adhoc

completed
2026-09-23T23:40:37.937169+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
266.3 s
total steps
422
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 thin pen-like objects, with two empty baskets at the back. I’ll sort the plush animals into the left basket and the thin objects into the right, starting with the gray plush on the left.
move_to
left_x0.3750left_y-0.1050left_z0.1500left_gripper1.0000right_x0.2967right_y0.0011right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3798, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1838 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.6479, 9.5932, 1.7607, -0.0073, 0.1441, -0.0611, -0.9641, -1.6479, 9.8667, 1.7118, -0.1001, -0.0073, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.105,"left_z":0.15,"left_gripper":1,"right_x":0.2967,"right_y":0.0011,"right_z":0.19},"note":"I see plush animals and thin pen-like objects, with two empty baskets at the back. I’ll sort the plush animals into the left basket and the thin objects into the right, starting with the gray plush on the left."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body rather than the nearby basket or pens.
move_to
left_x0.4000left_y-0.0200left_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]: [-0.4511, 1.3201, 0.7124, -0.0689, -0.3676, -0.2745, 0.9995, -0.0193, 0.8051, 0.6106, -0.3965, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3651 left_y=-0.1023 left_z=0.1302 left_yaw=-0.0131 left_pitch=-0.0608 left_roll=0.0202 left_gripper=0.9995 right_x=0.2941 right_y=0.0 right_z=0.1765 right_yaw=-0.0038 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3761, -5.559, 9.4017, 1.7753, -0.3492, -0.022, -0.0611, 0.0205, -1.0872, 9.3333, 1.707, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.02,"left_z":0.045},"note":"The gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body rather than the nearby basket or pens."})
tool
executing move_to over 8 steps (0.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe gray plush is now centered beneath the jaws, and the descent stopped above the table near its body. I’ll close gently at this position to secure it.
move_to
left_x0.3950left_z0.0250left_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]: [-0.0967, 1.5776, 0.5671, 0.5343, -0.0776, -0.1009, 0.9995, -0.02, 0.8082, 0.6086, -0.4076, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4215 left_y=-0.0235 left_z=0.0876 left_yaw=0.006 left_pitch=0.0886 left_roll=-0.0369 left_gripper=0.9995 right_x=0.2925 right_y=-0.0001 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.045 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0615, -3.5624, 3.5214, 0.9206, -0.1245, 0.4176, -0.0122, -0.1846, -1.5248, 7.1863, 1.8046, -0.0562, -0.0513, -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":{"left_x":0.395,"left_z":0.025,"left_gripper":0},"note":"The gray plush is now centered beneath the jaws, and the descent stopped above the table near its body. I’ll close gently at this position to secure it."})
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 close was empty, and the left basket tipped when the gripper got too far forward. I’m opening and backing away from the basket to realign over the gray plush, which is closer to the front.
move_to
left_x0.3100left_y-0.0350left_z0.1200left_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]: [-0.1101, 1.7618, 0.4091, 1.0168, -0.0891, -0.1047, 0.016, -0.02, 0.812, 0.6086, -0.4084, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4138 left_y=-0.0263 left_z=0.0641 left_yaw=0.007 left_pitch=0.2286 left_roll=-0.0515 left_gripper=0.016 right_x=0.2926 right_y=-0.0001 right_z=0.1713 right_yaw=-0.0046 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.0889, -4.3966, 2.0308, 0.989, -0.0708, -0.0659, 1.033, -0.1846, -1.6342, 7.0769, 1.7363, -0.0269, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.31,"left_y":-0.035,"left_z":0.12,"left_gripper":1},"note":"The close was empty, and the left basket tipped when the gripper got too far forward. I’m opening and backing away from the basket to realign over the gray plush, which is closer to the front."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe left arm has not yet reached the retreat target, and its fingers remain close to the plush and tipped basket. I’m lifting clear before making another approach.
