IFrvkEGmeHz5iPmImwP_7dZPEIUMDFYlSg1zYd6IiEksSbIMzi4cUFHh4vejGxobTrRF0fn1nVWSOOc1vApSti31M_Um8bTNvhXUNrpwRekSofznFPujrrQx6DNwPJPGLlz5eBgCSYyCVWoUdkeefcFkNgtCQkBBfUFVLQeoR3-faiYAQOS2JMhgpt_9zLu4LpjYlih76ZYowAXb08mfvHPkZdHZJZgrK3nQjN7Cq4Yb32oTkmTB_bcIoetNZxt1XoxCoc8rgEtUihKDKLivccE_2A9pi6jtKSExjTf8teHf9psTXgOfwvmCdGk1o1pqDXYhIX2MDXLWsg4v4eaj7Wne3VRMbElV4KadUvaXSRL7epBTHhLp0Q48vITJLV5z5GlFU4UpbuI5drbeRiniF8Xmz",
  "id": "rs_0e22b9bb7f98c4bc016ab473daf84887d09b4328f5a4b7ce3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are around the gray plush’s torso, and the descent has met its soft body. I’m closing to secure it.\"}",
  "call_id": "call_vadJRG5fViK9MSimAmC47C4z",
  "id": "fc_0e22b9bb7f98c4bc016ab473dba35887d099bbcc5caddfc339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vadJRG5fViK9MSimAmC47C4z",
  "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]: [-0.062, 1.1278, 0.1013, 0.5808, -0.0814, -0.0338, 0.0114, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3078 left_y=-0.0011 left_z=0.0661 left_yaw=0.0107 left_pitch=0.1183 left_roll=0.0199 left_gripper=0.0114 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0747 right_pitch=-0.0476 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.0308, 5.5863, 1.6679, 0.0317, -0.0122, 0.9499, -0.0479, -1.2923, 6.9402, 1.7167, -0.0708, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f327e5d1dd1cf6ae5899f988399b21d66ae044e7e61aec938b3e56861de2c87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f532b33a71b738c6eaf5ab0196a959b479a59404f5d808b804911cc3bdbc87e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a04f90f2d395ebd524641a2f4716c2f16d6db213d9a234b122cf86fe031561",
      "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 · 4.611 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]: [-0.0189, 0.8135, 0.6151, -0.4038, -0.0219, -0.038, 0.9995, 0.8242, 1.7885, 0.5236, 0.6334, 0.5831, 0.4759, 0.0307]\nstate[eef_state]: left_x=0.2942 left_y=0.0019 left_z=0.1748 left_yaw=0.0052 left_pitch=-0.0392 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3294 right_y=0.218 right_z=0.0259 right_yaw=0.0853 right_pitch=0.0532 right_roll=0.0884 right_gripper=0.0307\nstate[joint_eff]: [-0.1299, -1.1692, 7.1863, 1.7265, -0.0269, -0.0562, -0.0122, -0.1573, -6.8171, 4.1778, 1.0916, 0.2076, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.062, 1.1305, 0.1005, 0.5636, -0.0734, -0.0338, 0.9995, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.0024 left_z=0.0611 left_yaw=0.0037 left_pitch=0.0975 left_roll=0.0178 left_gripper=0.9995 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0743 right_pitch=-0.0476 right_roll=-0.0008 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.3333, 3.6308, 1.2088, 0.2369, -0.1636, -0.022, -0.0752, -1.8803, 7.0085, 1.6923, -0.1148, 0.0366, -0.0317]",
      "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]: [-0.062, 1.1278, 0.1013, 0.5808, -0.0814, -0.0338, 0.0114, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3078 left_y=-0.0011 left_z=0.0661 left_yaw=0.0107 left_pitch=0.1183 left_roll=0.0199 left_gripper=0.0114 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0747 right_pitch=-0.0476 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.0308, 5.5863, 1.6679, 0.0317, -0.0122, 0.9499, -0.0479, -1.2923, 6.9402, 1.7167, -0.0708, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f327e5d1dd1cf6ae5899f988399b21d66ae044e7e61aec938b3e56861de2c87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f532b33a71b738c6eaf5ab0196a959b479a59404f5d808b804911cc3bdbc87e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a04f90f2d395ebd524641a2f4716c2f16d6db213d9a234b122cf86fe031561",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPkkc0DLCERwmibMeRmg9TPnlcWM7Empe8aqed295iUdFqbVZ2tgn02bE6mOSXLE2ILVqhLMrDnyYJ4DKCUSiOxWWY_Xkt-Yqsz4eFpuBRYbiWp-fxPYhGEI6sNoOtcutufalP5zkugtnbfKGoo76kCC-1NNoq48voJ2rJNopvVpK_SmDMo8bA0Vhfd9w5kuFstIsw7DhPaPGlWPXXjoicjmb2NNpBK4_lDsI2z--Mt3CsCT56s4Qn5Ifs4PKXhzJGnNsotA7jnpzSEeFRBCFJUV93loG7NFSK3GTSBx9mRJXlftaZ9No8EafIrIsSJ3E3T_TJ2vksiXKcSTofKsGBWKOK02xYaFmTHVnUXTPheWQAFaKpH_NJ-KmiWNQyFNMG7jIHyazNkfT-qut3cR8NC0rHR_d4HhX5wlCQLYieh9PyGNTIdaIfEhI_Qgh6nNyohNRPxaEdVirHORkk3sP_WbSYut5KIg86ujR_MN_LBZC_6SnivK6CmRIg6t6tv92-4nvXta5V7doOvw26KXbowie2Svp46E_hQ0L9c5qYkGOkIj6dRhULk0MVt27ZvhnHKirbcK4uvvsM_e6WO-12VrzZ5zN0t1cxb1tlskaqwUP8CndGKmLPZYHkQHcAsDkZpa7VcGrYPo0tzOtQzU-ma7jzBYDO_414tY2qFzAXjkId96o3guzBqHokvmSVwOqo6mtCWrHoIUkaKRh3oAITtwVadtdTyki7wNJlZtD_zeZPcbvx1SiJUbXGq4lU1V2458aOdRrDXSLq3vRyfOorYdv3gZtS_XmLc6O2ldka4X4MY2sILZm638pfAIhacconJeaU3qCwQXaoz7HfHpnc27jfUTfVaD-to0xkpJoMWQMtGu7tPEr0-EI_BDfPrp0WWxGq2PpAKvBF3edbpXmJMn5Va6N14en1NCN7k1DTuw_uT0LQKJxeq7EDDxSVTOgxVOvLEKxH0CAmL43em5MBl3L1jMS0R26jjG_UvZqRwrskYXUP7DiJRQS4VogeajequEJJtIh3J8zghtICnJXuNqMLRdxXDRV8Ru3asPHjZheVjZuNvfMsz8xaW4GSbCkJpRBpDHQtQIAmW8P0EYUyjn1OAv5N-Tknybw06UgOCi8mSaS8Xw2AoMHnZLLxv_dIx_dwFtZQ-XU2dAmnAv8f44BvrQXDKF75neU4qnc54dgazMlg592szMiUa5bcQVybRMa58deFvVXJ30OPCOQ6_umcuGG3V6omEI2euqEsSfrY9QOvELP0DYakl2YVfujaTuA4jpCRX1ExzwqEVI-5A5ZrujKppJTzf8IqitcMW15F9VwJtCZMfXpDvuh1W4fuk8jABv4YCFQiMlywTQ2Rx-lEgYbd2eQinbfkvMvwOU1iUR5WY0RxNdE0G_cdKy2inLKsdJQ6HT0D4t9QV4tVfTfLLD_9pf79lRlHfAWw-RJNiHb8zuMU8lXYhN3DDDPdZYHyeyu40sNi_RJD4TvlZcHGiBipWHWsPO1BISY1Aq20-Ksof01v5qen9XhcqwnIVselDH3dv-vmWQ98oH2uIyiz1SQs_WmocK-c3EEHpoHCvjP2f4ZXFHWkFdgHBlbL2Ih10uEXsnYkyXhBAnwvswTjKzL7nqSTbQNHfAI617t_s8jPsVIVC9MWLkqaPdSABuXiBiu7ZaroDHO958tg85jHkexxUEY5KR8i3xWEF7LcgmPPUOsgD088oYhlEhCLO1KIchxrrLnM5wNxb-EkpPGafQkp24-PfaKLycyXLXGNPEBFbm-g12hnTPXVaJcqkBk51IwqlIGOnfIkr8CFLrIqK3LYNXdNo0CaZPXsciqZMUl7U3YVG6bP7VAQhHuwhWLnNUfoSJHJHYIbs2Hcj0K2bgrj-_qgb5Eo-ohWcdgXqdRd9zmc0lu5aMpc1FfTLrr2H3hsA_kCcO5U7MUpk2gd_j9V8-dQvc2m1RflEpmpGq_H1GOk2EfNDRWX9il9aS-tCyf8t3vvlVM1rifMhiRQWf7au3nLG2_EROB8U-0MMr24Zm5i-8oFsEqbS-U719HcLGzO_Il3OHfzJhE7zBARjjeAERy5HxK3nfJFDSuILKA4ZqPg7LkTewJx6RO55QnlVTDkB4IVxUoZxz3_YzwZ4wwGc2ZCmjeOr-o3ON7hS6wUBhFCIULTrCGlPEs1k1EccEPRdUZDS4VhviZ0ENgDsp9Em-dAqAY5GBGQd0-9qxg4hYkr2ldPe7T1fDLGlWSz9U-yJ8F-qOc6RSDAWkwlpyCy_cSiaGr1Py-ES_08wZV1qSmhjlubMjnngqmAVCD8A89TF58iZltSJ5cMUKcOzVRQeb4hU-eNRMn2d37N5jGjzERrGifq9ZMDbs0DQTaOxrOcn6fk0HaWkIpfKGIa46j9CVdg61Hex3UY_5ZbFVAKfQL-wu5h09K21hYAe",
  "id": "rs_0e22b9bb7f98c4bc016ab473de8b5487d0abdf14a8e6fec098",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.005,\"left_z\":0.02,\"left_pitch\":-0.1,\"left_gripper\":1},\"note\":\"The close was empty; the gray plush remains just beyond the fingertips. I’m reopening and reaching farther forward and slightly left for a deeper grasp around its body.\"}",
  "call_id": "call_HCN8NKk5BQ0mI2CRwOqvFJ6j",
  "id": "fc_0e22b9bb7f98c4bc016ab473e2f76887d0a7b09d851008a864",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HCN8NKk5BQ0mI2CRwOqvFJ6j",
  "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]: [-0.0227, 1.4265, 0.284, 0.617, -0.0589, -0.0078, 0.9953, -0.1036, 0.8291, 0.659, -0.4614, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3519 left_y=0.006 left_z=0.0519 left_yaw=0.0166 left_pitch=0.0376 left_roll=0.0369 left_gripper=0.9953 right_x=0.2925 right_y=-0.0014 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0532 right_roll=-0.0001 right_gripper=0.9985\nstate[joint_eff]: [0.4171, -2.4684, 4.8479, 0.7253, 0.2222, -0.1587, -0.0708, -0.1846, -1.7026, 7.1453, 1.707, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ca3f3bf8517602dd714dec0c2be325845dad053a944dd53c381e308187ae10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3306bebea1775bf5814d5c228f0042f3c0544f3928eaa0eec7916cb97894deaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5ce817cbff56f471f1abe8d3436610eec58dd077aeba1fb56e8d69bdabf28a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.082 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]: [-0.5186, 0.7311, 0.5156, -0.4561, -0.4122, -0.3382, 0.9996, -0.1036, 0.8181, 0.6594, -0.4603, -0.144, -0.1066, 0.9987]\nstate[eef_state]: left_x=0.2603 left_y=-0.063 left_z=0.1503 left_yaw=-0.008 left_pitch=-0.0439 left_roll=-0.0117 left_gripper=0.9996 right_x=0.292 right_y=-0.0013 right_z=0.1833 right_yaw=0.0718 right_pitch=-0.0408 right_roll=0.0031 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.1556, 6.5299, 1.5751, -0.315, -0.105, -0.0708, -0.0615, -1.7436, 9.4974, 1.7021, -0.2271, -0.105, -0.149]",
      "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]: [-0.062, 1.1278, 0.1013, 0.5808, -0.0814, -0.0338, 0.0114, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3078 left_y=-0.0011 left_z=0.0661 left_yaw=0.0107 left_pitch=0.1183 left_roll=0.0199 left_gripper=0.0114 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0747 right_pitch=-0.0476 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.0308, 5.5863, 1.6679, 0.0317, -0.0122, 0.9499, -0.0479, -1.2923, 6.9402, 1.7167, -0.0708, -0.0708, -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 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]: [-0.0227, 1.4265, 0.284, 0.617, -0.0589, -0.0078, 0.9953, -0.1036, 0.8291, 0.659, -0.4614, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3519 left_y=0.006 left_z=0.0519 left_yaw=0.0166 left_pitch=0.0376 left_roll=0.0369 left_gripper=0.9953 right_x=0.2925 right_y=-0.0014 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0532 right_roll=-0.0001 right_gripper=0.9985\nstate[joint_eff]: [0.4171, -2.4684, 4.8479, 0.7253, 0.2222, -0.1587, -0.0708, -0.1846, -1.7026, 7.1453, 1.707, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ca3f3bf8517602dd714dec0c2be325845dad053a944dd53c381e308187ae10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3306bebea1775bf5814d5c228f0042f3c0544f3928eaa0eec7916cb97894deaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5ce817cbff56f471f1abe8d3436610eec58dd077aeba1fb56e8d69bdabf28a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHPp1gxSz8N-RWuxQNKNHLMmyDomuVzxSs6bz7tkstqvu05YZD_aXVLUJNJwObbDhIzHVyAGyuDRD0jJ2el0gsMFwXyIk-5LH1PVKcSMMFxFcc9j_M3Se-cmXhrhbiO1r6lgsdAyCzq0SkxgcA4wvJCnFzHHD0fmScMWFCxWLhRcpabdu-7AjojEQFGHe2IoZxyX-bxstm9wEIe3luI49xslBJodVYqvUXyOcNkntsmCJFKoElSxQ3v_qu-R-oW0pXVGtRyL28OSinobzTvBGD_U3tldcugDQUgI_B3u3SiuvXPf5T49cSnp2usuZaIvCLuGE_bSvue9ICIrCcd4GCr4ElhusCGzpIuFnKvNd1gCkF3LZBGnI5RkkFKurdKb2T-bWpGUYnGe7puVRM-Ac38lyVCmpYzccOm3ylmZXQIqWRIByZ3JJXbNtvp2fKT0nN8lD7f-_tJTCM09Ydf_v181xfVr28ZEZZ6RhHgueBqrUkWyOsSc0Xj6sylcI1ZFXrZg4ss5vjuZQnqXYa7WPqftyYTRBs-MYfDmbu1x_SZJFjUa4xybB5a8-YWp7AWao_SDuT2PeTzpFllBet63Nq5gjRGOtHHLwT6yFCj-b2OdXZnvTjX4Z51H7hLEviOCdu3UEfGmT1P5gYTPYTBcDv-MvSDyieX3VWBhABG5QLxNsvARzhBEmrxiRANrfPO8iPnBoau1oZf-qRIwOIfvrlEfwaJZ6RKiVgbYRBt21nPxbc2V4QukBG20q108z4xDUKUny1kPIKkueaieixPtGgg2crWWJ8iVdTPWvXeShEB6CFnK8iiQ7l7LrCW1Pz95FS_OkfEPfjuZkqphMN509hIIZr-5vxHU0-rEP9ImWOLFesypunZ2nvE6sQd9groZKI0ssVUF8ncWlf0lKqQLoKhiGVZJiAlQu9QkUspfOIukZW17pGcsCDd5oAmkdeyGk0iOuPrNg0_KC-fA_vibLF76vNs_IEHaoQsRqZGkTgn9BmaKWranyzrreYRHp6mjMxGIe2429GDGTP5YCX5Ccii9cb_8fYVUkaS7ihtW6GweSeYZvE7K0LtLRHQfcS5cCDGqqnYinpRxrglzkDjQLrWJzAINFtLs3rh5hF_WtaYwKuMXOBU_y4e1ly91zEh999j2JMAV3SftW-JEzRal1SUx4mfkm0KEMJrlRxTkUEB4Vg_B5WQ-yqos8rwFgFpy62UDfq3HzCMkCpEdqSeAP5sprJ3D0Hp7pJsGJxvCMuExsuIApSycKmMwm5znFEs8NmUa48sHpuL6Oc57x8OWZlUxSnWuGu-BUli4IshPbf3RLhNdbx6enNzAOaGVfj80x5F0LjZHL5UP6d446AzrkP6Hr0XIfqx3jeBuAaONL5Slg_j6P8nNhPrtEDiQDcUlOMbT5P6BKAdkIb346Yd-qnw00js6Sbwq_blNIJHlxLvZzSyOFUAMqyhqOaOuNWY2zSu3aSNVlf6AmDkCM0d5SnFR8tTbbFlmSyAx-IcSqlE7t7ZNSRhtkRzwcQ_sV5MW-wQb5F93yKx51vqUEr3PoRfTy0M8me1BoBZJJn-K7wlXzQgdajeZesSidA-d5UpgvYiwGq8KXcX2sBlYQg3NlNbIhJrOQnJn6gkHRvlmSxCKRY2tqwh19er7f3C9BI12P1L6-8FbV_Gccjzw1225xWN5zcaFsLQoLbiAcmvb0Z4EDCzq-cDdFg-fB1PyVGKlJ3jrhDtQGFaoD_4ad-50R5ciSSC4vYJC7p6PTNrK8ANesk8=",
  "id": "rs_0e22b9bb7f98c4bc016ab473e684b487d09338c3f9702575f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.045,\"left_z\":0.005,\"left_pitch\":-0.15},\"note\":\"The gray plush has shifted to the left of the jaws. I’m following that shift and lowering beside its torso before trying the grasp again.\"}",
  "call_id": "call_450nrGkAcPtqaB9nFh8OyO5F",
  "id": "fc_0e22b9bb7f98c4bc016ab473e8a76487d0bdc30b2b23e45f0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_450nrGkAcPtqaB9nFh8OyO5F",
  "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]: [0.1532, 1.5036, 0.3313, 0.6418, 0.062, 0.1104, 0.9966, -0.1036, 0.8299, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3622 left_y=0.0485 left_z=0.0484 left_yaw=0.0271 left_pitch=0.0311 left_roll=0.078 left_gripper=0.9966 right_x=0.2927 right_y=-0.0015 right_z=0.1798 right_yaw=0.0747 right_pitch=-0.0532 right_roll=-0.0004 right_gripper=0.9985\nstate[joint_eff]: [0.6222, -2.3179, 3.959, 0.4567, 0.2027, -0.2271, 0.1245, -0.1026, -1.347, 7.0769, 1.6484, -0.1148, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322f0c5babd6aef5639bb55487be0ada15647009ad01706a06134d1d57f6b806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549c61c52ed18b08c3606d20ac941b217a837b2fa93000b6653267dbc911873a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f9c3cb064cdb72ca8f1be9da9c90cc7280cf9934cae1dbecb3c8e382c4fa11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.456 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]: [-0.062, 1.1305, 0.1005, 0.5636, -0.0734, -0.0338, 0.9995, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.0024 left_z=0.0611 left_yaw=0.0037 left_pitch=0.0975 left_roll=0.0178 left_gripper=0.9995 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0743 right_pitch=-0.0476 right_roll=-0.0008 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.3333, 3.6308, 1.2088, 0.2369, -0.1636, -0.022, -0.0752, -1.8803, 7.0085, 1.6923, -0.1148, 0.0366, -0.0317]",
      "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]: [-0.0227, 1.4265, 0.284, 0.617, -0.0589, -0.0078, 0.9953, -0.1036, 0.8291, 0.659, -0.4614, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3519 left_y=0.006 left_z=0.0519 left_yaw=0.0166 left_pitch=0.0376 left_roll=0.0369 left_gripper=0.9953 right_x=0.2925 right_y=-0.0014 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0532 right_roll=-0.0001 right_gripper=0.9985\nstate[joint_eff]: [0.4171, -2.4684, 4.8479, 0.7253, 0.2222, -0.1587, -0.0708, -0.1846, -1.7026, 7.1453, 1.707, -0.0855, -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 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]: [0.1532, 1.5036, 0.3313, 0.6418, 0.062, 0.1104, 0.9966, -0.1036, 0.8299, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3622 left_y=0.0485 left_z=0.0484 left_yaw=0.0271 left_pitch=0.0311 left_roll=0.078 left_gripper=0.9966 right_x=0.2927 right_y=-0.0015 right_z=0.1798 right_yaw=0.0747 right_pitch=-0.0532 right_roll=-0.0004 right_gripper=0.9985\nstate[joint_eff]: [0.6222, -2.3179, 3.959, 0.4567, 0.2027, -0.2271, 0.1245, -0.1026, -1.347, 7.0769, 1.6484, -0.1148, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322f0c5babd6aef5639bb55487be0ada15647009ad01706a06134d1d57f6b806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549c61c52ed18b08c3606d20ac941b217a837b2fa93000b6653267dbc911873a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f9c3cb064cdb72ca8f1be9da9c90cc7280cf9934cae1dbecb3c8e382c4fa11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPvJ65nY1jkCeuXRLlqE8DAjYTb_-o_TrIXTxkPN_DLvyzNO0-thfOobOYK-SdpXq6s7lc2mLr2Hm1qe9DwpVwVyF5pwUp4yHxx1zT9aG-LgrWMg3tEvHNDV0wbsi_rwUxmGSDnHm8UXJ71_3gbrFYxSon3DPFXU1jtFp77kRipZPg67Ct-m5gEeNiD7At5NdyqU0qwSsHZm3iDmN6N6E61q7Fv1BJo0n5kgNpCMYbVm3UH2LQSrSuJ9MMlK-dWGLQ18yoMnj99x-YvWczH1hc26QalTE3r4708RETu1ZjO11RDaj9wNjNNQOb2zn2mV-dnWzOa3GcWjqkP1o3dV06A9nKbQAyWW55TLCgz1SRbEVN4wJwB23xZlKyHFPd6I7Rx_PHkbx4bvr2b5f7HLTlq4E6-Ba77Zqa5nbmq5K2o8lsGGykAJMJIGJZ6ALXnqsnHQIhMu0bEt8crgMq8A89YdX-3WgNgqboYvUyoznjAfjEjlRJN-OxdxShuJNJFBkxqzdvvsRbpGwZ9LdG22fceEFBJOknuDYSqxYHTThnSfiNHuyXkgeuP3V08G27XgBRIRG_3Rjo5BoigKLd7NLNEHq09XuvlN-s7JogqHnEC_vZUeLDMy-34RhJCMtrVRE52Q3LHCkCyBes0ojvdD5VZiHZ0nbEgbBAhaIkDh80UzDkIjoGs2lZkgYasH7OKvzRHavxef9wSWSNu_aGQSdCbm1mEDcD1vhtr_a1sEjcnPSGNK-3e6Ixw3R0BSuFNR84STlappUDzhUW_jvr1EvKSlp_qzKKdIPuE9cCQ_7XwUyu13s-0an_5JBCIJOnWbDo85F20ojrwlqWwcPj1usXnD4NaIgfR9ysFORWx9iXxm80rZbzSkmTufDkeEyUmOec0Gk0ayL0-aiFM2eGfky-D7WhN-P5acAoZqWSxGwqyh68FjieVYX-iYY7uNQCYnIojUKZte00tBSCC2t8QE74BojOUWyQ8nYoluionwt8CeuSNdyn2UfzQqLRCp0KADnKHehRKyRuy1YvbWBSyu-firUhuLnGRCD36SEWBJRJ_y_X-HJxmgrPrmRnQ18Qn--LNWeG1js4iANNHXmKJ0y2QVZrPWxZ9h6d-91hGhqdkvSaVke1cuLd4R28Os3uAsAvSbY-koXs2fpWDjDKNOJzR6XY9A_pEk6wACYPZW3VuqOu20z0Rof5jTqg06eb-mROIENAJQKO5-Kj36NE_irgA3m8B4NqBu53gBE96sofwB848_JIyus7s39vXXVUcTYFN1ybmuerfRiIe67ha9FBKxy530wA7-OUqHTZZ7JPVA4a9vxd73I5ExuM6IZweezcWGRDbXH-_ms4qM3T4ngC-TOSY-sJKFzh4WI74GpXKlX2_gtRiqtvyGRNiOCkoGPryhDqwKM8uU_BHOI97SD4hIiPV6zVhs_mvEjriv3QEoTYLpuqIN16vM8YYruLgcoU50c1nH9g6klCUG9o-1SvC2gc2TaebON8suYy2CPkDgsbEjVA72uQCie9-E_C3F5NHVyNbk2nldFf8QpX-F7U9SR3N-RP162oU0KhyxpY4Pip71fEhyIGQJgTqsxsovpk7vvpsU2yGF62EMNzw_cSC_6ErfYwpufAzFsJGzXhXOifZnS21Zrp2xSOOcdwizGmydmZvB7VirtrdoChxeS1QZ_yH6Jy-St2prfEc9JKT9Yja8280rCtLNEj-bVGudyh81K__Gjj6zVTROn12GaKHgkaN6G1zxVL70ixp-lY9M2WgYi25pXMT74jEE5UCPWctB7LWm46M8kiTBgi0oSeQ0Rn_WwmRZ8V5mTPcDjR7ukNi2AH9n08rt_JKwkgj_wCxzYZbPR2NEayEfdzmioXeSc7HBj2z9NZBPsPuX1Qfy5mlrTu9YIvGO4RXpdy-a2l-f-1HYamxEB8YCZfD6r4pqB6bQfWhmjHaMeOjNfFql3_Cz3k9VMs88DbaFgCky-vFf3C8MqRmndMRn2eOrThY00VJ45XH3Slw8kxMgKelTI1O6p6nw9bFPYIzjiAQ7thqgl8H6X8mrMPs9sCkDDW9Fg==",
  "id": "rs_0e22b9bb7f98c4bc016ab473ebce1887d080ba92e8501c037b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now beside the gray plush near the left workspace edge. I’m attempting a grasp on the accessible part of its torso.\"}",
  "call_id": "call_pJaowUyZCQav5ujX5vSZnZVs",
  "id": "fc_0e22b9bb7f98c4bc016ab473ee5cb087d0b9f74d4358e680b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pJaowUyZCQav5ujX5vSZnZVs",
  "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]: [0.1539, 1.4963, 0.3439, 0.6445, 0.0528, 0.112, 0.0116, -0.1036, 0.8303, 0.659, -0.4599, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3668 left_y=0.0511 left_z=0.0561 left_yaw=0.0347 left_pitch=0.0528 left_roll=0.0866 left_gripper=0.0116 right_x=0.2928 right_y=-0.0015 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0529 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.959, 4.0684, 1.8242, 0.149, -0.0317, 0.9499, -0.1026, -1.4427, 7.1316, 1.6581, -0.105, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8418c6befc0cdd5e42862278994a8e94d2faf4e9b09b38c057216daba9b4ea28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc36f38ab104f1fa6d5e6cc4f9e8dd115675b8defef4716bace8335c097544dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791cccb0a9997e7dc5d96d5700ce2d9e36e14c0e0db37c8ceab1690365551a62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.631 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]: [-0.062, 1.1278, 0.1013, 0.5808, -0.0814, -0.0338, 0.0114, -0.1036, 0.8246, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3078 left_y=-0.0011 left_z=0.0661 left_yaw=0.0107 left_pitch=0.1183 left_roll=0.0199 left_gripper=0.0114 right_x=0.2924 right_y=-0.0014 right_z=0.1813 right_yaw=0.0747 right_pitch=-0.0476 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.0308, 5.5863, 1.6679, 0.0317, -0.0122, 0.9499, -0.0479, -1.2923, 6.9402, 1.7167, -0.0708, -0.0708, -0.0122]\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]: [0.1532, 1.5036, 0.3313, 0.6418, 0.062, 0.1104, 0.9966, -0.1036, 0.8299, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3622 left_y=0.0485 left_z=0.0484 left_yaw=0.0271 left_pitch=0.0311 left_roll=0.078 left_gripper=0.9966 right_x=0.2927 right_y=-0.0015 right_z=0.1798 right_yaw=0.0747 right_pitch=-0.0532 right_roll=-0.0004 right_gripper=0.9985\nstate[joint_eff]: [0.6222, -2.3179, 3.959, 0.4567, 0.2027, -0.2271, 0.1245, -0.1026, -1.347, 7.0769, 1.6484, -0.1148, -0.0806, -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 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]: [0.1539, 1.4963, 0.3439, 0.6445, 0.0528, 0.112, 0.0116, -0.1036, 0.8303, 0.659, -0.4599, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3668 left_y=0.0511 left_z=0.0561 left_yaw=0.0347 left_pitch=0.0528 left_roll=0.0866 left_gripper=0.0116 right_x=0.2928 right_y=-0.0015 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0529 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.959, 4.0684, 1.8242, 0.149, -0.0317, 0.9499, -0.1026, -1.4427, 7.1316, 1.6581, -0.105, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8418c6befc0cdd5e42862278994a8e94d2faf4e9b09b38c057216daba9b4ea28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc36f38ab104f1fa6d5e6cc4f9e8dd115675b8defef4716bace8335c097544dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791cccb0a9997e7dc5d96d5700ce2d9e36e14c0e0db37c8ceab1690365551a62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHP4sphHt8scBTLWa-oATmQKjlyUlyigBbFbDKZnI7ttaTylkMGsUKp-m80s14eou2DAHd2gqQm0dpjLnTZ_HHpt700mEgIwzPasKpSqiEPSXAO8qNr5mMMjoAnp8pazbRflkehYC43CoIqYcnPPOGjN0qeMBQ3VRk_J15D7t00nBD9JysKcmvWiBsA7dO4U7DHc12EzUe6m95CW8u86s-2YvBesUSZXfEOcIZR7ko6T-kon1xxYXQGoxQ_cAgYfVl157F-noZGd5mn0kvbBuanGVGgXBldmfuFHerWiFRdHd2J80OAyZbymyS6nOhFXiVSRra8qhAv3vb2P1rH4lSNQMW8d7t2D6OsPPIGvEH_5nZr_nQGUNJQnn6rQV0rLOHXr9PBUUiw35CioRxfRhenbtEj8rwNYZmKvwTCWv3uCmw0_x3EApfI6-qZ1V3B6S0fTfeDsjf1gTvhNTKWo0UTRQ5D---aEKx5spY96FD57NgK2TorAZChBnRfibjuor6h5wwGPmANae04aiky1AJC0Vq6dDSJDmfBiy_s5W6XLhhPI_8eTzm8Ueo_GyHGd2HAglB9vV1UwC9avplLQBSvFYOBjDq2bmY0ZD71iU-8qESJ3UvuTEgUxx-lpRbmN9-G60UPwEPgDGpkiN_5Csk-SZ0WLjBGlB2XpA0A-BS01OaL1daGSEe2kgj22d57jFoBmOJhAgm63-nWZ_Lh8YlDmwzqIEkCzO6GHmF7LNQ8OFulC9G-z0W8cNJDG26xaq5wLQBWH_CxEYOXLOuewoxGcT_UDP17pU9sPIrTmqTrDpdf3VRo-dpZY2iHVyE10IEj-ZuJOxAKHQ8XTSTqx9aPmvO6RoSADPpr7g_FW3ziH2nWBYVal73N2RhL56mKqakhYV2gAAzybrGNcofvcUt4Pf2Xqhw0y3ohwehMC1rwVPlKbfHMqu91o74C7GWYg86aqWZxZCtmlXQYGbVCKW8SUYJsEpdHgw5DKeQJoT0VrgJL0IJihwx0p99xkf_3tQI6zKmE2yWptECG5ni0Y81VAPmIQmXfHJZy1c-AptEHHChLrkwgV__IFdLsPzPJkUYGYNSuDCspQ9-dV80RdG5gfF4V4-2a2E0gXkNlohhwDRfF88Pxn0kCeTFCGrvO9qBvhsQOMNfZtI2gZmpcl8YXYFR5UroAJD2khVFhclbBW_si8tk-cpwz2hxlVqnfI4p0MpA518fYBNyVdJFcVCAUNygRcNTWfvQaDeqC9RsQkqdSMHKZbCmtxwlx64fktJKM6XVW42sUxZNS_sMpZIkuC1_rr7m70IlNSzHBE3vxk5jzm1PRaCPf9PHDTN8zqZSD-9g-z7OvJBQP5kwMmE9ihxlExeKrfmbyVDXZFRNp0lrCXUozxSLfyph65i8I9MTCv0AIGkyvGxMclAVgHaiOFyizYeYj46ufrKUydAqtPAArpX8krLg1dSmhoLkqHVxigG0b-jwFfGt_6WVe1mVz-JXifEWj9V76JgUDFivIPnnx05KfLZC_4VEz1gE1LU2t_gc9B7ghjzoyx_Ah3cZk0cV5Llg8TS1cQy9mJpF9ZdRCZEuTvEsvcmdXWWecz07kGYu16xoi3F55ZSnqvVyWC9rzPl4efePgAFGuKomCqBeedw9l1_A1WaXCQp588YVACxdLa4Vom5ShH1k6p9RglBggTJyEA7MYlCvlQ9yGR2bDTDWFs0V-OXZpZNpRvlNt4p0pFyejaWhcWiSx2KnICQU5vOn5FwJlQaSYTd6MdHqNkuO3SYm7SWZnRY67deHnCpkTuWuKuYMwIemuoPYkLFXYlp16ZdGoHkmja5tIl9T0IibT6AIrYTz5mjD_OSXLGTt8sE5z6ERJ6-U3nniXT191qqXiK2lpCnXhj39TwYQr5JVXKoFZ6XEn2VRoDzF9t_BCNDFzJAy6MC7AMe1BVf6zNa-7IlBUIBozNzfbbmnvzGrO1Wd9HzAecO_S9FAMoU-HviAmhRgpRmgngA1NQYUI8i2pLXS1fRrQ756OukQzYM6UlQJlN9S9vllvacmYlj08cw3y8DEv1uJuZHUfeDf-eXzg4jBLbAwIsKZ9uIWseC2eRwXsAO0-OYRAZadE7oBtRTGbNzjkJOEvTqODl1YSePQskbjHgodDre10WN6vZtpG3Rw0OKv2haB3egx4X6-Nk5ZSslCV8wWX34asbtxL4Ck4pjYOZlG72zFbW-vBLc_xujPq3VIo3uq7cSZWAT8_wIRk0zhOWpxLSlZ4GWyi9Zhh_1r7XtZXyen7ZuntH3ClRtxxRIO0V_Y-A9N8YPb0Oi7ok8e7whHfMgvWqYMGkOpalZDLovegO7y0B3xoInF3hopeLVVNWfod040OE06tIwwEBCA_Vj3yKT4if4sexDGmuKXfTu_Ciu6eKSQOIs-RBQutOo89EJM4TULBCA9FenmZ4Z6KqXhBch8Y3YXGJYSdi2EQ9hwA-YdfEB_pg1QaN1QFnvd8O1IhBkSCSyksDKORgdVcsnHQmVHXCB5-CLITLRxOnx1NYS_MNduuFZ1uXwvVy1wOlVmsyL6cVJdSt4iJUbB_tJMvBMLwdg_VRTEi_nkLIAJXuwBwwndoKa8WOGIAvl7OOYW4iGNhEi6JpY__M_e-KRtPsT4eZLnDHLVxRyOXz4mfhDR3XiLcsY8Epw7mC5EGA42SebQj9NVo5jWD1AXUU6j2KFMyJljcBCxdTniv2tq2dhgb2URuqpIl14fH50LeG8ZUV8XzCLR8fmTu-kfY7_zeNpumc8wVwA44hGQ2gCdnJOmtcNX3OY9OpDXUwvqxEIjbFKUneSLttZmTXUxK8yVpYH1IBI7INVLnrhwbTdxWITVkOmxbxjlJSyjLhaa3DojYOYPoB",
  "id": "rs_0e22b9bb7f98c4bc016ab473f20b7887d0b11d3f8cc90b45cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.17,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The gray plush is not secured and has ended up beyond the left-side reach limit. I’m moving clear to sort the accessible small brown plush next.\"}",
  "call_id": "call_guo6uUDEczVKPbBSHV2yAGQD",
  "id": "fc_0e22b9bb7f98c4bc016ab473f7895487d0991b6f89f2a59987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_guo6uUDEczVKPbBSHV2yAGQD",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8333, 1.2644, 0.7864, -0.2916, -0.675, -0.5583, 0.9981, -0.1036, 0.836, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3096 left_y=-0.1713 left_z=0.1597 left_yaw=-0.0012 left_pitch=-0.0116 left_roll=0.0017 left_gripper=0.9981 right_x=0.2931 right_y=-0.0015 right_z=0.1782 right_yaw=0.0748 right_pitch=-0.0589 right_roll=0.0006 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -4.5197, 8.7316, 1.3944, -0.3785, 0.0708, 0.0024, -0.1299, -1.894, 7.3641, 1.6923, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c08bc5ebc7fb73249f3251f24fe712ffe74ccdd82a8f67aff78bc8de211866c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edae40f6559ff9f9ce43de24a02c8c334606e1ee9ec1e5d163694feee870561d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc651ee689220cd46542345c0cee40ba687324f801e614e654c2a6f09ad1c5b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.15 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]: [-0.0227, 1.4265, 0.284, 0.617, -0.0589, -0.0078, 0.9953, -0.1036, 0.8291, 0.659, -0.4614, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3519 left_y=0.006 left_z=0.0519 left_yaw=0.0166 left_pitch=0.0376 left_roll=0.0369 left_gripper=0.9953 right_x=0.2925 right_y=-0.0014 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0532 right_roll=-0.0001 right_gripper=0.9985\nstate[joint_eff]: [0.4171, -2.4684, 4.8479, 0.7253, 0.2222, -0.1587, -0.0708, -0.1846, -1.7026, 7.1453, 1.707, -0.0855, -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 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]: [0.1539, 1.4963, 0.3439, 0.6445, 0.0528, 0.112, 0.0116, -0.1036, 0.8303, 0.659, -0.4599, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3668 left_y=0.0511 left_z=0.0561 left_yaw=0.0347 left_pitch=0.0528 left_roll=0.0866 left_gripper=0.0116 right_x=0.2928 right_y=-0.0015 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0529 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.959, 4.0684, 1.8242, 0.149, -0.0317, 0.9499, -0.1026, -1.4427, 7.1316, 1.6581, -0.105, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8333, 1.2644, 0.7864, -0.2916, -0.675, -0.5583, 0.9981, -0.1036, 0.836, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3096 left_y=-0.1713 left_z=0.1597 left_yaw=-0.0012 left_pitch=-0.0116 left_roll=0.0017 left_gripper=0.9981 right_x=0.2931 right_y=-0.0015 right_z=0.1782 right_yaw=0.0748 right_pitch=-0.0589 right_roll=0.0006 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -4.5197, 8.7316, 1.3944, -0.3785, 0.0708, 0.0024, -0.1299, -1.894, 7.3641, 1.6923, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c08bc5ebc7fb73249f3251f24fe712ffe74ccdd82a8f67aff78bc8de211866c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edae40f6559ff9f9ce43de24a02c8c334606e1ee9ec1e5d163694feee870561d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc651ee689220cd46542345c0cee40ba687324f801e614e654c2a6f09ad1c5b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHP9iLdGR_mXy2jzbQo72tC_hZqFR85cwnk9tnPCcJRSULuYCtR-N-nciCwBnPLxiYd6VL35_1534B5AGueemK2SbYBWyAdx6StUagXlTNIuf2idD_z4cIS6uZoLa9x_aSmcb6YeZ0GuP31uwQQRtqle543p8i5XaEoH6FlLg5F8RZCVGpTrP6ifVyzOqKhP1kCnBbQTwqJweb7HytyRnBFcmf9nR2vhockGYH5IuJdBRxhQk-jQV2etwspdgwGzb3-xQBPDM9TR_-QuDRJoNPZkHfhwwIjMV4jDeQdy3C_7m82XuZRZKQTo2rIYJm2FHsevOMgVe-7V-wHsN9lwbb0N0FWrmoJZ9gtictlgco8fG7anLVH1qNdwzW4rOOvMOoGi6Ed0vES2Y9tgNzPfNXYF9yQEitQdSySrOVk3X41cPA_gVi-umiZiW7m7U-x1HH6tI3aROS6uc2w3zgSc9EzTss-500mj1tH5SYF2ZA0BewLwJfKuCwCNIHXbva3JHJRlbo3esbWJImjb4bgnGpj4pWQlHieCsllocrFOz_CJplLN492dfi65kez13rQ80uHytlVneRwLNDkJ2r7cbXYm6N2lFZwQb8zN0rQNcFctBR6OygntRokJXHO678NTnC-bAclYkhrPs0DtnSihY9L07H2j-ipH7sCT29G6ujEeiR7OBs2h7C4JnGcuYtN99du6l588kJ9tbWL5D5f-NJgCYXbXIhL2y2spKh2Qu7_CsCiBVK3r46Jsou75DozglWHuuPX4mVRt60As6LvtlPLpOj6HlXlWv-50UyqBUy28TGdqo05-KxoQc51x_RZ4WCmDmnzFIXsYU8txFUC04GzTuUymTOF2jvGIPrZopg6pTEAVwEWoAKzpQItSmsXtXKMjeHWgCCIS2DHx3eQq7nAfdmeBd2wQSvuak0QDoR8ehCi_5xHUHdZCAPu7GEBH4L78a69fCc-_DZQRbRpJFrovcOMhzEkYGiXa1hSi3NEMEg4X1bNVYVkC9SYIWKk2ju7wH0XOSwY90ROmDsbmiliBkM0EErQhdw_7o5RWv8dPLAWLVoCY5zJdVqlSv5y2jm35BV_KQ5ID084-y51GxNz0HvOB_c-k15hcgMMiddmO4o-NJw3ou-xOWMwpBqD2G0WVapCep-R8_FI8CDVffMz0JMnU_hxrlbiEQZlmwO4plctrJw_eMfw61XdKnbnyCbcHGfbR8xmTgfd-Z0xdpsbn6_dYHEdNMPcf7taGXbeUTmIUvhtsVbpeCpCNhe3HoaYV",
  "id": "rs_0e22b9bb7f98c4bc016ab473fc302487d0bc56379919b54880",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The small brown plush is centered beneath the left gripper. I’m lowering the open jaws around its body.\"}",
  "call_id": "call_dgvzTBpkDU4Vm35dS7IowKUW",
  "id": "fc_0e22b9bb7f98c4bc016ab473fccd1887d0bb76da43321ad861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dgvzTBpkDU4Vm35dS7IowKUW",
  "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]: [-0.8326, 1.6665, 0.4526, 0.3779, -0.6762, -0.5648, 0.9981, -0.1036, 0.8379, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3041 left_y=-0.1647 left_z=0.0121 left_yaw=0.0055 left_pitch=-0.0554 left_roll=0.0461 left_gripper=0.9981 right_x=0.2932 right_y=-0.0015 right_z=0.1776 right_yaw=0.0748 right_pitch=-0.0611 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -5.641, 3.7812, 1.3944, -0.2759, -0.0122, -0.0024, -0.1846, -1.5932, 6.9538, 1.6532, -0.1197, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacd9059b47a9c4b8f8d06e3e4d981bc9c2d20733296b2e4bbb4c4e8afc3fc22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48484986a0fc33274c43408bbe2d3a3ca5c9a6db3dcfe9ea096f3dbc4d9d1430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ce85873f9c2834ce51ab12d6daf5d40ffe5c893023b59568096e0ae558dea6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.707 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]: [0.1532, 1.5036, 0.3313, 0.6418, 0.062, 0.1104, 0.9966, -0.1036, 0.8299, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3622 left_y=0.0485 left_z=0.0484 left_yaw=0.0271 left_pitch=0.0311 left_roll=0.078 left_gripper=0.9966 right_x=0.2927 right_y=-0.0015 right_z=0.1798 right_yaw=0.0747 right_pitch=-0.0532 right_roll=-0.0004 right_gripper=0.9985\nstate[joint_eff]: [0.6222, -2.3179, 3.959, 0.4567, 0.2027, -0.2271, 0.1245, -0.1026, -1.347, 7.0769, 1.6484, -0.1148, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8333, 1.2644, 0.7864, -0.2916, -0.675, -0.5583, 0.9981, -0.1036, 0.836, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3096 left_y=-0.1713 left_z=0.1597 left_yaw=-0.0012 left_pitch=-0.0116 left_roll=0.0017 left_gripper=0.9981 right_x=0.2931 right_y=-0.0015 right_z=0.1782 right_yaw=0.0748 right_pitch=-0.0589 right_roll=0.0006 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -4.5197, 8.7316, 1.3944, -0.3785, 0.0708, 0.0024, -0.1299, -1.894, 7.3641, 1.6923, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8326, 1.6665, 0.4526, 0.3779, -0.6762, -0.5648, 0.9981, -0.1036, 0.8379, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3041 left_y=-0.1647 left_z=0.0121 left_yaw=0.0055 left_pitch=-0.0554 left_roll=0.0461 left_gripper=0.9981 right_x=0.2932 right_y=-0.0015 right_z=0.1776 right_yaw=0.0748 right_pitch=-0.0611 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -5.641, 3.7812, 1.3944, -0.2759, -0.0122, -0.0024, -0.1846, -1.5932, 6.9538, 1.6532, -0.1197, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacd9059b47a9c4b8f8d06e3e4d981bc9c2d20733296b2e4bbb4c4e8afc3fc22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48484986a0fc33274c43408bbe2d3a3ca5c9a6db3dcfe9ea096f3dbc4d9d1430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ce85873f9c2834ce51ab12d6daf5d40ffe5c893023b59568096e0ae558dea6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQABiE4bH2npV72_pflLR1l9NdFE-jVjv340RQ93PLAQdMLKKwJbX4p653Io39gV6KAyErKdkh2q19HFe9tusuaRI0RH3VGsshq_msTmUZPFNBg8mQdZQVnVf00TRYcxp3i1ooKpLJPK2qvJpzSO3Y07Z2jzOQEUVOcZzvHXVKlJxz9lvDji8pmhCBywvn3e57cZUkD-WbBSbj6-tOa2vSu6QQk1ywj3_eEI0nbZwGRt_QePEsa8Q4h2dvIGQ0TdVX3PE1-NHrOrauDgm-cnITEBXDlylFDVCvHwTIfFaZE3mYgDvkmF_KMuA9ktuU_5vaL8l1iPgSvXuivzPnAv3_JBmy2UmAT0gJX8RUd8bRDqq0vZZc2YUeM6ntUIBFBhKIhOl3dSUySuVDgyZueBXl7u6UQfhnbGEoP8fgiQpWlny_FN2WY0EZemoLxSCWPfGi3Rlaqajge2SD0XJL21rTwvbXS4QrGt8mw-sa1lMuZ-aYHEZ04r-20BaHXp_hvUlFlln8bSqVXDxLI1zYbUj_9OrgWs4SmztPW-jpqci7pgwJuH8WOrX8fMZCCBErVZ69HT5CuHYa-h5NdMk3_lIbqm1icKhkqWfM9JvErnL_4fRfL0UUaZLVgtOsx7uSYOOqjF6jkN2wf4uOXBN3LyXBxulKkR3MjR7EjdkBZuKFiZYB3w-M690KP6MqRGKzvWBIejp9msoukq5BJu1YrwtrGal202sK9zPMrygaD_3cyAE1AInFHLsIuszwAMkB8du9OWonNu716ya4ffxy_74ZcHAqYW0dhuRn-uCw2lubdj0fQjY2jdR9Mbejadb6SyZHgg-C2s4T35eWcxW4fbluPYyMfURC17_eDaEjFlblxyoDE0XD9w0cOOmmjArB92S0YL5ouP4uHOhypLwd6tmNVb_49YdpSN1NJ6d-mltK3wb_OFRPzRIL7Z_H506YWyqGJ2OpqqX7kUxzQs6GNwrDxlJxnsirFS8-A5SfC5Ugi8TeZOD3l0D7Gyp9VBkwiAkto5Lftrv0QwhD7lCHZdGBzZFVn-PP8FSjpIkIoGeqlozuN4V2Vl2Hx09HOlN_Wk6rDXbeOOQGUn_ppymt8l2rgI4QFZsHlOZI7_Su82r1zlDW7BA4heGoreP2YWsw3Zmi_-My7oKqG-Va2ssligH418vfoTCJb3Xat_y6X3sJFH5HbQVC4g4PewupArV-_Aosao8SzckYzd21tR6WPTZ4MPg==",
  "id": "rs_0e22b9bb7f98c4bc016ab473ffaf1887d0822a2764faa4e94f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small plush’s body sits between the jaws at table level. I’m closing around it.\"}",
  "call_id": "call_M8tvUMYZoNioPt0YTAMhtGkS",
  "id": "fc_0e22b9bb7f98c4bc016ab473ffecfc87d0a91463383c79a3c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M8tvUMYZoNioPt0YTAMhtGkS",
  "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]: [-0.8326, 1.6802, 0.448, 0.4072, -0.6849, -0.5617, 0.4952, -0.1036, 0.8379, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1644 left_z=0.0114 left_yaw=0.0096 left_pitch=-0.0433 left_roll=0.0447 left_gripper=0.4952 right_x=0.2933 right_y=-0.0015 right_z=0.1777 right_yaw=0.0748 right_pitch=-0.0607 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -6.7487, 4.6701, 1.0867, -0.2369, -0.0708, 0.8816, -0.1026, -1.4017, 6.9538, 1.7167, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a002b505642eb5df955d9a2850612ffc536376b48fab107ad345ca64c5bf7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0a64ade7a9d6229d07fc6e58eb1e202f12bdc13ecc3d1f2ae52060c8c6732c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c02177d81a39b98f7d6917f5d96b0ef39adc34065715ecb653f69e0bf2319b",
      "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 · 5.557 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]: [0.1539, 1.4963, 0.3439, 0.6445, 0.0528, 0.112, 0.0116, -0.1036, 0.8303, 0.659, -0.4599, -0.1432, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3668 left_y=0.0511 left_z=0.0561 left_yaw=0.0347 left_pitch=0.0528 left_roll=0.0866 left_gripper=0.0116 right_x=0.2928 right_y=-0.0015 right_z=0.1799 right_yaw=0.0745 right_pitch=-0.0529 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.959, 4.0684, 1.8242, 0.149, -0.0317, 0.9499, -0.1026, -1.4427, 7.1316, 1.6581, -0.105, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8326, 1.6665, 0.4526, 0.3779, -0.6762, -0.5648, 0.9981, -0.1036, 0.8379, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3041 left_y=-0.1647 left_z=0.0121 left_yaw=0.0055 left_pitch=-0.0554 left_roll=0.0461 left_gripper=0.9981 right_x=0.2932 right_y=-0.0015 right_z=0.1776 right_yaw=0.0748 right_pitch=-0.0611 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -5.641, 3.7812, 1.3944, -0.2759, -0.0122, -0.0024, -0.1846, -1.5932, 6.9538, 1.6532, -0.1197, -0.0659, -0.0122]",
      "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]: [-0.8326, 1.6802, 0.448, 0.4072, -0.6849, -0.5617, 0.4952, -0.1036, 0.8379, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1644 left_z=0.0114 left_yaw=0.0096 left_pitch=-0.0433 left_roll=0.0447 left_gripper=0.4952 right_x=0.2933 right_y=-0.0015 right_z=0.1777 right_yaw=0.0748 right_pitch=-0.0607 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -6.7487, 4.6701, 1.0867, -0.2369, -0.0708, 0.8816, -0.1026, -1.4017, 6.9538, 1.7167, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a002b505642eb5df955d9a2850612ffc536376b48fab107ad345ca64c5bf7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0a64ade7a9d6229d07fc6e58eb1e202f12bdc13ecc3d1f2ae52060c8c6732c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c02177d81a39b98f7d6917f5d96b0ef39adc34065715ecb653f69e0bf2319b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The gripper is holding roughly 4.7 cm of the small plush’s body. I’m lifting it clear to verify the grasp before carrying it to the left basket.\"}",
  "call_id": "call_1uN53atelfhzvtK1m8jrP2Kl",
  "id": "fc_0e22b9bb7f98c4bc016ab47403063487d09cd8afbcf5a81004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1uN53atelfhzvtK1m8jrP2Kl",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.2724, 0.8421, -0.3882, -0.6804, -0.5739, 0.4974, -0.1036, 0.8417, 0.659, -0.4599, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3082 left_y=-0.1683 left_z=0.1654 left_yaw=0.0127 left_pitch=-0.0412 left_roll=0.0276 left_gripper=0.4974 right_x=0.2936 right_y=-0.0016 right_z=0.1768 right_yaw=0.0749 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -5.9966, 8.841, 1.2576, -0.3346, 0.1099, 0.4957, -0.0752, -1.7573, 7.0222, 1.6923, -0.1245, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b84c2e4fddeb76840b8fdcd9116d058284f439e045778539672880f4a8ba9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffecf54dd6272a968241bdc6219d6576e5a78f5f7ba255eb98b0daaf256bf6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585f4a02f4219507c1e74b76eaf575802d1ac4c7952ae12035fc48214a0259ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.664 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 83 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8333, 1.2644, 0.7864, -0.2916, -0.675, -0.5583, 0.9981, -0.1036, 0.836, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3096 left_y=-0.1713 left_z=0.1597 left_yaw=-0.0012 left_pitch=-0.0116 left_roll=0.0017 left_gripper=0.9981 right_x=0.2931 right_y=-0.0015 right_z=0.1782 right_yaw=0.0748 right_pitch=-0.0589 right_roll=0.0006 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -4.5197, 8.7316, 1.3944, -0.3785, 0.0708, 0.0024, -0.1299, -1.894, 7.3641, 1.6923, -0.0806, -0.0562, -0.0122]",
      "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]: [-0.8326, 1.6802, 0.448, 0.4072, -0.6849, -0.5617, 0.4952, -0.1036, 0.8379, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1644 left_z=0.0114 left_yaw=0.0096 left_pitch=-0.0433 left_roll=0.0447 left_gripper=0.4952 right_x=0.2933 right_y=-0.0015 right_z=0.1777 right_yaw=0.0748 right_pitch=-0.0607 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -6.7487, 4.6701, 1.0867, -0.2369, -0.0708, 0.8816, -0.1026, -1.4017, 6.9538, 1.7167, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.2724, 0.8421, -0.3882, -0.6804, -0.5739, 0.4974, -0.1036, 0.8417, 0.659, -0.4599, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3082 left_y=-0.1683 left_z=0.1654 left_yaw=0.0127 left_pitch=-0.0412 left_roll=0.0276 left_gripper=0.4974 right_x=0.2936 right_y=-0.0016 right_z=0.1768 right_yaw=0.0749 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -5.9966, 8.841, 1.2576, -0.3346, 0.1099, 0.4957, -0.0752, -1.7573, 7.0222, 1.6923, -0.1245, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b84c2e4fddeb76840b8fdcd9116d058284f439e045778539672880f4a8ba9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffecf54dd6272a968241bdc6219d6576e5a78f5f7ba255eb98b0daaf256bf6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585f4a02f4219507c1e74b76eaf575802d1ac4c7952ae12035fc48214a0259ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQL1x-Dg-bG8AcrQ71mnfPkYzrmXLD1fu7DKxpenXsnqZXKAoRQ0WRTM_zkbxBzo9q7S7WPdU8Uj5Q20aZGzGapuWqsUYfDyFvge68UqwiD3GLYy-71Tej6KA3wT3d_-9FG573VYHHjlvRX5yEegD6qRJ4Nubx6B7JDjm6_reMmtg83WKa0W0pdnXRrqOQCehNDBOLMLfIi8hacXqipjRagpgeMzRauhbMz4Knayzl2J7wJ2h92fonKsgp2eO-3EhTwb6Q_XF3YGTCXvFwRet_YFZfUepYejUQLMafbmkITOI6zRTDctN3YTDU3prkam7gLdlrPnZiiIySjMWLR1FJ2xydOvGFLGLSippCuQ97zI7m_3x3VO80JLPXfUuFBmT5T5QvINy__n3VvLX83zPyyOODqOacgAwMkpiEE5pzf-mGTDqukezZyKKGg9Nm9t5pBtF44uggeGCwLs2t-8kqG3T6keyF7-Z8qdQrlYfqaTNdY7DerJbGAPnfs0n_n8m0_cOZLkER6xzIIrtzL7sAeTGuyiKNj1mSnqT4bI-MyHyTpBQ33-FvyP4KAZEINmu-U7B9yhZaZUPZ72eioQqMBEX_zqk5wKxhqgn6Ga_JZszy8pUqIrC3PKNsCznXtjxM8_aaIdydqa8IL0-20hwGv_ueKygMKsaiw552tcJeCg_O2IhtlyeM3dt7EK3Ir4d-JlojzusGZoHEi4xqCCoMLfT1vdXm5J4r54I6nYifDq6Iou3x7CIoKnpN03hsrVQRxr2JxZCOWOzHM6aCevrTpa97V0X85FLVGQ6sliWsZjPWE88kftWZaeUx29Qzm91123oBWBkftrXBcUNySkC321Ld6en217C5CORfBtV2T8_oY5SUD-GtpBzIap4VJKeHqeiBhHeAiJDZ-AejY6A19FCx60OvNsYMv5gX1w9aD71iKgYX3VhCUZm09GVCJctjAtKfRkWJ9KE74Xxx_JGE-cxtA3FeyjZleida_kXqjnxcERXYVqGyRoSYw1MagPbTsOg-iK5JArKSSWSsdfpHTMXarR-C6HAlICMfiuctGnqChnhpSXDIJhxp6sw4yIv4YXAQcCIDIkXwr6_-EFNifFFx67Inr0Oo8NUWEje1vfl14jmB1krg30GT0JMJ48NoF0NX5F4ApyRz8nzukoOfBRMTSf2aLmp5dcojUz8GU_pdwFvc-VNCxKbolK5neTB9iMQA_hBdGQbK4jjNSCULXC2pcncmKh2Pv_GjAj6Oa15uDVzSv_7jeeqFLhCkHmK7xx8I99aOflQf_MhG1ZKpBminlDck6mxL-6iEp3lzgvfK4cmQBMTsH-IZZZ1SxQo2meRIOjci1Hd9a3GrdmBvSq3qPe1yTqsxgrd7ensFWhh87zEVfTCCw3F5tjEXDPWI9fn4drk4IhzjDY95ZuYPYM_mtlYPuKBErjUrSY9fWD05Aw4mOhRe6DMxwVSZDP9reUBsSVDNX3tmFWpbljQipNGedNZfXzg54wSIUPTsUEfaM7kGanTmljyN1A6M5BaTQTsiQfLvXePh1PV7OJyfjc4mmxxIqzgykbfWoFjc8yYtsVva4J5W5baA-UxN4qkDSAR17KrHuUIjYdNhf-6z_AYuy0qVQ1ydgbBU-aOoKkc1lTf6z53InTUubTizuAsz4EENmxnqBGY6gDYTee-lmxXg3RGnpZ7hDtA-UnFjukSI=",
  "id": "rs_0e22b9bb7f98c4bc016ab47407b11887d09526e9731ed270ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.17,\"left_z\":0.23},\"note\":\"The small plush has lifted with the gripper. I’m carrying it above the left basket, which is reserved for the plush animals.\"}",
  "call_id": "call_dUSeT8FHkAtHgwQH90MmNpzR",
  "id": "fc_0e22b9bb7f98c4bc016ab4740b1c9c87d08d9965ab7aefb425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dUSeT8FHkAtHgwQH90MmNpzR",
  "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]: [-0.4847, 1.7866, 1.5158, -0.4599, -0.4408, -0.3473, 0.4998, -0.1036, 0.8467, 0.659, -0.4618, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.4791 left_y=-0.1631 left_z=0.2089 left_yaw=0.0556 left_pitch=-0.0857 left_roll=0.0266 left_gripper=0.4998 right_x=0.2936 right_y=-0.0016 right_z=0.175 right_yaw=0.0749 right_pitch=-0.0709 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -10.0718, 9.5932, 1.6239, -0.0513, 0.4274, 0.2418, -0.1983, -1.6889, 6.9812, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0570af097c926c292bcaef38907df0735f3fdebb2c7c2618420cab6822c97f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87aadcf83af3a6efbc12440f916550a85ff47ff63386c83b9d1bef789a1edf81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7090d61c2a70b2f8a9d4df57fe405a7f6835394ff3d4283429b1ac1006b216",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.528 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 83 changed as sent

message 87 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.6665, 0.4526, 0.3779, -0.6762, -0.5648, 0.9981, -0.1036, 0.8379, 0.659, -0.4606, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3041 left_y=-0.1647 left_z=0.0121 left_yaw=0.0055 left_pitch=-0.0554 left_roll=0.0461 left_gripper=0.9981 right_x=0.2932 right_y=-0.0015 right_z=0.1776 right_yaw=0.0748 right_pitch=-0.0611 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -5.641, 3.7812, 1.3944, -0.2759, -0.0122, -0.0024, -0.1846, -1.5932, 6.9538, 1.6532, -0.1197, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.2724, 0.8421, -0.3882, -0.6804, -0.5739, 0.4974, -0.1036, 0.8417, 0.659, -0.4599, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3082 left_y=-0.1683 left_z=0.1654 left_yaw=0.0127 left_pitch=-0.0412 left_roll=0.0276 left_gripper=0.4974 right_x=0.2936 right_y=-0.0016 right_z=0.1768 right_yaw=0.0749 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -5.9966, 8.841, 1.2576, -0.3346, 0.1099, 0.4957, -0.0752, -1.7573, 7.0222, 1.6923, -0.1245, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7866, 1.5158, -0.4599, -0.4408, -0.3473, 0.4998, -0.1036, 0.8467, 0.659, -0.4618, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.4791 left_y=-0.1631 left_z=0.2089 left_yaw=0.0556 left_pitch=-0.0857 left_roll=0.0266 left_gripper=0.4998 right_x=0.2936 right_y=-0.0016 right_z=0.175 right_yaw=0.0749 right_pitch=-0.0709 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -10.0718, 9.5932, 1.6239, -0.0513, 0.4274, 0.2418, -0.1983, -1.6889, 6.9812, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0570af097c926c292bcaef38907df0735f3fdebb2c7c2618420cab6822c97f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87aadcf83af3a6efbc12440f916550a85ff47ff63386c83b9d1bef789a1edf81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7090d61c2a70b2f8a9d4df57fe405a7f6835394ff3d4283429b1ac1006b216",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQPFl6w0ddo9CckBhNE1ZHG7C7sy9kx287xb_8VQeruG8hKtFGDkj9IOK0z6j9Epz3cgoWhZ62PoMcDew9mEvUgVJXYq2Zm3ZXrlU-npiH7alSUCL8RmxmfhO3yulqeBbhcU2UFQGGLjj8PXDkLKUNgakqt_QLl8UFfQDEG3tTUAQ_v5syHosNr6q96SqLFKFksQqnN8Kf0mIQr2kKW7VyvLfcr1gcYSi6EwHmacoDMcbzuS6BfKAgCXzfFXsVKyVuc6GZiqiNZmuPYjlbGM4L36aH_qOarFp74NWeOlH0Gj5Vpm6n5gn-qLYMU25hLHC6QIvb1a24oUkcrYt8LI7hBMvArQURXZJ0hOVWarDKaM35A1oTPEMHv6PKlh4vsah0BTrhvasAdEehjzNl-lho-TRoDFvqf9-ylmvfjadNGp5_J68TD527QaeicaT0Gis_QUZlcrE1LOZF_kK6qoL27VUz9n6u25cN80ppJJ7395Ft7vjQ82Sx734w6vfZrZKu9wdZXaK8ylnCWSBgwhezmJ1U8fVpH3pHzC8JCdnQNuwfNm4Ciapt02NKjHMGvEVc9cLAqI1Zq2-izJ89nqSDUpv0h5I02tQkyZrnYBKUjp2CALZWZ62FeyV1NU8J9-cSuG2unsmrq-i_BjytMB_bcq_pilHxsYQYMf28jW8-7t643RrKo0ccfohXKMx4cWatjErk3LySzPaK-0Z1ybvaDGR-QUcETJVPPH0apuY-e6NIbR2wHFebiQXhEGlT8ReIKDbxF8ujUmyS5GgXDAEWPAegjmHmSfODt8anI515gYYphN5DmbQXYNjpuoYoowjZmhGwH9iy8ft1e-YmqtePvMYt7TkBAged2p0gpKzKsVMEpcJexR3PWeIqIrB018HO1KJ8Udrp2ZMpPd-NAVDuki5jONblQmPnH_-Olm1m0G-HF-nIWTS0IBmtWpWu0kvUywhWS6UFpf5IfvNIL1LsbtjZe1ZA_s8rgVFqGLNZRblVRhua-yhPklqK8UKBhhzVv7nqsqLbVTKUysrcjwOgbZHigZETdMeQjtAISDzJkxj_pyy-5wTTQDLwmkU9takTxkcNF8sOwJ_qMyw7N_6P9bGDZw3yepg3w246mTwXAjBF5WufjFeAswX_116_ffyfjl5NACKigcM8HWaW6XahzRxc2PDiY3BNjG8iUgE1MMF3JK2MmpKC13U8wK-R4eiRaCOJ7g0czyzL_76zk-mBvkphTkgi12bNmCx81roT6tU1zDa0rQDe4hmdtjAj6fobe1m2QO8DgCnVECl7lpjfnQA==",
  "id": "rs_0e22b9bb7f98c4bc016ab4740e86b487d09cd69a36148c2af2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The small plush is over the left basket’s opening. I’m releasing it into the basket.\"}",
  "call_id": "call_VUzYvfNRjQu5QqekMgF8fxZ1",
  "id": "fc_0e22b9bb7f98c4bc016ab4740efdb487d08ccf86b5afce8266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VUzYvfNRjQu5QqekMgF8fxZ1",
  "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]: [-0.4828, 1.8046, 1.5181, -0.4812, -0.4309, -0.3584, 0.9961, -0.1036, 0.849, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.478 left_y=-0.1632 left_z=0.1971 left_yaw=0.0576 left_pitch=-0.1207 left_roll=0.0311 left_gripper=0.9961 right_x=0.294 right_y=-0.0016 right_z=0.1747 right_yaw=0.0749 right_pitch=-0.0716 right_roll=0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -11.1521, 6.694, 1.7558, -0.3101, 0.0611, -0.1001, -0.0068, -1.6889, 6.9538, 1.6532, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54803eb997b9fab52b84cc5e8f06bbcc31aa3a16e9e4c06563fb065f2a4456c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5f7049b40b34337ea77a19bb0881c894665ebe479fb03cbf7cc82c8292a9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f098e0d8a6edab74044911d43218c4d78fc4e1c5a120af2d2900a9e5387f263c",
      "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 · 4.658 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 87 changed as sent

message 91 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]: [-0.8326, 1.6802, 0.448, 0.4072, -0.6849, -0.5617, 0.4952, -0.1036, 0.8379, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1644 left_z=0.0114 left_yaw=0.0096 left_pitch=-0.0433 left_roll=0.0447 left_gripper=0.4952 right_x=0.2933 right_y=-0.0015 right_z=0.1777 right_yaw=0.0748 right_pitch=-0.0607 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -6.7487, 4.6701, 1.0867, -0.2369, -0.0708, 0.8816, -0.1026, -1.4017, 6.9538, 1.7167, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7866, 1.5158, -0.4599, -0.4408, -0.3473, 0.4998, -0.1036, 0.8467, 0.659, -0.4618, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.4791 left_y=-0.1631 left_z=0.2089 left_yaw=0.0556 left_pitch=-0.0857 left_roll=0.0266 left_gripper=0.4998 right_x=0.2936 right_y=-0.0016 right_z=0.175 right_yaw=0.0749 right_pitch=-0.0709 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -10.0718, 9.5932, 1.6239, -0.0513, 0.4274, 0.2418, -0.1983, -1.6889, 6.9812, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.8046, 1.5181, -0.4812, -0.4309, -0.3584, 0.9961, -0.1036, 0.849, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.478 left_y=-0.1632 left_z=0.1971 left_yaw=0.0576 left_pitch=-0.1207 left_roll=0.0311 left_gripper=0.9961 right_x=0.294 right_y=-0.0016 right_z=0.1747 right_yaw=0.0749 right_pitch=-0.0716 right_roll=0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -11.1521, 6.694, 1.7558, -0.3101, 0.0611, -0.1001, -0.0068, -1.6889, 6.9538, 1.6532, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54803eb997b9fab52b84cc5e8f06bbcc31aa3a16e9e4c06563fb065f2a4456c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5f7049b40b34337ea77a19bb0881c894665ebe479fb03cbf7cc82c8292a9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f098e0d8a6edab74044911d43218c4d78fc4e1c5a120af2d2900a9e5387f263c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQVAF7KzdXkMKW69koHGl9h2JpQfTzD2TVysv6NW71MSBcExN_grt4Z3tEvbGsdktOXZdtsmSud8a25c8-0RRV2tFvSNWp7on2hEvUwDnJopm6_GGzsa-tsYrD5j-kgx7eBwA00WEBse1jvdOuPlb9oAo7Hxq1DzHREWFTTHFvAzMFQZM57EuEnOvwrHWT7cw8k69e4sg7yTjTA0tTuJlX52bBjaZv8wYJHWuO7Dkzx2qmEbdsNQ5WJSqYgphcJZly7Ycfwe5n3DykgGyYpkhhtzoFb_AyInnZovYg9Dx9Hv49pLxuPvoIhvFZX1gXh59kPg-NINwEU-wEUajtMb_z1ze_noALtikn6LEQ4n5GXUu_JOnx09OaxPAp_CC4wEwkUaOcSVyyBTXNpJbfiiE0cuaaia2iuBg3z9j-5O0uQpbMndem3vtJSrwHbjdzgo6qiKIiRQrnMjFh6ExhK46In60Qk5GgQJOn-vgL0UR9bPaeZ_x-jU6jbBzDcQsNZGg8bL0KObrGil3P1NZWqU6FZvFEB8Nk7Cy2cV0lPY5Nk_EF9hQ5LD06KWmfWkLQsUmQmv4QvNNha3G1kzeCiX4c8NsZyxlLqzPul3150R1XOj_N0hyGJHKJZiWNV0InTr8oVd_S5o39_JO7PFhhA9FjDgfk9DjDIbBZWbWLiEtCZ4kA4ll7pvlklBgcmz9xCpB5WQOsbQ07OKZZIqF5KZS4lGaRFgoUZAi9ae9kA-p_NdRTlaOtyTTkSONr5ap5Bfq90_iSQmeWZNFFHFvYSIsCJzFQGyVCA7QOdBvMWY-FX_RGZfKXj8gAj8681GDCbND8neq-P3ktt5fq55qF4gFxWkHNhFkw9KkySHPKnvFknX_3mRhjm3P8-KTYi3uwla1k09GU4tenmt8_vQuHtNb6xRv4x1-IxUML8-MgwQLLUzpyXbD2SQKcMrpkCRM-eLmcim0Qy9PYsl2l08RYssIxQmOplJE3ar4cfmI3KR-WovAZgKtADR7adXHvmj7lYPT0zrAvwjTpA4O58BMzX8HNsgn3yBwiMltfPyRB_JUHRulq7DGNUjLy3W_N4fjR7girpjzJumlntpqiQqjBOfsPJEEGYC9G0zdeOI6eBHGfUUbiloOeE1TvjYSzAc5gjafcxGTL_dokDwQjuXU6jSCYMf7g1NP5iwS6WjQmKGJYOcVy5WDSns0zOpz4QODpHMc-R586J2JYNuziVxqnals0Lf_0wtx5MUigX04ZRb6xfuPId3FCcbWQLMchsLm9SRvypEiCwSqekW5aIGkAhGyrNxODOA-KpoR5HWpoNr0-PHWSbvTfWu-du9vYxb6ZEzmMPtoQLCUthhHpa3AU4Kyz6q_Hmx7HqvOZk_gT-oTcag6PUJg-D5-OzFHYjYbqrAoefm5wmG9uMGRIWexuw6FM6am09PWboaWuuxE6ENfI1qsxccYUutucjSMtBSC-ehEAlOLIk3Igyy_3y_gHPxZRQj_CZLQgPdDQ5ije2ePSDjQJXrOMB-DNqLXScVLDgWLeJ5ttzQldESRQDu2rAI_kKpPYUo70iNZGfwrAx7X8c7yeYR8NLr3RSIMZS6dSfB5WbSQymOPmaSOt_4iZ-41vDERalrNhgZtTiQFbjHlyTYUVVaCQckfgIkjGQAQ_D70l4yb5X5UXO62ZICoG9YSJwDVed6mArNfgluCbaciAQZJDoUy6dVvjAduDjM3-wSrA6TFUDyPpGJwTLFXkkJoeqOKIEWLm5yO9KFqwRorIF8Sc5jmn1gc_J2on72ElUjjW7_--967EGg_r24suHDzpROuZyo8yAekjbDtBoMC-t6bLeeuq5k6vF4gDtdx1nrt45RE2cXFgGsF8RTTx5Gi-c9Q==",
  "id": "rs_0e22b9bb7f98c4bc016ab4741199dc87d0aa4b781be25aa246",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.105,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.335,\"right_y\":0.285,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The small plush is in the left basket. I’m positioning the left arm over the yellow pen and the right arm over the remaining brown plush; these pickup sites are well separated.\"}",
  "call_id": "call_dhCktSdw09jz4y5gQv8wraPf",
  "id": "fc_0e22b9bb7f98c4bc016ab474145e1c87d0ab3cfeb7ee1ceb54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dhCktSdw09jz4y5gQv8wraPf",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.6319, 1.1271, 0.5976, -0.1879, -0.5545, -0.4286, 0.9968, 0.9489, 1.655, 1.0256, -0.1982, 0.6727, 0.5438, 0.9987]\nstate[eef_state]: left_x=0.3108 left_y=-0.1078 left_z=0.1338 left_yaw=0.0402 left_pitch=-0.0305 left_roll=0.0147 left_gripper=0.9968 right_x=0.3292 right_y=0.2765 right_z=0.1261 right_yaw=0.1069 right_pitch=-0.0433 right_roll=-0.0356 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -3.9863, 7.0496, 1.7705, -0.3639, -0.1392, 0.0513, 0.5265, -7.7333, 8.9231, 1.3553, 0.5201, 0.188, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0312c08e6baa14449a6c3c5afb05787feb02462e0e71cff03b1a52c26d3b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c66bc624ab9089b763596f26931bef58e0d1d2531896a05bb54b1261be6b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da234558045a3dbef00a43d1a531a47c48d4f8ed3b5cee19d8b8d09650ab7c8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.849 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.2724, 0.8421, -0.3882, -0.6804, -0.5739, 0.4974, -0.1036, 0.8417, 0.659, -0.4599, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3082 left_y=-0.1683 left_z=0.1654 left_yaw=0.0127 left_pitch=-0.0412 left_roll=0.0276 left_gripper=0.4974 right_x=0.2936 right_y=-0.0016 right_z=0.1768 right_yaw=0.0749 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -5.9966, 8.841, 1.2576, -0.3346, 0.1099, 0.4957, -0.0752, -1.7573, 7.0222, 1.6923, -0.1245, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.8046, 1.5181, -0.4812, -0.4309, -0.3584, 0.9961, -0.1036, 0.849, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.478 left_y=-0.1632 left_z=0.1971 left_yaw=0.0576 left_pitch=-0.1207 left_roll=0.0311 left_gripper=0.9961 right_x=0.294 right_y=-0.0016 right_z=0.1747 right_yaw=0.0749 right_pitch=-0.0716 right_roll=0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -11.1521, 6.694, 1.7558, -0.3101, 0.0611, -0.1001, -0.0068, -1.6889, 6.9538, 1.6532, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6319, 1.1271, 0.5976, -0.1879, -0.5545, -0.4286, 0.9968, 0.9489, 1.655, 1.0256, -0.1982, 0.6727, 0.5438, 0.9987]\nstate[eef_state]: left_x=0.3108 left_y=-0.1078 left_z=0.1338 left_yaw=0.0402 left_pitch=-0.0305 left_roll=0.0147 left_gripper=0.9968 right_x=0.3292 right_y=0.2765 right_z=0.1261 right_yaw=0.1069 right_pitch=-0.0433 right_roll=-0.0356 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -3.9863, 7.0496, 1.7705, -0.3639, -0.1392, 0.0513, 0.5265, -7.7333, 8.9231, 1.3553, 0.5201, 0.188, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0312c08e6baa14449a6c3c5afb05787feb02462e0e71cff03b1a52c26d3b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c66bc624ab9089b763596f26931bef58e0d1d2531896a05bb54b1261be6b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da234558045a3dbef00a43d1a531a47c48d4f8ed3b5cee19d8b8d09650ab7c8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQcbnAWgs6Wv2_hYLdQ_ZEEYxgkWLi4QJEAlh_DAftxMlj7bryeHWG0IO1otVKMjeZms2WIkH7QIRWnM7B4FGqLNACcJgqMrcCamu1SByabwzsEiuZ8s0fY2xJdm8Eaf3eB8WugKMDdLXu1GkRc6PFTBFBm419uTYs3j11i3Mv-CkzgAYsP2ix-NfIAOzsj5xNq_OMzSGGeKQ4G6hzg3eZQYIIM2A3SSrpPNECNVJnbFaUKJI3paasq-j60Xcmp2BkDo0GbLBt9bS92shTLk0zmoC54MdgChX-AuV0VqL7TemoRQSJnhLbkCKbxbzoE8fCT68nZEoeHd_28nuXPQXl20AQnDTFPPKlfEmphHB-81AZpMF2YuT1Je4WeAzBbRpOD3OHZT64pI9-xIXtoIy04gLTf8fP0h-gbZ36l5T4SpCwajsTKzscYGus9swyIvcFhsnb3fD1NgJRFAHrMduDAbSPSvqvZpqm2IwSpPFsHNyCUp6PXLJ8dpqW1MI08bWIYXdL7aXQrIxomX7S7VZRP4p--3UvqzCSl-PW9-hJgg_JVLiOTfzKsnG3nvz9sNy3TZ-Iu0AjXqrIon4m1JL7JVC7qMD_Ir6fkr7olL0pfZwpgwJcvzJP5v7yFsIoYVbLJqMqRZXqsh4lfQ6Y2KmsrRAzriWaKwUBJstjEJ1WFivxg62NqfBKLChphXhnyS_kxjCnHC-E-jkLCiux-QCXWmhzE_XuEf2IOzOqIAx5H86bacRetJkExZqGZ__C-Dv0RBulklvkfFrwUXadzzgfrgfyUPUVrGj0jK3yk9V-0IZbZRAc8V_XLSvBGOPpdC3Ore3kGH8jgm3kzm3rqVV9d5295ugf0xZT0zw6R9Bfnp3qyAc0E3MKIwEodY1SF934pKkO8F9OJ9HItF_giFBYQwPuH-AZCpRmgO0hRKWlGYR4PE0EvMY6ODT0GhQKpftwXRp7G8KGsEzN31-9nkLX1aviNl5ABGDNTWa38ci62tBKZG4q8FNJfsduvxDRrAuv2P15LDuPdh1Upwvtf6AXwQ7g1SoAl1FLVB1T5GBXXi3-HSla4uCYRO2tKTYt7ZGDahA337Ho6VRVSN0Ce9YB7qscwDq4RQxvNjoUcfIKEpq_s6_zCV1NDvic6gkOb-hzseEPxWAOzQiiqS8Bhf5uN-mtCYLHYYHqDmM2qKuNzg3CDBM1LnBp-Q-g2vcnsBbPRedNh9JpJyOc_S2VKIWEwtvfQAlUdTGrBedf4DD6YDM3Zm3Og1a5rmDQpdblvnDlnL7q-Iucja5kIgxIIrLkwY95xGWWwpqSknV0IQ2Jb3SeFlV2e9wAk3Iyt36ckmQPG3zZ4NOgrbpKgSihUfsC6Bky-9EUBpcQXqYSySelfIwNNg7tsJrB5HkRhJehXAQ6f0RnHkwI_hnZjIi-3NvN18cK-0Q7gsZS3JU3ptLIVLNlkC1Mu-GKd4Irerrjx_DBHdACg138_v3DGflpgBOxlme_CxvF_P9JYD4KV9S5LD5_hqQS2z-rJCEPPqFSJs4BfzbVdC8ctREROsYwfcD9bAikWB4lI1jidzonCGnJ8E0NGVlmFSYgx-aeIpyIeP3Lm",
  "id": "rs_0e22b9bb7f98c4bc016ab47419bc0087d0bc2c4d1c5137ed92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":-0.01,\"right_z\":0.025},\"note\":\"The yellow pen is slightly left of the left jaw column, while the brown plush is centered under the right gripper. I’m lowering both open grippers to their respective grasp heights.\"}",
  "call_id": "call_KKYFzsaACv92oUKJJS6qgng7",
  "id": "fc_0e22b9bb7f98c4bc016ab4741b441c87d0af64028bd0347e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KKYFzsaACv92oUKJJS6qgng7",
  "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]: [-0.561, 1.6669, 0.252, 0.7143, -0.5194, -0.3943, 0.9968, 0.9535, 1.8515, 0.8608, 0.2241, 0.6872, 0.5529, 0.9985]\nstate[eef_state]: left_x=0.314 left_y=-0.0895 left_z=-0.0018 left_yaw=0.0653 left_pitch=-0.0314 left_roll=0.0148 left_gripper=0.9968 right_x=0.3353 right_y=0.285 right_z=0.0504 right_yaw=0.0972 right_pitch=0.0049 right_roll=0.011 right_gripper=0.9985\nstate[joint_eff]: [0.4718, -4.0274, 1.4564, 0.2955, 0.1734, 0.105, -0.0024, -0.5538, -5.7504, 3.5624, 0.989, 0.0366, -0.1099, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1da1675c34d84777fbde2e0463745fc195b70e47118bb04265d6a9e3ff6d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e290afac43d6d294c0c0a630e5bb50c983ec0e0e99499a3a2cd0b81ec7944f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa5368b3845679f317f99f406c7598d6ec203ca8a19790fbf525733d9dcdb72",
      "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 · 2.867 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7866, 1.5158, -0.4599, -0.4408, -0.3473, 0.4998, -0.1036, 0.8467, 0.659, -0.4618, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.4791 left_y=-0.1631 left_z=0.2089 left_yaw=0.0556 left_pitch=-0.0857 left_roll=0.0266 left_gripper=0.4998 right_x=0.2936 right_y=-0.0016 right_z=0.175 right_yaw=0.0749 right_pitch=-0.0709 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -10.0718, 9.5932, 1.6239, -0.0513, 0.4274, 0.2418, -0.1983, -1.6889, 6.9812, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6319, 1.1271, 0.5976, -0.1879, -0.5545, -0.4286, 0.9968, 0.9489, 1.655, 1.0256, -0.1982, 0.6727, 0.5438, 0.9987]\nstate[eef_state]: left_x=0.3108 left_y=-0.1078 left_z=0.1338 left_yaw=0.0402 left_pitch=-0.0305 left_roll=0.0147 left_gripper=0.9968 right_x=0.3292 right_y=0.2765 right_z=0.1261 right_yaw=0.1069 right_pitch=-0.0433 right_roll=-0.0356 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -3.9863, 7.0496, 1.7705, -0.3639, -0.1392, 0.0513, 0.5265, -7.7333, 8.9231, 1.3553, 0.5201, 0.188, -0.149]",
      "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]: [-0.561, 1.6669, 0.252, 0.7143, -0.5194, -0.3943, 0.9968, 0.9535, 1.8515, 0.8608, 0.2241, 0.6872, 0.5529, 0.9985]\nstate[eef_state]: left_x=0.314 left_y=-0.0895 left_z=-0.0018 left_yaw=0.0653 left_pitch=-0.0314 left_roll=0.0148 left_gripper=0.9968 right_x=0.3353 right_y=0.285 right_z=0.0504 right_yaw=0.0972 right_pitch=0.0049 right_roll=0.011 right_gripper=0.9985\nstate[joint_eff]: [0.4718, -4.0274, 1.4564, 0.2955, 0.1734, 0.105, -0.0024, -0.5538, -5.7504, 3.5624, 0.989, 0.0366, -0.1099, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1da1675c34d84777fbde2e0463745fc195b70e47118bb04265d6a9e3ff6d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e290afac43d6d294c0c0a630e5bb50c983ec0e0e99499a3a2cd0b81ec7944f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa5368b3845679f317f99f406c7598d6ec203ca8a19790fbf525733d9dcdb72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHQh57TFDHxiOYlAuKsFZ385qiU7FxE6NdSNhjKMdiylPUexvZrqWmYzsAc7Bce4betz4HOylNXagvIHYyEINW1GJAuQCz1kwU4iHBfA56i8tfbzvn1-Gc2XOf-4-Kmcbc1dz0pbV5Rr24Rt7xwNrNxxEYPZzSnSUqTeKFshfxGRi2NS-4HdsiXDeNkZwNT-ZuhDSAmXjYoEXmdEPHgYonlPL2rPhxPJLK-0iEHs7ACFQapdWI5IFNhyIyHSRKqCw4RchjuUH7oAr1jXFCvapsbZBmwSG8lpM4XVbZxSIwOpRFPTcjuKIu7lQ_QvI8PmPfnBuXuYfmk3752dXRiLh4iL0EhqKeyLETC5dQDu2tqcC1MqfmTlNwJNtv_xNVjS0bkBb5Voz7RYWPbaMwA8R8lYHPm8cC1Hp8gvXAgK5IrCL_IJXxSodOCFVes0B0Max8o8pcqwIwUheCnLKPDV3AfRqc8729xay0aKkN_rJajNidnatFYaI1hxpto3_NjbOywlcRpbKtWPzI0BRDzg__NfWYgdkTUvT7Z-nSsME7c5-NXtILpadDrhftmf7KXNLSPSIqT5dddm-J5gjcpaswgEejUuXkPULNHKlf3Rja6Sjt15ZsMGX_m8P_2lvtbdapj5-rxUxLsY3jjrrYBzrg1RSDeqizqE4J7Tcr9Y-Hj2jfWMdI2R4eK8e9c8UqnjYaw-97BB25vGfYMw7_SbaTMGPCaHyd7eE85HvvVxdng1ZK-UkaVXRpHB3Gj_4MaaRZz8DH1r6XfD1goc2uL9eKDJno7ze25Bl7jCYxpimZbe5I-g0J1SEKwhksZkMofBtOEz2SbxTgmk9qW0dC9eDsMqUdCH0fEFlNOub2sT0rh6qdH0xS3nhOwUBEwWyJFxTpxB3NNIAKSrPHKF4q32EsNBeDZHro9oO7RBma281tNMlFl-5qrOPqp1voLeleTe0aQrAFrI24sf3byDh-JnLMPcfr7DLZe3w4lfFPASolEzumQf3u-EYL0ehB-SMeuNuOfOmBMEZA1OsCPCFzQ0WVkM8consMkFKnqMllZ4vi-lgat3xUuXpIsEbLOHt9FoKCrqq031JmJydGdzU_WH6rBsUjglz8VQDR9-f8ghel8Z1Iic3xY5RA6sAnxzIsi-B4LQCOZ9qh-7EtYKN3yeAQBC2P0PWZlNmNt0aXvprYzzvRuBfADZqCNO-pVLNDnXhwal71AzOFIB_hr-k08J7UjlclKDJMH2Lv5d8FzKi8H5Sw9ntK-CK4XrQ5M-aW20lQr_Onb-AeUfjPRFG41kndVNjhH3f2b73k9teTkGckuWxNzXdctQTuwZgvtIcZiOGoVogGawV_PFGWy12j2eSONv7dmMqNemiTzEx-EpORxeZ-twHWJbvyIORR8ymgzHuA7wRJh9HVhJsAredzI3IXlW097a_f_aPjn3xLKtWg9J5AOzmSTLnteBIiBMFyihgyQdslbgWxJX24BNWp-eRdtXLU3wP7dCyfR6DrwAUDoaSL9xXbH2lUUkQPKgnStH3T14XWsiIDF0tZJ26ae8bfaqKPNv-mwyvXh2Rr59w0hRdUvDj7vZ-AlkMIVhIKWnMhpIUlCtEsPK55bJAOUc3Su71LvIhgIjORhYZuT_vxFxOGg=",
  "id": "rs_0e22b9bb7f98c4bc016ab4741efa1087d085397b42d519459f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The left jaws are at table level beside the yellow pen, and the right jaws surround the brown plush’s body. I’m closing both grippers.\"}",
  "call_id": "call_XFZDKTtf1oLP3faVpyJ14seV",
  "id": "fc_0e22b9bb7f98c4bc016ab47420cb5887d0b5def11186b0e32e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XFZDKTtf1oLP3faVpyJ14seV",
  "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]: [-0.5613, 1.6772, 0.247, 0.7517, -0.524, -0.3931, 0.1549, 0.9535, 1.8542, 0.8585, 0.2665, 0.7063, 0.543, 0.2152]\nstate[eef_state]: left_x=0.3161 left_y=-0.0901 left_z=0.0005 left_yaw=0.0676 left_pitch=-0.0118 left_roll=0.0051 left_gripper=0.1549 right_x=0.3395 right_y=0.2864 right_z=0.0564 right_yaw=0.0881 right_pitch=0.0391 right_roll=0.0224 right_gripper=0.2152\nstate[joint_eff]: [-0.1026, -5.8051, 3.8632, 1.2039, -0.1734, -0.0415, 1.1209, -0.3077, -8.6222, 5.5726, 1.0574, 0.0269, 0.0415, 0.7839]\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:c2b1d26e4a80d448ea60ea9e8e65b4c60966019138b658757a2a98eaa9826023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ba32e02f5a1562ea8ad46c121e4d1b1d1f4c609270437cfbe94b59add77bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f2e0bb25d575842a9fa4e469f41b0e85e72c06073b69f44d1e1f57f2d6490b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 12.06 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.8046, 1.5181, -0.4812, -0.4309, -0.3584, 0.9961, -0.1036, 0.849, 0.659, -0.4603, -0.1432, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.478 left_y=-0.1632 left_z=0.1971 left_yaw=0.0576 left_pitch=-0.1207 left_roll=0.0311 left_gripper=0.9961 right_x=0.294 right_y=-0.0016 right_z=0.1747 right_yaw=0.0749 right_pitch=-0.0716 right_roll=0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -11.1521, 6.694, 1.7558, -0.3101, 0.0611, -0.1001, -0.0068, -1.6889, 6.9538, 1.6532, -0.1001, -0.0708, -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]: [-0.561, 1.6669, 0.252, 0.7143, -0.5194, -0.3943, 0.9968, 0.9535, 1.8515, 0.8608, 0.2241, 0.6872, 0.5529, 0.9985]\nstate[eef_state]: left_x=0.314 left_y=-0.0895 left_z=-0.0018 left_yaw=0.0653 left_pitch=-0.0314 left_roll=0.0148 left_gripper=0.9968 right_x=0.3353 right_y=0.285 right_z=0.0504 right_yaw=0.0972 right_pitch=0.0049 right_roll=0.011 right_gripper=0.9985\nstate[joint_eff]: [0.4718, -4.0274, 1.4564, 0.2955, 0.1734, 0.105, -0.0024, -0.5538, -5.7504, 3.5624, 0.989, 0.0366, -0.1099, -0.0366]",
      "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]: [-0.5613, 1.6772, 0.247, 0.7517, -0.524, -0.3931, 0.1549, 0.9535, 1.8542, 0.8585, 0.2665, 0.7063, 0.543, 0.2152]\nstate[eef_state]: left_x=0.3161 left_y=-0.0901 left_z=0.0005 left_yaw=0.0676 left_pitch=-0.0118 left_roll=0.0051 left_gripper=0.1549 right_x=0.3395 right_y=0.2864 right_z=0.0564 right_yaw=0.0881 right_pitch=0.0391 right_roll=0.0224 right_gripper=0.2152\nstate[joint_eff]: [-0.1026, -5.8051, 3.8632, 1.2039, -0.1734, -0.0415, 1.1209, -0.3077, -8.6222, 5.5726, 1.0574, 0.0269, 0.0415, 0.7839]\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,$blob:c2b1d26e4a80d448ea60ea9e8e65b4c60966019138b658757a2a98eaa9826023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ba32e02f5a1562ea8ad46c121e4d1b1d1f4c609270437cfbe94b59add77bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f2e0bb25d575842a9fa4e469f41b0e85e72c06073b69f44d1e1f57f2d6490b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQlBA2hrc_n83zqouBMAzhlpTnknAe6SGMYPNCqLbwr9kXaQpqo81P3VdJOCTGqjLaglmh2LgJF-LVaQ_IvqT23dwTNXhmcQECQWqe5dxAlYslW_vnSyfEsUaBeZu637Q9o-69Lmmfm5n8kcj4g9fvVl5mo7cD_0k7I3fdOzCZtf_C9KpjyJR1c2wl_IVWMafS-UEI7ycEdTcmlOyqJhnJgMWMWH95rYGRGz2OMVEMpWzutV22jjI5IUexJ9u4L6Dv7R0kRduk7i-5-zj_L5VpKe2KfXnifndovVB4bjE49mR84IyWKuJ3JWObKCiVNzN8sTdvCzoN0CtVpvvDT-Um8QLoVuPQzxkd6u5ISNKueJaCGqR5I0mHlUGWndyBRahgBnhCTHSfKClazCZws-Z5qHgmCI9Rx-usz7c4Xl-VnAacsvZubuBwN0N-q4p6A-0okPTpttaxbusbGvRNz7zxKTWZ7rPAIHnQa1H_yRqeq6g_Chh-Pec8l71oNpkAXansul3Z7FcSzRrDNty26bSydx800ySvM-Q5UnNFO6zKQWh5nKhiV_DKDRLu6J5_SN_xzckV5PXynRK8aW-knkBJgMf376YXZWz7tWPpNVZw-lGGKFaMk9vPzLofLlCD3R3uD2yUomOtjOfUG5x9OZigPT1oo-2CG8qKYEzcOmALwq6WZ2VeDONixo5hvqfAvZBPLwgePZ93_4EnyMubsQvxN_TeQIK3GflzYcEyAfd82hJCCApiFsnLK7N0X7RP59wEL9hR3CJDB7i7PAznwioPwv188mzxgxXWxHii21a72IfjG2MsPcWXfnXCRwPWTRSR92KDrTZmW-SkvsTm3yEz5OkwJHezmOauVPUfZjle1YM1uEqSYRpiXmQLdesV9NROTwryO4jD97SCDPezvEw7rBqATiD_ZPgpOnvybBUXsm_ZWfIO-JdBLVKNMdqq7NSONZ9VPSx7dEF1ZN9DSLuBpjr2oog_tPdDtmwDCmIEo2VWyDRMrY5A_mLdVP0juTeQJS_g5XucVfHGIp7GP_9B0Llwj0DgZ8cE8Ht4yNgWKXdlg_kECwZU3277AR1B5kX_OawuijmoabnGNn67OSj6zj3wAGEX8-md9qq3-TwYxTO969tQfsVhx4JO1ZTolWZKLpBq0lnIxD0RIRtXegFKsmBcheurXeXhErZcaMUqDIK4=",
  "id": "rs_0e22b9bb7f98c4bc016ab4742479d087d0b64ec5a512fc6fc2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_z\":0.2},\"note\":\"Both grippers have nonempty gaps: one around the yellow pen and one around the plush. I’m lifting straight up to confirm both objects are secure.\"}",
  "call_id": "call_I7KYXgCw5XDzIsVuyim21Vj3",
  "id": "fc_0e22b9bb7f98c4bc016ab474248bc887d08964e060d50bb686",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I7KYXgCw5XDzIsVuyim21Vj3",
  "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]: [-0.5613, 1.0763, 0.6857, -0.2707, -0.5198, -0.4004, 0.1554, 0.9546, 1.6436, 1.1553, -0.2882, 0.688, 0.5388, 0.2182]\nstate[eef_state]: left_x=0.32 left_y=-0.0933 left_z=0.1695 left_yaw=0.0681 left_pitch=0.0006 left_roll=-0.0132 left_gripper=0.1554 right_x=0.3378 right_y=0.2891 right_z=0.1688 right_yaw=0.1054 right_pitch=-0.0013 right_roll=-0.0087 right_gripper=0.2182\nstate[joint_eff]: [-0.2256, -4.3556, 8.9094, 1.4969, -0.2466, 0.0415, 1.033, -0.294, -11.0291, 9.5932, 1.5018, 0.4371, 0.0171, 0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96dfea55a69b60a18a0c93e5b029b6cec9c90b2583dad31d8481b4b6462c57fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7792d1cb679fbfc0778a794a09e82a290259f5517a42a9f4dec563804e3a31e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b218c0d426c953283885901c36f7966688a9ed5da44c77fc15997f48937183a",
      "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 · 2.32 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6319, 1.1271, 0.5976, -0.1879, -0.5545, -0.4286, 0.9968, 0.9489, 1.655, 1.0256, -0.1982, 0.6727, 0.5438, 0.9987]\nstate[eef_state]: left_x=0.3108 left_y=-0.1078 left_z=0.1338 left_yaw=0.0402 left_pitch=-0.0305 left_roll=0.0147 left_gripper=0.9968 right_x=0.3292 right_y=0.2765 right_z=0.1261 right_yaw=0.1069 right_pitch=-0.0433 right_roll=-0.0356 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -3.9863, 7.0496, 1.7705, -0.3639, -0.1392, 0.0513, 0.5265, -7.7333, 8.9231, 1.3553, 0.5201, 0.188, -0.149]",
      "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]: [-0.5613, 1.6772, 0.247, 0.7517, -0.524, -0.3931, 0.1549, 0.9535, 1.8542, 0.8585, 0.2665, 0.7063, 0.543, 0.2152]\nstate[eef_state]: left_x=0.3161 left_y=-0.0901 left_z=0.0005 left_yaw=0.0676 left_pitch=-0.0118 left_roll=0.0051 left_gripper=0.1549 right_x=0.3395 right_y=0.2864 right_z=0.0564 right_yaw=0.0881 right_pitch=0.0391 right_roll=0.0224 right_gripper=0.2152\nstate[joint_eff]: [-0.1026, -5.8051, 3.8632, 1.2039, -0.1734, -0.0415, 1.1209, -0.3077, -8.6222, 5.5726, 1.0574, 0.0269, 0.0415, 0.7839]\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 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]: [-0.5613, 1.0763, 0.6857, -0.2707, -0.5198, -0.4004, 0.1554, 0.9546, 1.6436, 1.1553, -0.2882, 0.688, 0.5388, 0.2182]\nstate[eef_state]: left_x=0.32 left_y=-0.0933 left_z=0.1695 left_yaw=0.0681 left_pitch=0.0006 left_roll=-0.0132 left_gripper=0.1554 right_x=0.3378 right_y=0.2891 right_z=0.1688 right_yaw=0.1054 right_pitch=-0.0013 right_roll=-0.0087 right_gripper=0.2182\nstate[joint_eff]: [-0.2256, -4.3556, 8.9094, 1.4969, -0.2466, 0.0415, 1.033, -0.294, -11.0291, 9.5932, 1.5018, 0.4371, 0.0171, 0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96dfea55a69b60a18a0c93e5b029b6cec9c90b2583dad31d8481b4b6462c57fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7792d1cb679fbfc0778a794a09e82a290259f5517a42a9f4dec563804e3a31e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b218c0d426c953283885901c36f7966688a9ed5da44c77fc15997f48937183a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQyuYdfdZd0o6gp9IZi6KLiKOo6r_rt5SmW0_xYmXpCEsqEXEoG3zGKc2j8QJFRZqhAao8UBYVdERu4pMYJXmZY-JXpbIC5IRJvJiWH9OjCk3FMd4oNgw8R4Qx3TWdHjJiizGG1m2K2OFioyRvtPgqH9rA5ukiJCuCRfJfnSvJxpTw8ZemqjkEVxMQ91q-c33MsPMOOv3-o_6mLJQMxCOqA8wWR8DduH6dZBfVPmtLxX1TGizh25Ey-4oy1eZotArfbIxP2QZ8G2SB2LdagGAR74wuRckJKn8zWbS2mmAaASKcSgE9NEvHjNomdV4E14pAtk9NmCzyuumLpXWlAmlYpBpmK0LG9fFadwEp-ql7onUekQoaLqjxMgyU4lVGSqhP_Wb2BLkONRJ-m8FypFJttcXJf6mLJ4qIvRBd7JTPyX0GHIoai4rAZwPFCTTNxmDQro6Y4Y2UDWwXdARMYkeZpkI0YM5CGAUB5y-YsZ3lywUkhEh8B_IqVxdd3Q_TSbv7-T4F83_7bN-EOIVQ9hoCQB6HPx-36CV4Um4EW3GHBxbTQpVnI54uXk_5DpDPUdj92zeQGckswgSckCPqaoNlw_zWcrAEobsq6dsRaF5GcMkEZXdRfCA-QvhxzeO_qD-vtmbrq2s3n2JPbquvCDuJwH9MF94iwqgbikfElKgz8Q6J7IG0HOhVxZvGF7Qf_a5sY3z4gz8eMnZTDFHy4q7i0_1JfWSsSy-57S3EjJ3xLuY-rTw9ClY8HJuGW_PHGvQuN_j5rGgtsS3CO8Fq-aUYg2K3dtljFepjSZGl68FITUvfSU7EVHGPFGWxekcdIM3JdzfLnCLiWbmb2JOsvgdUjvoMzEwBJXk-_HNrYS302-veJg-qnFD8jvWQX5UyimI3Tg1QSBgzyqnrC4PeG68Rom5TE8tqqMCMTNRdjY3owZGF7Aw6-dCs82qehAk2x6M9HjXZ5iuYJLQU8kFK0Iivq6ypCOWwWATGkhB6uRsQcOWkiXg1a8WEN5ARu64hUCFQSqsPESMCD3RzD_IFgTgQqU_L_7QH9lyLkPqXm5x3oAZtcZ-oRr91mZVb7hGz3z8Q_HcAAvLo8_KnC6HR3E4aOVc_VOtIJ5PUJC-cxRGEgNWaWdy87FFsBuj6_w2WAup5iCGTTZIvbXuYG-0MoWqyD19We1s1WlVYlCHCnROHs-Zpzz5VvEJEvTnz2Yefy5CQX2GkRTWHlhNZ-pxXnDAPTnRw5dUerAqdbYhsQ7Kkup4-m7jkSLAwu0mqcYW_Sz3Vb15Lus_3UQbW7qsSpVVCVoKa0usGWVM0UIpXPjsxcttxnNVWaMmpW_d2fnhhcdePLTbqGIMRe84JkRzIIW3P6VvPrTRdpxkyLbfj-B0l5AdZYQ0Zo7lO5yuzKwfuOd3IbVIdEt-GYmSuBPXLTrMdjyiqy1eiQNfD1KPOfaK9wJVSKtCCtSFBo-nlhV1S-1sHq9JUVZUuc3vY3W7_ooApp_yylfBKgvFeqxOTGGRjnlEohtJ9SJQ0-ZhXZYbbzkapZyLDmGQ6zYVG5LBwPfRS7hiIKbLDwKiyFEITYFLmZ1Q7cIcoIAFQxTTQH2N8hxY0yWPix6jL6JfB7VWeHlDq-zbz3m71BjYj__fenVmLUyHMxS9vuibucAlrs64s7yHEkFTDG2ESgc2ZUuVu4-bWCsUeF4S-lp3hpNIslTT6ydMckMgzbIGDE_oAMPLhKvnlL8LSw30blDBO5Lyl5fQ4a8dmXbbzHGj4MiqdnewfEEpoYdcGWxfVgJinSGR7_0RQ0C9T1I-anXqOJIfE2Q_li6DE0EZ0zVnu55xaRtx-bdDsbddsLGCJNa-XWd9VBKs7kMCHX3H-0Wqn1miZ8rZTStWvRT3XnfszIWwK4UoLwMDcvtLge9_n-LOvzW-47tsXJaJxoM5fkA-OZ8PT5WC9Q3jwYO77ewDc5m_Dpw3KKY5C4K4C88pUJ1KrEbtFww3-2wQMjZNVrTolZOq02mGyOAw9kQYoNx9gKQyKPqreI6RiZactl5qYcx_qQ2X5H4-jP4tmwqmLA8zVWS4Nef_V2SQBMhvwzUgdPwqNydNpUJg_V5KIhjrGiocv4WoYxcQ-7uU6SyYPDii38fROr0vIWNUVBy65lVHbq7LmU5O2nwG4FnySHnxSZGfHJj3s2v4B5yYy_hRfbRHXzWuj5lOcVOrI8RuhctMMoL6I_euTtW48mSofk6_kkjstW78tMVXw8IB2ih4Sz7YWyWVNYhKfmBYBOP-Nxc0o5qz1dZmcEetp6-bxQ9lfccDxb24QkkIAIaeWh1hBr-K0vs1XnpI4xDz6pS0ygbHucpC7i79blrZ7QXUZqzkNjR_4HgNFWPDLATAWjX_Yq8Jvhtv4JHGv7ilKbkF48HqA10Q_-1YBnL4QyvxqA4wbLYbBo_erk5oWox9freTUGz2yy6c8g2HBmX_t8Nobvc4x57wheRIrL6ZphDX0Zu10bkcatzwAjz1Nre2guZTXn5qoF2RDpuegmr-yY0GFwI2U-eE6qlZzUrzFl287oosuqVExZHW6iMznqlXCz_VltZmF1bU7Vm8cmvVSqbM2kZy4A3eeln3odNtQSBymOoM9KZPkSWAJ4kTeKrjt5x0UOTQ_L43yqSFNRS2SJj43F9teFwH49pM3nI6s8StBk9l-oolXlkM_sheRL44JOLs0w4RQhJK8fkmqoNvIIq2rg_YKsuH_J2haeVORDe0sjjZquDYgxFHz7MqvdruzjbEg1GsHX1cDat1aEKr0D1AupSmmBhjMu5VDpO_-8rZfmMuohvl3CQfZyrfvxuNNYJdkAfAMq4Sfy9uAY5s19hSWCLZpksZb9xqhkB5CcJXsItksjBQY8Qh3zBjflFku0Lq_KZCuiIlxjF9_b9NO-jN2h0xxpdNMhOHfhrpg80B2yJFR8W84-xIz_RXfkHVe30G20F5y35JM_kCOOBSzBeQfP2yLB0g9oXmkFxbm5-PBDYtIO5DBUu2spT7J4vSxFoFH4DrhV0uNaSGu3comgU4AxiZkOklowGHc4HJgKOschTkO9WYHmd2WAVY1MD86jRy5zkpshca0BRJ9cZIHNn_BLuFuqWSqulOmy-20TnfM4HQeVt-f851NrnE4vHvEmHsn6iCskvj1dIcdcFS-AQlTiCyAxH6aFqjr-Y2ZDqrSmleG4V9gJcHYTm0H6JawP54QbPfWSGnQLJET10C5j5rX9zKIRe61VM_gH6gOmGo_uKW3wyhTxIuHLfju6dFmdPFyxz4cqQp-UgZBy8syNV7yMy0-Zocpz8ukn-SCz516MDTkphVYOcfk2n1CqoaKB4YL7JypBm-1smeFjTIRRYebSI-AWv9zgQnZM6Yq8LuxnOj5AhY-OMk6XM9H6SPq2xTYNjfCt8h2xfsGjqAxC3Qnb9nWp00i9xp_ZmSz6Ir_uFBG-jI4pRDD3TTL5dEp4PtXapdHQKqEzkHRYMv1__5vV78FgGmYIstS8xBPIlVbz4_7k9OJVJPXskmRJXRx0RvSxP4DPp-aEiDWfHn6mVT3GXkXfmsrGsvNxqDWeVIjVKURpQ2nuYuu_VR61kaBDfzqnDe4ad4d-Tb_rdot-XJMOTmjs7yYEpQdn7rSwVcqlnjEWV1YLDkw80kP1ARXSvCnG4fZNJNecHmPGVPQBd4MvMqAlwlp_IHV4sdPsqnojN4_sBT5NUEHlbQvHOzng_1e9KtdB1I9R_6wV3qHFrZ1W3ff21tmOwvEHEV8-krxxH_z_47p9ve8zOHKLKJbhNoNMT3xOfz7FZfXcz9cJr8UCK3DDsVzLYC6GF5JLf34BEYLi56sCiHMsUnPU-aFaUgVFgvAMnBrDUBVsrOF4sagXd0Z11RO4GzYcR3E=",
  "id": "rs_0e22b9bb7f98c4bc016ab47427c33487d0be360d725060ff24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.4,\"right_z\":0.24},\"note\":\"Both objects lifted successfully. I’m moving the brown plush over the inner side of the left basket, while keeping the pen stationary and clear of its path.\"}",
  "call_id": "call_OwjUGqXHxVnVEzNAZNRUNsrH",
  "id": "fc_0e22b9bb7f98c4bc016ab4743167b487d090c66d4d95946f67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OwjUGqXHxVnVEzNAZNRUNsrH",
  "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]: [-0.5613, 1.084, 0.688, -0.2855, -0.5163, -0.4042, 0.1554, 0.8455, 2.4683, 2.5435, -0.8146, 0.5911, 0.4404, 0.2212]\nstate[eef_state]: left_x=0.3188 left_y=-0.0932 left_z=0.1654 left_yaw=0.0676 left_pitch=-0.017 left_roll=-0.0062 left_gripper=0.1554 right_x=0.4865 right_y=0.4059 right_z=0.2089 right_yaw=0.1208 right_pitch=-0.0232 right_roll=-0.0177 right_gripper=0.2212\nstate[joint_eff]: [-0.1573, -3.6855, 6.7077, 1.7118, -0.2466, -0.0073, 1.0281, -0.8, -11.9453, 5.7504, 0.3785, 0.4811, 0.0024, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e075878ad1965383b906950223eaf9ef544bd541c7f0ad4685b92d266082c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf78056a25101e87deb9d1b0d881bfa18dfe51458e6b5b1e395d008976ce895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cddccce2dd543d5754f18197fe3ef10a7c586ba86b0d3fbb169315bb42d69a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.91 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]: [-0.561, 1.6669, 0.252, 0.7143, -0.5194, -0.3943, 0.9968, 0.9535, 1.8515, 0.8608, 0.2241, 0.6872, 0.5529, 0.9985]\nstate[eef_state]: left_x=0.314 left_y=-0.0895 left_z=-0.0018 left_yaw=0.0653 left_pitch=-0.0314 left_roll=0.0148 left_gripper=0.9968 right_x=0.3353 right_y=0.285 right_z=0.0504 right_yaw=0.0972 right_pitch=0.0049 right_roll=0.011 right_gripper=0.9985\nstate[joint_eff]: [0.4718, -4.0274, 1.4564, 0.2955, 0.1734, 0.105, -0.0024, -0.5538, -5.7504, 3.5624, 0.989, 0.0366, -0.1099, -0.0366]",
      "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]: [-0.5613, 1.0763, 0.6857, -0.2707, -0.5198, -0.4004, 0.1554, 0.9546, 1.6436, 1.1553, -0.2882, 0.688, 0.5388, 0.2182]\nstate[eef_state]: left_x=0.32 left_y=-0.0933 left_z=0.1695 left_yaw=0.0681 left_pitch=0.0006 left_roll=-0.0132 left_gripper=0.1554 right_x=0.3378 right_y=0.2891 right_z=0.1688 right_yaw=0.1054 right_pitch=-0.0013 right_roll=-0.0087 right_gripper=0.2182\nstate[joint_eff]: [-0.2256, -4.3556, 8.9094, 1.4969, -0.2466, 0.0415, 1.033, -0.294, -11.0291, 9.5932, 1.5018, 0.4371, 0.0171, 0.3053]\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 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]: [-0.5613, 1.084, 0.688, -0.2855, -0.5163, -0.4042, 0.1554, 0.8455, 2.4683, 2.5435, -0.8146, 0.5911, 0.4404, 0.2212]\nstate[eef_state]: left_x=0.3188 left_y=-0.0932 left_z=0.1654 left_yaw=0.0676 left_pitch=-0.017 left_roll=-0.0062 left_gripper=0.1554 right_x=0.4865 right_y=0.4059 right_z=0.2089 right_yaw=0.1208 right_pitch=-0.0232 right_roll=-0.0177 right_gripper=0.2212\nstate[joint_eff]: [-0.1573, -3.6855, 6.7077, 1.7118, -0.2466, -0.0073, 1.0281, -0.8, -11.9453, 5.7504, 0.3785, 0.4811, 0.0024, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e075878ad1965383b906950223eaf9ef544bd541c7f0ad4685b92d266082c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf78056a25101e87deb9d1b0d881bfa18dfe51458e6b5b1e395d008976ce895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cddccce2dd543d5754f18197fe3ef10a7c586ba86b0d3fbb169315bb42d69a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ1Fw2q-Qq3J_7AMByORgWsUvJBJ9Q4iZKHUMaNcKhNaGCHALQKMSFon7bJ8W7gRnwdHj4Ol_k1KJubinb9jrRIwes7QVhS9Y_KIbqU-wFpDmap8WFH-cgPPidjdwVZUlsmi5kxYRGG8Oe8QBNSkJhbr4jqxqbxRn3m5mDCXtzik0U48Mfvl-RtjMtY7mh0Ru0D0_DXh-O5_NUpyLTcb37QMnartMa3InkPldbJmbq6lqe9FFZwV656TTVP88PK2hDf9g4fWI4bjWoGdaEfZ3_plIUvZlsNwRDT_BEN_8-bjeYDjc4akkz005lcn7vYPbjZ_Kw5LHHpa8fXWnVIz05d7EJyRCazq9sOBoWGnTZE4iUGRo72hojtCcUJFNFrwRdNOeWIPyvlm-pelIf8VdgemskaKd7dYDpb1c2N8Jcs7CLkdOkPtCC3h46l-6ae-OvLna1PEsTguvDKDaYCNcVkrmcNeYCuxa2DjzYDllMTf5wNFkGj7DhZem7WVeoGKgAI-qoKJUh-h0eCHbXEtONIZ72gB0KUoqQtvjXUz7KmXb45qPWLgF5jgxNdBcAHoY0A7MPVJIR7cjJGBrA7vnZGs_jfmrNZSG5NoaDNemWLIe7fyhxLxEcy_joGJRhzP5bTwzco7f5p6E0Gsovl8rAVrpBizzPDdozBeBZ6UAX1C8EgCy2WUYSgbZUCQO5mgbqWPy9fVdXzrIA-dXvUIksH3tlvkGOMBhh9Q5JPoutZqgcGNASKE59yvmwJZB_wZsm7Zt336ihO582mYKYzjpcTAiTFHUeisl5fwZIst62Czi5VM_9CGUSdn202uJhJ97V7OXaPYlVbGCp1WCCc2uRDyaAyeswHMHcIvaA9Zthsl2Ve_lmGubMqyy5ZAqPxyCx4cJIfnlyLEf0ALwmxNINxj00SBin3ERojtuWRoMOQllF3KVGEsDsyy9UtC4LwVmUstjg0fq9E1SzGuf--fYkjquw-nSJ24AdF8X3r9Tujs-fPgELnd_XfpN6OoMx9qnaXQjvuBz8whB0tj70bqonTwV21x4UqLe95_XxpnsL7opK_Dkg63bclLpA0fU99qxtoFxhFz4wj19e8O4qF7iL0rwU93gV7zKsfTRF1IfsFlO8DibzBfUP5uOuQ-hBPSiblTll0jTvPsWL2ZoJB9xgL4-VA0XrPmQeIrnMvm2AnLqzBcsq0Hjtq7s4MHz3kqBhW8pIj5DPfjmXaCZGE-iu6v8-jNvUuFqj2u2ceUv_0yVI=",
  "id": "rs_0e22b9bb7f98c4bc016ab47434fe3887d08c9d5d8ed15f14f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is above the left basket, beside the smaller plush. I’m opening the right gripper to place it with its own type.\"}",
  "call_id": "call_ZDdX2G7XhssnGKnroOiGBKSA",
  "id": "fc_0e22b9bb7f98c4bc016ab474355c5c87d0ae01948dfe480688",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZDdX2G7XhssnGKnroOiGBKSA",
  "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]: [-0.5613, 1.0878, 0.688, -0.2958, -0.5163, -0.4042, 0.1611, 0.8429, 2.4702, 2.4641, -0.7879, 0.5709, 0.4244, 0.9953]\nstate[eef_state]: left_x=0.3177 left_y=-0.0925 left_z=0.1625 left_yaw=0.0677 left_pitch=-0.0284 left_roll=0.0021 left_gripper=0.1611 right_x=0.4847 right_y=0.4058 right_z=0.1789 right_yaw=0.1402 right_pitch=-0.0739 right_roll=-0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -3.4667, 6.8444, 1.6728, -0.2271, -0.0513, 1.0281, -0.7316, -17.7983, 6.5299, 1.5653, 0.3736, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2205e647b85213aa3fb1db849e8b3dfe32be9d16be90ddd74c5377e49a17444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae426fb1e31e7a8fe75cf2cda7202d8850be7adedfb49b440f345ed246525d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02773c195869d978780a3b35ec3ade89be0a524f53880e4df3fcab91eeaaf006",
      "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 · 9.816 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]: [-0.5613, 1.6772, 0.247, 0.7517, -0.524, -0.3931, 0.1549, 0.9535, 1.8542, 0.8585, 0.2665, 0.7063, 0.543, 0.2152]\nstate[eef_state]: left_x=0.3161 left_y=-0.0901 left_z=0.0005 left_yaw=0.0676 left_pitch=-0.0118 left_roll=0.0051 left_gripper=0.1549 right_x=0.3395 right_y=0.2864 right_z=0.0564 right_yaw=0.0881 right_pitch=0.0391 right_roll=0.0224 right_gripper=0.2152\nstate[joint_eff]: [-0.1026, -5.8051, 3.8632, 1.2039, -0.1734, -0.0415, 1.1209, -0.3077, -8.6222, 5.5726, 1.0574, 0.0269, 0.0415, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5613, 1.084, 0.688, -0.2855, -0.5163, -0.4042, 0.1554, 0.8455, 2.4683, 2.5435, -0.8146, 0.5911, 0.4404, 0.2212]\nstate[eef_state]: left_x=0.3188 left_y=-0.0932 left_z=0.1654 left_yaw=0.0676 left_pitch=-0.017 left_roll=-0.0062 left_gripper=0.1554 right_x=0.4865 right_y=0.4059 right_z=0.2089 right_yaw=0.1208 right_pitch=-0.0232 right_roll=-0.0177 right_gripper=0.2212\nstate[joint_eff]: [-0.1573, -3.6855, 6.7077, 1.7118, -0.2466, -0.0073, 1.0281, -0.8, -11.9453, 5.7504, 0.3785, 0.4811, 0.0024, 0.2955]",
      "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]: [-0.5613, 1.0878, 0.688, -0.2958, -0.5163, -0.4042, 0.1611, 0.8429, 2.4702, 2.4641, -0.7879, 0.5709, 0.4244, 0.9953]\nstate[eef_state]: left_x=0.3177 left_y=-0.0925 left_z=0.1625 left_yaw=0.0677 left_pitch=-0.0284 left_roll=0.0021 left_gripper=0.1611 right_x=0.4847 right_y=0.4058 right_z=0.1789 right_yaw=0.1402 right_pitch=-0.0739 right_roll=-0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -3.4667, 6.8444, 1.6728, -0.2271, -0.0513, 1.0281, -0.7316, -17.7983, 6.5299, 1.5653, 0.3736, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2205e647b85213aa3fb1db849e8b3dfe32be9d16be90ddd74c5377e49a17444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae426fb1e31e7a8fe75cf2cda7202d8850be7adedfb49b440f345ed246525d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02773c195869d978780a3b35ec3ade89be0a524f53880e4df3fcab91eeaaf006",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ5RJtK77VWndse5Y0xgceWDX1Efq7HhaqWgUJ77FjGYvaiCTaLE73wFvZrIOiyg0WcgYLT5vGTXdcs1aUlTygaQv_2mrhMgL7eSMxIiwf9w-a-Q2fgnWEFiDCe5FbU0HOuUkCMahYtjY8A47Kd3JvkyYhzkvoPB8RObbkGfQrfryBEUI06E84zni9BvhlObPODMtRQJWEwJaDxwvqMeoWHLDoJUrlF90qyyDcm_PYKjjTlKt2AcqEhdWY_UGHGt11JQJb9_Hgi6cxJPXSeAOjJf1VhBUVzdE7AboUwMrXOWC6RG1nLXlnBNfj2N-T7PFmxvqeamn-U5euNkVIo0myrJP4LDphjASU_cPaK8YqTMOA4iuwaieT9he_InhKlbr-HNodDPTHc2P0Jo6h76LY3LpHYfBpq10_M25SybQd_Tik8F4QqVx0DC1LmslyWHnPycUrdSHTFS_UmsBE2ZXI6Ew7iUSxidv9TV0laMWXueeZxyT3WQ8pr0GXguXCNzzYFH7qA7-BVWkyZYnDAw4B4_1vgkkKsqV8ErlAtMfuCnsgvQVXEzWCco-2UsaSkzkfp_-zU53F3Djp7dshoL0Y-aKejOMVt73WpZHvCqPV0eU8-2dhVeh_NKifI5J7DyCpZorkeTuxnYC-bBTODazHSQc8qauxfvPERVkIPNxpxnHsCPn8nVGnS3W9_CLWw3CX4SSq3mtvX2apSWUeUEZrhu4VzeVhrp21za7x8MsQOs1WUbrCj6iv-K5VgLEqKrrAVwPYN26HJfFZoYM0QfpcoVKZgs2WkDUUue8ZlsMUGX_TqfxqawrgFtTbThZcqQr7ZafKGKevzmh6iwVTTSoUkbbySW1ADXuaNGEKXUv07gIBHMmBb4W4f8aR9_AQHiSTPneexLYOH2TvWhRlIeGZGjW1VLUwt5iD57GRzK9zatG-jYJ0cq3lQiCSB7cCtQf1nml914ZQBw44TAvNLtvHLzsND8veYst8uKxCLp9OTzujuZPtZeR-ijqMQ4B8SqM6RVPm8e6BxWt8qzMU5sNhwJ1G9pIC2Miq5lv7b6aDNcC4ORWjKOjgff3u9yiJBysTPLVOyU5PvdX7Y1skBhNUlNbySK2JpVBEjTDm8NYucjI-tr0Ck0IbXIT1WKaWSGlrwfWU5HIqeS3uwXOalNm-WBPW4XWXpn3qXPngXOQyWZKbVY2v4Vh2bFVxOjymi_DCdWuC8LVE7Xz5xcABqVSv59KCTFdtWIA8z5dwZ2v9LxX77VOEjRjsEzucMrjLoHwrzLa1qHPnwz99Z-Px-RjT7xS5rtHQ7p-e5-le6Cxjh4xi0Tw5sdi9fs5VqgczRY1o-",
  "id": "rs_0e22b9bb7f98c4bc016ab4743825b487d089a33a1c5df4d362",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.001,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The larger plush has been released into the left basket. I’m withdrawing the right arm to clear the route for the yellow pen.\"}",
  "call_id": "call_grpjU9UggH0G7sGm4JOIYa61",
  "id": "fc_0e22b9bb7f98c4bc016ab47438b69887d095ef2bf2678561d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_grpjU9UggH0G7sGm4JOIYa61",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.092, 0.688, -0.2981, -0.5159, -0.4042, 0.1658, -0.1257, 0.8497, 0.7822, -0.5053, -0.1669, -0.1215, 0.9963]\nstate[eef_state]: left_x=0.3176 left_y=-0.0925 left_z=0.1608 left_yaw=0.0676 left_pitch=-0.0338 left_roll=0.0057 left_gripper=0.1658 right_x=0.3014 right_y=-0.0049 right_z=0.2214 right_yaw=0.0767 right_pitch=0.007 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 6.8444, 1.6581, -0.2369, -0.0024, 1.033, -0.253, -1.9077, 6.9128, 1.7607, -0.1636, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e74ec8fc702f56d8de7dd40e0f70c05c1cd51c9effbb0a55acd9d0406263eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21601fe8e4c56b4785f545b970fd1c2bb14ee533541d33dc1983d8495bdbe0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a919835c8392bccb2686c867e5045768cad8fa02ab7687c51027c32e6a60c04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.86 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

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]: [-0.5613, 1.0763, 0.6857, -0.2707, -0.5198, -0.4004, 0.1554, 0.9546, 1.6436, 1.1553, -0.2882, 0.688, 0.5388, 0.2182]\nstate[eef_state]: left_x=0.32 left_y=-0.0933 left_z=0.1695 left_yaw=0.0681 left_pitch=0.0006 left_roll=-0.0132 left_gripper=0.1554 right_x=0.3378 right_y=0.2891 right_z=0.1688 right_yaw=0.1054 right_pitch=-0.0013 right_roll=-0.0087 right_gripper=0.2182\nstate[joint_eff]: [-0.2256, -4.3556, 8.9094, 1.4969, -0.2466, 0.0415, 1.033, -0.294, -11.0291, 9.5932, 1.5018, 0.4371, 0.0171, 0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "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]: [-0.5613, 1.0878, 0.688, -0.2958, -0.5163, -0.4042, 0.1611, 0.8429, 2.4702, 2.4641, -0.7879, 0.5709, 0.4244, 0.9953]\nstate[eef_state]: left_x=0.3177 left_y=-0.0925 left_z=0.1625 left_yaw=0.0677 left_pitch=-0.0284 left_roll=0.0021 left_gripper=0.1611 right_x=0.4847 right_y=0.4058 right_z=0.1789 right_yaw=0.1402 right_pitch=-0.0739 right_roll=-0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -3.4667, 6.8444, 1.6728, -0.2271, -0.0513, 1.0281, -0.7316, -17.7983, 6.5299, 1.5653, 0.3736, 0.0269, -0.188]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.092, 0.688, -0.2981, -0.5159, -0.4042, 0.1658, -0.1257, 0.8497, 0.7822, -0.5053, -0.1669, -0.1215, 0.9963]\nstate[eef_state]: left_x=0.3176 left_y=-0.0925 left_z=0.1608 left_yaw=0.0676 left_pitch=-0.0338 left_roll=0.0057 left_gripper=0.1658 right_x=0.3014 right_y=-0.0049 right_z=0.2214 right_yaw=0.0767 right_pitch=0.007 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 6.8444, 1.6581, -0.2369, -0.0024, 1.033, -0.253, -1.9077, 6.9128, 1.7607, -0.1636, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e74ec8fc702f56d8de7dd40e0f70c05c1cd51c9effbb0a55acd9d0406263eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21601fe8e4c56b4785f545b970fd1c2bb14ee533541d33dc1983d8495bdbe0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a919835c8392bccb2686c867e5045768cad8fa02ab7687c51027c32e6a60c04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0e22b9bb7f98c4bc016ab4743e605487d087cb2a93093f53ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.4,\"left_z\":0.21},\"note\":\"The larger plush tipped back onto the table and shifted the left basket, so that placement needs correction. First I’m moving the securely held yellow pen over the inner side of the right basket.\"}",
  "call_id": "call_TnJi0FOMF5UIuMq8pvdhCed0",
  "id": "fc_0e22b9bb7f98c4bc016ab4744579d087d0bf4e5dd0a33ecb9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TnJi0FOMF5UIuMq8pvdhCed0",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7186, 2.8731, -1.0988, -0.7395, -0.7136, 0.1687, -0.1272, 0.857, 0.7784, -0.5209, -0.1726, -0.1379, 0.9965]\nstate[eef_state]: left_x=0.4864 left_y=-0.3899 left_z=0.155 left_yaw=0.0916 left_pitch=-0.0798 left_roll=0.0415 left_gripper=0.1687 right_x=0.2997 right_y=-0.0041 right_z=0.2146 right_yaw=0.0889 right_pitch=-0.0186 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -17.8803, 8.6222, 1.0183, -0.4567, 0.2369, 1.033, -0.0752, -1.7846, 7.2274, 1.8584, -0.0659, 0.1099, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397d612e76e9901e6b2f55582cd3378a857ad7e1a9ee8072d0ee5470a9f4877f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf4d15f67a3850edff447d5de32dc24d0c7639c531db69d10e33a7d72a72fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a40d334010ef5ad75159e1a1a0b7b40ffe11293f48693f1dbc796c301dc2b8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.714 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

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]: [-0.5613, 1.084, 0.688, -0.2855, -0.5163, -0.4042, 0.1554, 0.8455, 2.4683, 2.5435, -0.8146, 0.5911, 0.4404, 0.2212]\nstate[eef_state]: left_x=0.3188 left_y=-0.0932 left_z=0.1654 left_yaw=0.0676 left_pitch=-0.017 left_roll=-0.0062 left_gripper=0.1554 right_x=0.4865 right_y=0.4059 right_z=0.2089 right_yaw=0.1208 right_pitch=-0.0232 right_roll=-0.0177 right_gripper=0.2212\nstate[joint_eff]: [-0.1573, -3.6855, 6.7077, 1.7118, -0.2466, -0.0073, 1.0281, -0.8, -11.9453, 5.7504, 0.3785, 0.4811, 0.0024, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.092, 0.688, -0.2981, -0.5159, -0.4042, 0.1658, -0.1257, 0.8497, 0.7822, -0.5053, -0.1669, -0.1215, 0.9963]\nstate[eef_state]: left_x=0.3176 left_y=-0.0925 left_z=0.1608 left_yaw=0.0676 left_pitch=-0.0338 left_roll=0.0057 left_gripper=0.1658 right_x=0.3014 right_y=-0.0049 right_z=0.2214 right_yaw=0.0767 right_pitch=0.007 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 6.8444, 1.6581, -0.2369, -0.0024, 1.033, -0.253, -1.9077, 6.9128, 1.7607, -0.1636, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7186, 2.8731, -1.0988, -0.7395, -0.7136, 0.1687, -0.1272, 0.857, 0.7784, -0.5209, -0.1726, -0.1379, 0.9965]\nstate[eef_state]: left_x=0.4864 left_y=-0.3899 left_z=0.155 left_yaw=0.0916 left_pitch=-0.0798 left_roll=0.0415 left_gripper=0.1687 right_x=0.2997 right_y=-0.0041 right_z=0.2146 right_yaw=0.0889 right_pitch=-0.0186 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -17.8803, 8.6222, 1.0183, -0.4567, 0.2369, 1.033, -0.0752, -1.7846, 7.2274, 1.8584, -0.0659, 0.1099, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397d612e76e9901e6b2f55582cd3378a857ad7e1a9ee8072d0ee5470a9f4877f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf4d15f67a3850edff447d5de32dc24d0c7639c531db69d10e33a7d72a72fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a40d334010ef5ad75159e1a1a0b7b40ffe11293f48693f1dbc796c301dc2b8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHRQUktjUPItXoPW-6cngGMgWJw5f8QSP6ZT-22fSX4kqMPZLEjNgDltC9Ku1gUhQejReJKjcOHsjM4AlQR3CrToUpWD-h3T6YzuOnDtzyfrhKwvzEGHcH9if43RCfVVVLEy4AamGWFFTSFTvw9nhJXDFGPR4lRLVm5T8WQKhdOOIOyYXJnzfzAFGHNzLZ82GwB1jqO0a5LOnP0EEOqus_GAQcepdvpzrCdbT9bhva1bdjqpyXQORCDU1MY6KpmLBfBnRegLnz5EKQvoXA7s_kSGa3-nkS72xvocSAR-L3o3vv6SDRnNZyUVEwVVTf-YVa7E_BzO-h1ZLP0uT13iKXLnXwQVElv3CzPOs2VYfpgiN2NBFL2QuoKDaXHELWF1G-5-OOdn_BBkWChNQLzY_FsYvkyHW4XpikcFKJRf0YOWO2rL8CXNZyKpbnF_qcrw_Tf5suc33dhrQTHPNjnA9U57vhYV0n0IkEACfbt6q5fNKuMU9zVvAURmANB4m7MZNRTfJxDQVFY9ycTeLClhgmquZUbXeKuWJgTK0WruVVKU-yMjUsiQVEaikVsSXZdBTa4bM2FLTr3biJl-Hmt33LhHDOPpXQb0kT4xdL0dnJ5Un6RI5-ZJkpJcoFRgFT5_WsvYU2g8ciLPsr9t6T22fSrVvGSteuftdRrM2JKBlK3KHA0nwQgCUIXcPQfVZ2TyeTzEUyJys2ec3EHee0JB4HA3NOEChakwUpV2i_okDrz8hAouAbpeCRJ8z05e4b1Em09PZf0k6it_wINS7r8TfhkgaQhZufJOcOlPvbDXcMfDdPYNbZzqCHv-BASl79dWQvTvr2khIEGMUMhvM-25zu_ggkHvaW_Lz7klxBv5ZavD9f8U5Vk7VLHSdF0To-KZ0L-b3-sSLR9rNyewWCTvSbvRe4Rx5A71KUmH3R2gl2bYL-q0HGk5KcYEdkleAiC6oWA-WOw-ZFQMC_saM0Is0vHfxCAjUwFAakU6zHuddzPHPdLl2pSlW_GOHuR-5ms7ltJBSklqcKJ_PZEeTYos1jrnvM2fE-kfSbvhQXVaCJVcoHf9DFLjQELawyrUl_o4egk3klL-B572dISNB2-t3BxBkKw8OUZr13bd3zJgW0QKVgLWdXCCNEvrnXdfq1weV4kxTABdydZt0IUcWpFHq31fABr5hrUHefv7m1_9vc2j-OvxC8C-Gd75YLNEXqsIewzMYbFQwB6iY5G4pF0dAnqsF7XSF99sda1jisoqXtFDHcPTyOsW39oG7MloFYzavJUm39G_Nn91YeN_G3XhXe3vvWbFQXN0EdPKtvRc0wBK0MFN1Yh0qMvG9dMf8YfqgWgNPLOo4bH6S2tDnyaXUX0TorFS56Ac_XL7e_9EDp_QxvCRzBRb9GW4IQiiepDZfPQ42vBmYw8TwPpFUZlHEdqVHtNCWz5N5wNZm1mpXMghilzVQ32wLiq4fjlNoRP46x8Z5IcyQVrT22dCupMO3ngLM_qVR9pmV34Jex80ee8ass6Ne-V55zdQzRx4gxTt04_GCSqzUI9UCi3DXoIqjg1UOKBS1droYglbu2IoKOdjzXggA4eRiohBwnzPtQTzwjHPbs3KZvPv9M678icLVsuKaS2dwaAVNnI9dlJ-KZqLblZEZIXUYiv9BwR3tpgxtykQA6A_pAFv28loFuk-O8OvKLAw1hxk278C3MxECtnJXcLjzJUAzua0W6CrmJ2eT6xhtsEr_yiFG-Ky1ApVg-uLKdFMwm8xnoq7YF9n3s5Y5L7RQ2-V-XRTmRJVjhzMSbol3UKdox9mlNEqpyKITEMOTZi6yiJf7uw_qXu4M_5IACO15z0uebtnNt7ezg0DspqMkOglfcdLYmbq9DUW3a3-oCLKUj1tDpHTlxEYRtYUkof7Y53E3UY5LeyOQdQEkTOGUaOFvmiFSgQmx8lgLT3b5pPtDYAnvnNjFHRrOickI-2YPEH2j_CN44GCqO2t7dDF1x-1W48iNOY3CDCOEa7MPGG4prZzVqMY-GzVPlmNcUBi49RllvUrcjeUle967Dy5fFDCkXzEU_5kwog44nZ5G49ajFvBLlx1_YS2_VEkUCVHuoK0Yv4KkcmBKO-cPiEoZ8IeRg6FQQYFMb8RdswRsOI_-mMgynImsjoXvhhsh2mxz0gG7ew-TzScgdocIjMH-89-RggHb7eGPboAQfxS93CDwb7iHedBb7qvPvTfQT7blEtlCrrf7ADqEbSIA5v9lN5KiAb0DflUi_JFC6ySWfeCLKgt2hNI9ELoEChPSI8N7DWZDCJVoxJ-jJZHWpvHY-pR0tloUS10HwIK6fYdEUAnyNjr_UEF3aNV77b7n1NuwbkoZcto3MHQc_NOpnMVgdXtiDzQKdKkDOsR8pM1zw==",
  "id": "rs_0e22b9bb7f98c4bc016ab4744b093087d08ceb5e189a9c9375",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is over the right basket opening, alongside the black-and-white marker. I’m releasing it here.\"}",
  "call_id": "call_M2KauGTvRVbPVZdaqIDexpJd",
  "id": "fc_0e22b9bb7f98c4bc016ab4744f75a087d0b8c4e158138a7312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2KauGTvRVbPVZdaqIDexpJd",
  "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]: [-0.8738, 2.7491, 2.8563, -1.1095, -0.7338, -0.7341, 0.9953, -0.1272, 0.8619, 0.7769, -0.5259, -0.173, -0.139, 0.9965]\nstate[eef_state]: left_x=0.4847 left_y=-0.3891 left_z=0.1294 left_yaw=0.1038 left_pitch=-0.1157 left_roll=0.0705 left_gripper=0.9953 right_x=0.2993 right_y=-0.004 right_z=0.2115 right_yaw=0.0899 right_pitch=-0.0297 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -18.1402, 7.0906, 1.3309, -0.4664, 0.1441, -0.1783, -0.1846, -1.8667, 7.0632, 1.707, -0.1343, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9790f9265e745d2c0f8ccbe8943f97a53245d7ced20e603b122f6bd288f7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3e53052505ce41f41594dfad7ebcef86743fa5e7c4b15d9602e48426a862a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55989ea7b14595851fcbc6579792c0bd933906153ad6b4d850a5e8b45416fd4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 7.027 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

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]: [-0.5613, 1.0878, 0.688, -0.2958, -0.5163, -0.4042, 0.1611, 0.8429, 2.4702, 2.4641, -0.7879, 0.5709, 0.4244, 0.9953]\nstate[eef_state]: left_x=0.3177 left_y=-0.0925 left_z=0.1625 left_yaw=0.0677 left_pitch=-0.0284 left_roll=0.0021 left_gripper=0.1611 right_x=0.4847 right_y=0.4058 right_z=0.1789 right_yaw=0.1402 right_pitch=-0.0739 right_roll=-0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -3.4667, 6.8444, 1.6728, -0.2271, -0.0513, 1.0281, -0.7316, -17.7983, 6.5299, 1.5653, 0.3736, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7186, 2.8731, -1.0988, -0.7395, -0.7136, 0.1687, -0.1272, 0.857, 0.7784, -0.5209, -0.1726, -0.1379, 0.9965]\nstate[eef_state]: left_x=0.4864 left_y=-0.3899 left_z=0.155 left_yaw=0.0916 left_pitch=-0.0798 left_roll=0.0415 left_gripper=0.1687 right_x=0.2997 right_y=-0.0041 right_z=0.2146 right_yaw=0.0889 right_pitch=-0.0186 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -17.8803, 8.6222, 1.0183, -0.4567, 0.2369, 1.033, -0.0752, -1.7846, 7.2274, 1.8584, -0.0659, 0.1099, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7491, 2.8563, -1.1095, -0.7338, -0.7341, 0.9953, -0.1272, 0.8619, 0.7769, -0.5259, -0.173, -0.139, 0.9965]\nstate[eef_state]: left_x=0.4847 left_y=-0.3891 left_z=0.1294 left_yaw=0.1038 left_pitch=-0.1157 left_roll=0.0705 left_gripper=0.9953 right_x=0.2993 right_y=-0.004 right_z=0.2115 right_yaw=0.0899 right_pitch=-0.0297 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -18.1402, 7.0906, 1.3309, -0.4664, 0.1441, -0.1783, -0.1846, -1.8667, 7.0632, 1.707, -0.1343, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9790f9265e745d2c0f8ccbe8943f97a53245d7ced20e603b122f6bd288f7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3e53052505ce41f41594dfad7ebcef86743fa5e7c4b15d9602e48426a862a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55989ea7b14595851fcbc6579792c0bd933906153ad6b4d850a5e8b45416fd4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHRTfouyCo8jkTAFMnHw4sQsqp9n7Xyhwzl09Q754LQntF_F98uShPwqRaQBdkhj7zOj_zOEUmjVVeNcMzU1PB2RBZvrEUkZLCp08e9ZGiVfqCOp207qNXVZoKhlPMttmmxt9Pce3lnZs05it_B4hocQdd1LevFGToFA-P6YR-MJB2m84mWAQ6ENew0wn0qpDEV3ezWvnddDDlLK7lZ-bZdCh77SSXdxCj0vGwBjcYn2u9kI4dOthYRc7GDTDSEomsm3bhRH7UvCW3ZIgfwX2QyBOVL2B_H_0R2kXG-qwcwjBl3XxcMY47OmPJgTPR9k02z0mJQnr5AxntyAIDdI5TR6MGdj82NL0AO5T7SJFcBoUW9sWdn5jqRY7g5gI6WZWoX5WP8gkofa1jW6ky8ppFX2M-VOLATYWjR-YbXi2nrJ05uWknNIcg5I67JGBQP8fXsTv4LgbV8CtTqTHz7C6TYYmaZmD3tb_fLpKZB_M32eHOL7NqtcMZuDBxvqCweYBOocZZuR07vaQr4eUJcfp8Km6SXVYO56mXs9EyTF_A0qUWmq0IdcKzBFDvMV1YsiWtmwf4WY9YAJdFw-bHHDgDN5jtkyEWWfdQKVToCse_TW5GcB49jTaLa7Fl21nNsUxitTEOaRoLJK8R9zEMh4BuRKW9w1Fa8qTDshQUXd89rja-glVUJEslis_wHwAfZKzJsPgWcW3nnZjTVoLd2xr-92zY6jK3GWOZmKlskgrEC8ZJZ2ytduTAsLja7oyLD0NyIc0nMNCrdqhNwLhuPzlJDV2CHrXLL19Z_XwKRSQKkyM0Uz7o8zAaOsiF3jEJkZjKR1R5mvTqpXy2CtpWWIe8CItUkHEoJcx4K9_IzsEbdc022bRMmMWkVCjd7zYzkYGQplgI9CVZrmZA6bewE4gxrI39GWFab3kwdvD9X8tcxNjVWx5Dz7UwX35CJ2yt_0oGpqo2mQxDToPIQItXtcfTAWG0q8jzqX8GLxvCjGaeXUCmzMft_hdGIjWLY3IrCCsriw7Xl5LJ1UOGrufht9_iu8NjGoYgN-jebd3aTz2-vtki9a0DBBdyzABCbFLZg-Q51bDUsHHG54QHD9PoXCmdjjDZ-3Avdtaxhu6y_FHNKVn9pEnkOTwPMqVypV8QG_MD-NFskmghEuy2UNlF5RR51_hstoIogzBA2TTxHEU7RK6tjRV52ua_bTG0UqCf7YF0cgMkKdewmIFrEAp743BAhIBW0Tp1lJcRYhyGRR1KJDp4I=",
  "id": "rs_0e22b9bb7f98c4bc016ab474527e2c87d095ff9616a1f62ae1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2965,\"left_y\":0.0019,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow pen has been released. I’m parking the left arm so I can inspect both baskets and safely recover the larger plush.\"}",
  "call_id": "call_APLfR2ZyuCxYoYT8pDk6SJws",
  "id": "fc_0e22b9bb7f98c4bc016ab47452e79487d0ad1dcb2656fd80a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_APLfR2ZyuCxYoYT8pDk6SJws",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "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]: [-0.1467, 0.8494, 0.7776, -0.4931, -0.2577, -0.1913, 0.9967, -0.1272, 0.8639, 0.7765, -0.5266, -0.173, -0.1421, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=0.0045 left_z=0.2238 left_yaw=0.1577 left_pitch=0.0188 left_roll=-0.0129 left_gripper=0.9967 right_x=0.2994 right_y=-0.004 right_z=0.2107 right_yaw=0.0915 right_pitch=-0.0327 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7162, 6.694, 1.6337, -0.0562, 0.1197, 0.1245, -0.1709, -1.7709, 6.9538, 1.6777, -0.1294, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42228e02268d398709dcd0d694bf3e383764643a119495f4012eed58891aa8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba7c170e11ef685ada2396066d800e8449ae643c35e48e4736f47fd5b9577c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f21a9759a503dba9d567266a47768266457db8d98a41e6c76377fc4efed5262",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 4.05 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.092, 0.688, -0.2981, -0.5159, -0.4042, 0.1658, -0.1257, 0.8497, 0.7822, -0.5053, -0.1669, -0.1215, 0.9963]\nstate[eef_state]: left_x=0.3176 left_y=-0.0925 left_z=0.1608 left_yaw=0.0676 left_pitch=-0.0338 left_roll=0.0057 left_gripper=0.1658 right_x=0.3014 right_y=-0.0049 right_z=0.2214 right_yaw=0.0767 right_pitch=0.007 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 6.8444, 1.6581, -0.2369, -0.0024, 1.033, -0.253, -1.9077, 6.9128, 1.7607, -0.1636, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7491, 2.8563, -1.1095, -0.7338, -0.7341, 0.9953, -0.1272, 0.8619, 0.7769, -0.5259, -0.173, -0.139, 0.9965]\nstate[eef_state]: left_x=0.4847 left_y=-0.3891 left_z=0.1294 left_yaw=0.1038 left_pitch=-0.1157 left_roll=0.0705 left_gripper=0.9953 right_x=0.2993 right_y=-0.004 right_z=0.2115 right_yaw=0.0899 right_pitch=-0.0297 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -18.1402, 7.0906, 1.3309, -0.4664, 0.1441, -0.1783, -0.1846, -1.8667, 7.0632, 1.707, -0.1343, -0.0269, -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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1467, 0.8494, 0.7776, -0.4931, -0.2577, -0.1913, 0.9967, -0.1272, 0.8639, 0.7765, -0.5266, -0.173, -0.1421, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=0.0045 left_z=0.2238 left_yaw=0.1577 left_pitch=0.0188 left_roll=-0.0129 left_gripper=0.9967 right_x=0.2994 right_y=-0.004 right_z=0.2107 right_yaw=0.0915 right_pitch=-0.0327 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7162, 6.694, 1.6337, -0.0562, 0.1197, 0.1245, -0.1709, -1.7709, 6.9538, 1.6777, -0.1294, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42228e02268d398709dcd0d694bf3e383764643a119495f4012eed58891aa8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba7c170e11ef685ada2396066d800e8449ae643c35e48e4736f47fd5b9577c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f21a9759a503dba9d567266a47768266457db8d98a41e6c76377fc4efed5262",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHRe288w73-03xE45QAKGrRWovnmQ0oTBfwxHw0E8mwmXqGaLIc8l9YfQwduAJzIeyo6-t6Z1yn_7b00HpYJ10Jij7FyR9JPHQvo4akvEFtGAn_g-bdX_zGB5W-n7r4RDyYn3owW-R66211_60tTUd1v7D4jhnOJPYsTkBZWBqYPveGoxjA1gycXAyj7sRTjXu3ack4DuXr3mUKrIdQh-ZGMMKBVVb62RigAzvN_jVpUeAoBPNHNHLmfVPmVyG93L_obTvXRz7WWXHh_saA3__jSUBVX4OlVGhJbX7KfRTIA7pZ92k5b7EhYQ0ubl5Yfoz75gmfxekREASC9TJjKrY5fL0RsN-buZ1Aw_iMuf4K2thT8Ub3x4DwsWeSgZTCmYG-pLETCiklSp0yjIVCZGx7FwNqHq0Frh9UiCo1IsXh9qH3kNT4cgDvSqKdhJTzBMsErDkl02ksQawalPmYriEbdpSFeFFoQ2cQ54U_JzzQL1kIwq6D4klMjkpcd7sQ9Ec9b4L5kjgOVK_9nJzbwT7TgzXuOyiNEvuYgRqIJIaJ0Dyj9DPQU9uj51mbPr45NZFlxkMAQK53BGNoliAA4YnWpH0oA9V4_V3ZkMN9Qx5V0Een5R1jtMua9ptz2Y3Q5PVt5O5vOcrrA0biW9WBhfbylo_MUCEoHSAymxndhNSglu4OLufXISvTGRr7fPAX_ztOCbhXkOEKCnNA6Xvc2Prlu9y_q9OAy1umW2yb88ZPnJAUp_c54kADi1OEzWRAwgcs9TvUQdrOWQ8E8kAn4f8-jB4egpkR02YxxEW4WmSNYCSaHDvPWvArkGUutTU2GCvtjjB2i5KT8AUSH6QF6lUeKYd1lM4Mpu7c2nMoP3HjX02tK3rWZZIfyvUEcOoDnlZ872Vzdzc5yjrBfHDlZp5yw-9mcoA02fF6pYIhzTqch9owMXIcuHb8Fdx_pkZGLG10eqhJRy1OFN7tlk2UwlfSU7L0ClgX3KZxt2puA3I8P8qNemX3w9pwLed0QGGpGnj_8krLsajQXLLfet7i4WkNZRSj2hE6Gu-ptxG6FRRgIV6DSCJDhXVcpuAaW7kVLX07r7XIErI37z6wVeV-BwYMLE7UOqOnMjCRGPvVWSf4PTp4-7gQwaCEe9mo_4YEvPyU6VLEOJkDDBYpYhhOlgyt-NODfI_2zmsnXvRuemaJfze-BcdVtCvFTa54XJEfyqRz7ZVAf5tWKBVdiHbxzJcOYfwbIalxtZMhqJAEbW5bIajJBKPmNbZjLtIQt8Cweh3sIx0KXtVj44jXSZD9ZGt6L_h9L-3PNLYwUNcRfyJej9Nw1JKS3FgdMIbMgC1gk-uGE8g6ifgDnP1l7pO9SQZYzINDfc98qqS9_rw3C_Yu0NJRRnAqrLYdXe0wU_qHgSWGUexteuO3n47oMqIQVu_qsjTZpwho8Uh0E2NHRJZKWfqwURfseL4M__ZpIfplFwnd4XDFr51U6nsoRdQSqPjFxmpbvScYUKTgqFtu0Bjfq0vmyMBCCI22efFEbJ9ibKgTotM600_hLNr8Jpafgdh-dwiuTxnnUcBuD61D9aNCxZ5qgBfV9k5HXnTcoYbtCYekOCPjSFasSrUCKS7jdEvHOTxNFzo6p1d8_rGb09RZNp2QzxBwuercMXenlaATL3kWThmkz5u0nktmQSBCHf7vbn8w2xqRs8GrWruOmAKFK1P7Nc6k_BrbP-0ZoqPPj7gUzoCCnXq9MtUpFXjZUp6uApys9DsIW-LWdCOT8r4GRM7LwWeBroBzNTYkD_xRFE1NMddQ8IvJAWp3RDZ35sYRdwoputX6060BW6wjVzFBI3AUo2xmQ8gRCfrAfWCYPf_LZqZVIV6QMcX7EtyHH057U0Jw-qkbUU-L0jd5biBd4Vb6j6kJodHuulhfvPUIWJGA_2eh_TP9VV9BsRow32e4l1iGamZvmlH9T6MgjBvYJynNfjuarPV-PlvTf2LPIDgrPe10NxvAjUO8qCqruqElhC24KlHX_WnoDdvtbLRaosR1DUNAYFio_3Ux4wa8FykzDNRNZY-TT2ZWI9VUdQq9gMUJymq6x8olDSyCEXVl5YSQHnMEA0wfZjjCcVDw7uwvSzgtE4qANmnvN8YRZPNO4QSk1cTOw2UeMW3Y4aL4-R0X2fq1XF6ZNkGDxoO1f5aXj80dlonCvVk7tN0kn1DX-8QLjulWYoPo5bfqNqpNsghATLsPiO3V5uWL_HwjHVt49Ao9vidBojp7D3udqcEfV0ah2c_1GzIRnvREGJcGoe5Hadye8rkLJMJ3JKZCIyj8P9shj5G6o89PlxO9VBywy2ApNo5xr3bor30bIdWfZ7TS3IqF19rPjN9E_kp2L3tHznVQyKzAAbtvJl8RpT2QsTLhX6i1UvGdYkszfE2wROxXvFosC-x7wJoyi2DLsxM8YHb3r494q1Uc4Hq1lIlfGhXgFAlFIRxWY-vXYrKddfak=",
  "id": "rs_0e22b9bb7f98c4bc016ab47458989887d093f9438bbea18ade",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.18,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The small plush is securely in the left basket, but the large plush lies just to its right. I’m lowering the right gripper around the larger plush’s torso for a more controlled placement.\"}",
  "call_id": "call_XoVUdmTUMUGWujWagSKRRkTa",
  "id": "fc_0e22b9bb7f98c4bc016ab4745d522087d0957b31e8e429deef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoVUdmTUMUGWujWagSKRRkTa",
  "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]: [-0.1471, 0.8551, 0.7734, -0.5045, -0.2508, -0.1944, 0.9968, 0.6796, 1.6302, 0.5114, 0.3641, 0.4652, 0.3283, 0.9986]\nstate[eef_state]: left_x=0.3007 left_y=0.0034 left_z=0.2178 left_yaw=0.1531 left_pitch=-0.0028 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3297 right_y=0.1692 right_z=0.0253 right_yaw=0.1113 right_pitch=-0.089 right_roll=-0.0495 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.6889, 7.2274, 1.8242, -0.1343, -0.0122, -0.0073, 0.2667, -6.735, 6.8308, 1.6044, 0.3297, 0.0708, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9b95723d5180d4137456512f312113344075b55ab1933bb9ded2185c849867",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165a852e6fd83a9b6a15527a626f76aeabedad812009bd3b2f578e78f2bd8909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82153b696d7af34b6d073f5c46973831fbdcd5a3f7f246c0f3070e7d8a4a21eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.534 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7186, 2.8731, -1.0988, -0.7395, -0.7136, 0.1687, -0.1272, 0.857, 0.7784, -0.5209, -0.1726, -0.1379, 0.9965]\nstate[eef_state]: left_x=0.4864 left_y=-0.3899 left_z=0.155 left_yaw=0.0916 left_pitch=-0.0798 left_roll=0.0415 left_gripper=0.1687 right_x=0.2997 right_y=-0.0041 right_z=0.2146 right_yaw=0.0889 right_pitch=-0.0186 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -17.8803, 8.6222, 1.0183, -0.4567, 0.2369, 1.033, -0.0752, -1.7846, 7.2274, 1.8584, -0.0659, 0.1099, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1467, 0.8494, 0.7776, -0.4931, -0.2577, -0.1913, 0.9967, -0.1272, 0.8639, 0.7765, -0.5266, -0.173, -0.1421, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=0.0045 left_z=0.2238 left_yaw=0.1577 left_pitch=0.0188 left_roll=-0.0129 left_gripper=0.9967 right_x=0.2994 right_y=-0.004 right_z=0.2107 right_yaw=0.0915 right_pitch=-0.0327 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7162, 6.694, 1.6337, -0.0562, 0.1197, 0.1245, -0.1709, -1.7709, 6.9538, 1.6777, -0.1294, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8551, 0.7734, -0.5045, -0.2508, -0.1944, 0.9968, 0.6796, 1.6302, 0.5114, 0.3641, 0.4652, 0.3283, 0.9986]\nstate[eef_state]: left_x=0.3007 left_y=0.0034 left_z=0.2178 left_yaw=0.1531 left_pitch=-0.0028 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3297 right_y=0.1692 right_z=0.0253 right_yaw=0.1113 right_pitch=-0.089 right_roll=-0.0495 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.6889, 7.2274, 1.8242, -0.1343, -0.0122, -0.0073, 0.2667, -6.735, 6.8308, 1.6044, 0.3297, 0.0708, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9b95723d5180d4137456512f312113344075b55ab1933bb9ded2185c849867",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165a852e6fd83a9b6a15527a626f76aeabedad812009bd3b2f578e78f2bd8909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82153b696d7af34b6d073f5c46973831fbdcd5a3f7f246c0f3070e7d8a4a21eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHRj5no0YRcPRduPw_zPpbvXvi0SyXYQ4B8ANgLB141H8C9QspvC2e9OaJF95n3JFbEcGXf476dfTJ0gRHuxL0liOy_pTTYKZY2RfhYrZVo5lAQQER-x55s4VPDd98zdrj0-2m24_Ni69nj6tKjlzcvH6PEFcOrJBQG48BYtTK0KJlG23_R088hFHeaSxb_rtKaMRLRSLjnjLh99W52iNXKoDfT2IZfweaPFguTWN4i__y9-vxEOEWPuUcs2Tzb0EQx9L55PrGz4ijm9ekdWN-grn2Gm5rcldTXDtB80xyePwHUoqcCNV4_6Bhelw6fYZkxbLtaPdn37cGh1qw8gKbOIG3YgXdUhFg1P3kiGZdvOHFCHqZ121MWOMQzBSYiXqxWUTYOav1oL5BkT3T-njjF23zjEdFN4sxy9RAF9Fe0DheWmrlbSzECCEzNJzKqMfEsJ2bqDJuAlz2_47FSTyvHj1OYGJTzwTqjLczf0C3-5YoAoFtNyBYqOY1m3hKPIVE0Be_Wzw7kK2UaVvvBe8zJHM9Jl7W0w3W9ry6i8-JxaVnw-V-DV7Q6CWO0KLFkeBJ0sLCoTR2CWWUrBOWEUUCRQXtqU7BWUNsDHxJC5rdwyLG-spVSnClFMgEk-Sa0xRph1S9BB1OVPSZXn9oHKbIU0qU-gOAoFu76FsKtRlbl9jtqPvVLoveYHN5Ff5qJqErGGcJxRum-k2BAkTvv7QL8URodQUrIqnrqpYBSw9RVUK50AIX5EEjvg300vI2ps_iRfk0-pJpoSSwwa7XhZABrIoUuQ3MJz-hIfFI9D6cTumeh8FmO-2fGT2AxqXBD71IAnCjtPUxRXTgNJfMICV5wPJSn4uTVXfwBGJUt70ijd1_eJ0t2IpNIEcuuHmSQE8sa1OxoSZo7H2Tsvxdy461isVYAe4X-kKpcbzbWAQBoe8E6Bs6G93v4jNmqqkO3gCJvwK8WAUDHrreW0vuzlPqnue9afxx6D_APlQiO88cukwW_UXEP2nx3pVfU8Amva1DqGi0qPW353rEcndo8Pvg9KmW_IQDcTf0STyzPcIFKphW1vcf87V7tLLGgBw_uKvyHwhMgMnRge9ClppgkgtWDC2ddcmL3CC9JHt-Sd2ocfIovqnakQjqgpuCe4iitjzBtjbXcxHHTIgu93yEY9x9ev_ts00g9eYinIISnnbCRSdY6tGPoPzTJE4JZPXOvAilchgZ2AlrnPbNClSt6p1rjdpeL4OYrM9-0lTlppOJ9Vez87E64XxFWNTLnA01rugooGNzynlyDz92op2gHaZGR_HGN0XNc_P5aJTybkKmKfAy0NUFnznlTW8WvDTiIj1rSSrrj9POJzKhM6zOtWfToaUiwzf54vGyWLxfphMXP9c7xK5hME-PIkoHGOBQcgVBb_b312TZaP-Qzn_wbWzPdpB1oSYnvGvvMhQ1CD8sKfIDLZs-uNvTgV1MgNR4uvT0l91VD_DPeA0YFjLFZwCRO8sokO7Zal7Fy1_fqjPIn5fmkZmkB69Sxet-z3swvKYOyrfRzbA3D8qTxCD5nrH1GtTib-5NWwz_sibvY5Ap5q8gq85_iiHJfUT6aB9hN1cw2YgKM_JsS5iBzy6QOlR6Sirux2PGlhbRzC6FJFeLtKDIs0i5MDrGCd_xreigT0YhAcCjRVz1FEgW1Y53dMrJW34w==",
  "id": "rs_0e22b9bb7f98c4bc016ab474613d3c87d0a54caf7886191db7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.235,\"right_z\":0.045},\"note\":\"The plush shifted slightly left, and I can see the blue pen underneath it. I’m repositioning the open jaws farther around the plush’s body so the pen can remain on the table.\"}",
  "call_id": "call_f4RJpskb4dztThx6RrLgZuHZ",
  "id": "fc_0e22b9bb7f98c4bc016ab47462d94887d089215efe0314080f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f4RJpskb4dztThx6RrLgZuHZ",
  "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]: [-0.1474, 0.8577, 0.7734, -0.5079, -0.2535, -0.1947, 0.9968, 0.7414, 1.8038, 0.8143, 0.2043, 0.4938, 0.3584, 0.9985]\nstate[eef_state]: left_x=0.3005 left_y=0.0038 left_z=0.2164 left_yaw=0.1552 left_pitch=-0.0081 left_roll=-0.0098 left_gripper=0.9968 right_x=0.3678 right_y=0.2281 right_z=0.0377 right_yaw=0.133 right_pitch=-0.1024 right_roll=-0.0594 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6068, 6.8991, 1.7998, -0.0855, -0.0708, -0.0122, 0.5675, -7.8291, 7.6786, 1.3846, 0.3492, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ba34dff129706c40c668bf8b6f66dd4abc603fb8655de36a9a5b21fd37ecb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12853bdd5926ecc0b1856ceeaeb03e20f3ccf2d389de4644599311ca0f6ce763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eacf612abbc33149a50191e70814fe256e190b7667c73d2488a6bf215e1eb55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.854 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8738, 2.7491, 2.8563, -1.1095, -0.7338, -0.7341, 0.9953, -0.1272, 0.8619, 0.7769, -0.5259, -0.173, -0.139, 0.9965]\nstate[eef_state]: left_x=0.4847 left_y=-0.3891 left_z=0.1294 left_yaw=0.1038 left_pitch=-0.1157 left_roll=0.0705 left_gripper=0.9953 right_x=0.2993 right_y=-0.004 right_z=0.2115 right_yaw=0.0899 right_pitch=-0.0297 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -18.1402, 7.0906, 1.3309, -0.4664, 0.1441, -0.1783, -0.1846, -1.8667, 7.0632, 1.707, -0.1343, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8551, 0.7734, -0.5045, -0.2508, -0.1944, 0.9968, 0.6796, 1.6302, 0.5114, 0.3641, 0.4652, 0.3283, 0.9986]\nstate[eef_state]: left_x=0.3007 left_y=0.0034 left_z=0.2178 left_yaw=0.1531 left_pitch=-0.0028 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3297 right_y=0.1692 right_z=0.0253 right_yaw=0.1113 right_pitch=-0.089 right_roll=-0.0495 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.6889, 7.2274, 1.8242, -0.1343, -0.0122, -0.0073, 0.2667, -6.735, 6.8308, 1.6044, 0.3297, 0.0708, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1474, 0.8577, 0.7734, -0.5079, -0.2535, -0.1947, 0.9968, 0.7414, 1.8038, 0.8143, 0.2043, 0.4938, 0.3584, 0.9985]\nstate[eef_state]: left_x=0.3005 left_y=0.0038 left_z=0.2164 left_yaw=0.1552 left_pitch=-0.0081 left_roll=-0.0098 left_gripper=0.9968 right_x=0.3678 right_y=0.2281 right_z=0.0377 right_yaw=0.133 right_pitch=-0.1024 right_roll=-0.0594 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6068, 6.8991, 1.7998, -0.0855, -0.0708, -0.0122, 0.5675, -7.8291, 7.6786, 1.3846, 0.3492, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ba34dff129706c40c668bf8b6f66dd4abc603fb8655de36a9a5b21fd37ecb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12853bdd5926ecc0b1856ceeaeb03e20f3ccf2d389de4644599311ca0f6ce763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eacf612abbc33149a50191e70814fe256e190b7667c73d2488a6bf215e1eb55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHRntywp0Qzw8If-Tb7Nz5CHRnPT8c40aHhPiRxOzR97UzpPEXFHsKbg69IsWx37guIapzy0np-pPujB-PC_O_9NxPEUEGYfFJTy118uxHqLlMLKuy7StyPHuu9e2aQyXJ7Lr5gmHHk9vysx9VneYTARgxCVy6cK6jU7Q-_EIu4jL6qCglbrE47eBKZjnGVrqF4CFoqR37mDFe05VYnSQEVBUQPSFpqbmQdepg2_UNJFS4B4jrBHXp-GcD6bihjFV5XxGXv2-cqwX1wvf3K_E1Nr0d7w8b0B_jLguZ_T5TNfiEI7IkNxRNMDKg-0QrsujdB_6UG-k56HuB4YT9Myuwet-pUtabw68AUQWC3sdsUBWXJK6CmXurHGIMiYJObWo5TNC1zphaPCuNh_kAx-5uM_YcvbcxSU98Dp9PFEnPG31YgWMG3tdrw6OcOaH_2ZARb_u_cKLlG5m3n0IKxdHPJ9AOEV8tCtD_IUy2ZogWe8wTCJOc0w301HIw1RH3gt0NNgjqOfiFSCCWSaTdjpzNX6w9Cie15eiwWvo5_aZ8Zg-FhjgcgqdGKjN7Ti5QwEIqlyIvw84X2yQBe1dgRcmQ3meWcxGlXkWw5Rs1owH-TRAsmkcPpoWQSOnhrA2PKyneSHF3luS5X29_AJXGuZFRf4m1kJyZeSwbAlj32Usd9xb2uTDQ-AGM5KPQgKIgnkVNVB3i2PkgyYajP2NvojqX8NXkbgJ9B0y0xtjo8ie8rvv4GQAOEIdV0heiZZFpdjanSsGGKxta9GcEXQH7FSX5PXLUjwvRgr9hcJVVCPBaKXXLbztGh2FthICxY37hxxEbbh5XawcQ-zVP1i4Gdjxh6Osq6C_r8nJ1lzsXS-gmZlUV7czFQLY3v73PQK1y165Pf076jQIlCvniR5u8JONgOIbypgY80WhGw8tOIqAGgFz4AiABelNawg9RXqUIF1gg4uX2WwOnw1mofAsaHuGhbKvgaRu0gVFGVs2rcwEm-1ZJvvCDmOZZhnV7Tnt8puzh2ZK_LwVIlXfFpvo-Y0smCTrX5-b18GrKKN19MmhekkdaLkyTw98yGwHZhZCmS1weyhL0b5P0xm-Dmpp9bCPbOH-efP0IbFSTsNL3sEH6H8DMMsEeULDQoof9Tl023YjWIOKQdLEEisifvJ3XabYCU8eET6ErPg5T2TAV3j6pDXkRZ9MDI_FvlsYKBxdqvo3ZcLIzM1A3BGT0YOC5QTjobFaw_NCcxSAlAhCfScGt8iMaqm9qcsPlZxTulvxbsI-GU6VsNZOd-Xgqo7bafYdYUM_t67lgqdAmN9Gk7y8x0nMFc7Nhowd4lOE7YZ3WGH7BXC-APQwKSm1c1KPxff71u-FQ==",
  "id": "rs_0e22b9bb7f98c4bc016ab47465da7c87d09fe41d4698b96c05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now surround the larger plush’s body. I’m closing to secure it before lifting.\"}",
  "call_id": "call_vkkIealCjzzzXGG6Qu1s1qiT",
  "id": "fc_0e22b9bb7f98c4bc016ab47466743087d092897e3edcf255df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vkkIealCjzzzXGG6Qu1s1qiT",
  "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]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.816, 0.8158, 0.1951, 0.4862, 0.3542, 0.021]\nstate[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3653 right_y=0.2289 right_z=0.0314 right_yaw=0.1425 right_pitch=-0.122 right_roll=-0.0695 right_gripper=0.021\nstate[joint_eff]: [-0.0752, -1.6068, 6.9128, 1.6923, -0.149, -0.0366, -0.0122, -0.1846, -9.2923, 5.2444, 1.6093, 0.2906, 0.0366, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a7dd5c1a175d6e1202f4b50d8ececf089675743d47bec79d4da7166aed7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1000a3b560a59b48d6ebf1c4cda19ce7537de8b703d7d8d4e67f90d187d72c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef990e6aa10f80c7da33177a92d1fc0ada7fccc53ccff8ad814f6291b850c7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.989 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1467, 0.8494, 0.7776, -0.4931, -0.2577, -0.1913, 0.9967, -0.1272, 0.8639, 0.7765, -0.5266, -0.173, -0.1421, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=0.0045 left_z=0.2238 left_yaw=0.1577 left_pitch=0.0188 left_roll=-0.0129 left_gripper=0.9967 right_x=0.2994 right_y=-0.004 right_z=0.2107 right_yaw=0.0915 right_pitch=-0.0327 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7162, 6.694, 1.6337, -0.0562, 0.1197, 0.1245, -0.1709, -1.7709, 6.9538, 1.6777, -0.1294, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1474, 0.8577, 0.7734, -0.5079, -0.2535, -0.1947, 0.9968, 0.7414, 1.8038, 0.8143, 0.2043, 0.4938, 0.3584, 0.9985]\nstate[eef_state]: left_x=0.3005 left_y=0.0038 left_z=0.2164 left_yaw=0.1552 left_pitch=-0.0081 left_roll=-0.0098 left_gripper=0.9968 right_x=0.3678 right_y=0.2281 right_z=0.0377 right_yaw=0.133 right_pitch=-0.1024 right_roll=-0.0594 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6068, 6.8991, 1.7998, -0.0855, -0.0708, -0.0122, 0.5675, -7.8291, 7.6786, 1.3846, 0.3492, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.816, 0.8158, 0.1951, 0.4862, 0.3542, 0.021]\nstate[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3653 right_y=0.2289 right_z=0.0314 right_yaw=0.1425 right_pitch=-0.122 right_roll=-0.0695 right_gripper=0.021\nstate[joint_eff]: [-0.0752, -1.6068, 6.9128, 1.6923, -0.149, -0.0366, -0.0122, -0.1846, -9.2923, 5.2444, 1.6093, 0.2906, 0.0366, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a7dd5c1a175d6e1202f4b50d8ececf089675743d47bec79d4da7166aed7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1000a3b560a59b48d6ebf1c4cda19ce7537de8b703d7d8d4e67f90d187d72c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef990e6aa10f80c7da33177a92d1fc0ada7fccc53ccff8ad814f6291b850c7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHRsmMif0-v55AqKweKpdKueFEkcXdCdRL933xLYzMskRDWi1DvZOJ6S_PKMRhc13Pp6iFAhB54nndm8tIc-upDg9zZ_a0VoAqJG2o-Y5EtVXXOJ3BR5mZqbkQpeUA-MKu2EsBfu1J-rDnQPLgfThRVfj1XOew4rVWV_GatU-2Bp4LuS88FUq_vpQJYw3VhUJ-sPLTnmMNFxRGhZfupGHLJUcqSbYboQckv65-FXh2yjbNMGrJ8VHI67UqLFkbxDrMuuGe76Xo_1i9lSpYpLoZaliiPprP2RU5ImILjLLNrDlndoA164Em5Zq44zbzHarLWd_xN-ClX9SByWvqmMl0qbwS4rfRBJWlpm6flWo7_pt3pe1-Lya2QCwcmHuzAx87_U12Sxm6iXF3iWE77es-xAakf8I2UfylO0OpE3n9i74NjupPBNX2-UMPiywG6l3Q1j7rfJLfK_2IAaCBTwMOwsisQsJOR9zFV-uZbwCNHXQ5o3GmbIzgc4ZgpdATXVzKyw6Anyu7zuQKc9EFr0stxh_T_HAvwb7KhKwMpcwm94G4PKNBqaxCvBqrPsL1nxYIPsHfXPNeE_X6dj918H4v1RgzYiYx6BelSjMM6VOZywIaMe2gwZOGRFWbqZy3-fkYMrGbTJwBKa6tEQ-vFY6pJZGV0XxG_UGperzOnFxR36xHHakUjFLcXIpg_H_ovMeK9CBXk03DCWIixA-u9kf3SVzJnZekReXHbe1kOmdI5kyBx4rJhix23Zloy2Qwzr6MvRHOlpTsquWW2rM9nub0ABozaQydxl08HYlY5i9o93Aox59VweMTpCCNEjzE_iaGclhxss00kMQ28u3CBuhlnsr0TYGplFWDpCRVeJiiMOnqib7-9eOSP0oxE8yvZRFFUXX2NW2R4pThhMB9u-fBA1zW3pjy56zB1m-4jFXYPbJAvib2O9aUKA882CLBqPRYCAF5A5p9MLv2TfK-f2ZYDbvxyivWbS3F8S6dCDHZ6HdiV24_t_n6Sryd_vDHHJ8JlsjJI34ZGNhwn76sJQCAq1ePul-PyfbhVr5ylOPjd1NtuH1vrPgo429q2m66M_JFIG9szo7uZH3U6mFQzVWufcXPYQduhPsBYpW4M3RrXwc5S7c9SKXLFbntqUqe6jMtLkYQh9mzO7mdn58DVPQQy2xfr4j14OYyat70fWFXaLrbUrjJ7DHIp46G-83sJdh9-tZX9pINCV9RDWvk8CJU-6TMqFUXzLPBG_Ea1eBEw6vpcIebflCd_0U7fEkXZY8PkVXQ2-l5gPx3p3bXxCCaxoqKPrnoOaTdieJoNdBtHoW_60869E9tFOpY0Tk0tJahwF4l9NkC5MTffEc7KNbYbTzKdHhtkCNWlY4y24SDJInETlQxkglPxMORZ1nmyeEZkRTP69Ip-zoiWdUtHbk6rZmOe3VLIxeFVphkIf9GubIhEzrDletavzVDaG4PShiTwDpbi3KSb-pCWlDOjnIiK05_sJnyIhMSycEE4XGHJCXeDZs0KgoPMnZ4sdhM_Foi__4zSU495CS1jtRthaWVjOnVI-OP6AmuLdy-IJP9k_YWp2QdBjL07iNYIa77DdSRGByABfBNI99uMoyzGqdrEBBALIAQt-tNq2BCszMapUhfJ3yfOJUa1TDyeXio-S0mGFN0-fsEdUj-MtXML6vcEnkAg34vqG8-Icpu5bXxxu6hx91mI_mq9CwdFfYYxr5pIJ6dQk3831Fz3t08hSA23j1sbVmbx2Nky0ZAREOqdzHeLQRVzuAzZpRyo023Q8HcWI7LmFoSB12Uf4OLTCUoZ18su_YA_E4M7IrJRrsJXwieZ8Jvv0yAE7pF62lVziw4Fjv_MbfVlF25qwgwv6h6zjbSMz0Mm323osYmFapcxVeDjcDnJKIdAu2VYg3x8-Za4vEUPLE_C2QAeU8HwWQcnkwg==",
  "id": "rs_0e22b9bb7f98c4bc016ab474694b5487d0b36aec9cee06b04c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The larger plush was not secured; the gripper closed empty underneath it. I’m opening and lifting straight clear rather than dragging it or the baskets.\"}",
  "call_id": "call_j7Ag406An8KX9uvC57rQdl1o",
  "id": "fc_0e22b9bb7f98c4bc016ab4746bba7087d0a68ad1c26db76191",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j7Ag406An8KX9uvC57rQdl1o",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.578, 1.2873, -0.5282, 0.4786, 0.345, 0.9959]\nstate[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3682 right_y=0.2332 right_z=0.1977 right_yaw=0.1523 right_pitch=-0.1369 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.7363, -0.1001, -0.0513, -0.0122, -0.212, -9.6068, 9.2786, 1.3895, 0.2173, 0.0122, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7730600a777991c867dfbc6134642a009100e64b92629261bc47dc0d949e1621",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f90c10ec05f1a4a4e99bdd4847c35c00b28b4dee29008c7146b9c3419144456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992d2217ad387ed7edf6510ff3df106307bbfddfedb3048d2c702c5ee91969ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 5.835 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8551, 0.7734, -0.5045, -0.2508, -0.1944, 0.9968, 0.6796, 1.6302, 0.5114, 0.3641, 0.4652, 0.3283, 0.9986]\nstate[eef_state]: left_x=0.3007 left_y=0.0034 left_z=0.2178 left_yaw=0.1531 left_pitch=-0.0028 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3297 right_y=0.1692 right_z=0.0253 right_yaw=0.1113 right_pitch=-0.089 right_roll=-0.0495 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.6889, 7.2274, 1.8242, -0.1343, -0.0122, -0.0073, 0.2667, -6.735, 6.8308, 1.6044, 0.3297, 0.0708, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.816, 0.8158, 0.1951, 0.4862, 0.3542, 0.021]\nstate[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3653 right_y=0.2289 right_z=0.0314 right_yaw=0.1425 right_pitch=-0.122 right_roll=-0.0695 right_gripper=0.021\nstate[joint_eff]: [-0.0752, -1.6068, 6.9128, 1.6923, -0.149, -0.0366, -0.0122, -0.1846, -9.2923, 5.2444, 1.6093, 0.2906, 0.0366, 0.906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.8585, 0.7734, -0.5087, -0.2539, -0.1947, 0.9968, 0.7441, 1.578, 1.2873, -0.5282, 0.4786, 0.345, 0.9959]\nstate[eef_state]: left_x=0.3004 left_y=0.004 left_z=0.2161 left_yaw=0.1559 left_pitch=-0.0095 left_roll=-0.0092 left_gripper=0.9968 right_x=0.3682 right_y=0.2332 right_z=0.1977 right_yaw=0.1523 right_pitch=-0.1369 right_roll=-0.0797 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.7363, -0.1001, -0.0513, -0.0122, -0.212, -9.6068, 9.2786, 1.3895, 0.2173, 0.0122, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7730600a777991c867dfbc6134642a009100e64b92629261bc47dc0d949e1621",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f90c10ec05f1a4a4e99bdd4847c35c00b28b4dee29008c7146b9c3419144456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992d2217ad387ed7edf6510ff3df106307bbfddfedb3048d2c702c5ee91969ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.001,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.2965,\"left_y\":0.0019,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The large plush and blue pen remain on the table, and the gray plush is beyond the left reach limit. I’m parking both arms safely; I cannot reliably complete the remaining sorting in this arrangement.\"}",
  "call_id": "call_htSiGaqKRamQj1c4H4FIJL10",
  "id": "fc_0e22b9bb7f98c4bc016ab4746fa9b087d0949c736e663a7446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_htSiGaqKRamQj1c4H4FIJL10",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.8551, 0.7734, -0.5159, -0.2703, -0.202, 0.9968, -0.1383, 0.8509, 0.786, -0.5266, -0.1841, -0.1398, 0.9968]\nstate[eef_state]: left_x=0.299 left_y=0.0005 left_z=0.216 left_yaw=0.1517 left_pitch=-0.0103 left_roll=-0.0053 left_gripper=0.9968 right_x=0.2989 right_y=-0.0053 right_z=0.2187 right_yaw=0.0884 right_pitch=-0.0094 right_roll=-0.0075 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -2.6325, 7.4598, 1.6679, -0.2564, -0.022, -0.0073, -0.2256, -1.9487, 6.8171, 1.7314, -0.2711, -0.0659, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0776d3dc93dbdae1165d28c8150418d10f0bb38af623db6c53a98b4ddf7e5556",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18339e845d2c47fff964b99512147f69c751a9e617441e9265b0ccd2ff88e118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f04a49657347c651e85a47563b80ae7cd2f81291c9d152f4d44457e795f972",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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