move_to
left_x0.3200left_y-0.0350left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.136, 1.5669, 0.3145, 0.9451, -0.115, -0.128, 0.9953, -0.02, 0.8154, 0.6083, -0.4091, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3866 left_y=-0.0288 left_z=0.088 left_yaw=0.0174 left_pitch=0.2574 left_roll=-0.0698 left_gripper=0.9953 right_x=0.2926 right_y=-0.0001 right_z=0.1701 right_yaw=-0.0044 right_pitch=-0.0542 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1436, -5.6957, 4.1231, 1.5604, -0.0317, 0.1245, 0.0269, -0.212, -1.6889, 7.0359, 1.6825, -0.0366, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.035,"left_z":0.22},"note":"The left arm has not yet reached the retreat target, and its fingers remain close to the plush and tipped basket. I’m lifting clear before making another approach."})
tool
executing move_to over 9 steps (0.9s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe arm is clear, and the gray plush lies directly below the wrist view. I’m approaching vertically at the corrected, nearer position with the tool straightened.
move_to
left_x0.3100left_y-0.0450left_z0.0350left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2344, 0.8032, 0.5049, -0.0162, -0.2035, -0.1574, 0.9966, -0.02, 0.823, 0.6079, -0.4099, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.3203 left_y=-0.0361 left_z=0.2123 left_yaw=0.0121 left_pitch=0.2548 left_roll=-0.0698 left_gripper=0.9966 right_x=0.2929 right_y=-0.0002 right_z=0.1677 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.4017, 9.853, 1.873, -0.149, -0.0464, 0.1343, -0.1709, -1.9761, 7.0906, 1.6923, 0.0024, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.045,"left_z":0.035,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The arm is clear, and the gray plush lies directly below the wrist view. I’m approaching vertically at the corrected, nearer position with the tool straightened."})
tool
executing move_to over 12 steps (1.2s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe jaws are beside the gray plush’s body, slightly off to its right. I’m moving inward over the body and closing for a secure grasp.
move_to
left_x0.3100left_y-0.0200left_z0.0300left_pitch0.0000left_roll0.0000left_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]: [-0.3035, 1.3025, 0.1883, 0.6334, -0.2852, -0.1658, 0.9968, -0.02, 0.8288, 0.6075, -0.4095, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3256 left_y=-0.0461 left_z=0.0625 left_yaw=0.0093 left_pitch=0.1036 left_roll=-0.0003 left_gripper=0.9968 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0049 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.9761, 3.4393, 1.1844, 0.1001, -0.2369, 0.0024, -0.1573, -1.853, 7.4325, 1.6532, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.02,"left_z":0.03,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The jaws are beside the gray plush’s body, slightly off to its right. I’m moving inward over the body and closing for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe second close was also empty. Comparing the overhead view with the wrist view, the gray plush’s body is farther forward than the jaws; I’m correcting that position before retrying.
move_to
left_x0.3600left_y-0.0150left_z0.0600left_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]: [-0.1696, 1.319, 0.1585, 0.691, -0.1749, -0.1226, 0.0126, -0.02, 0.8288, 0.6075, -0.4091, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3259 left_y=-0.021 left_z=0.0567 left_yaw=0.0273 left_pitch=0.1018 left_roll=-0.0134 left_gripper=0.0126 right_x=0.2933 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.3487, -1.6615, 3.453, 1.16, 0.0952, 0.0024, 0.7546, -0.3487, -1.2513, 7.0222, 1.7167, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.015,"left_z":0.06,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The second close was also empty. Comparing the overhead view with the wrist view, the gray plush’s body is farther forward than the jaws; I’m correcting that position before retrying."})
tool
executing move_to over 10 steps (1.0s)
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 gray plush is forward of the jaws but still left of center. I’m shifting left and closing lower around its soft torso.
move_to
left_x0.3600left_y0.0250left_z0.0150left_pitch0.0000left_roll0.0000left_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]: [-0.1143, 1.3975, 0.3359, 0.4858, -0.1398, -0.1123, 0.9953, -0.02, 0.8314, 0.6075, -0.4099, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3529 left_y=-0.0121 left_z=0.0541 left_yaw=0.0466 left_pitch=-0.006 left_roll=-0.0028 left_gripper=0.9953 right_x=0.2933 right_y=-0.0002 right_z=0.1652 right_yaw=-0.0049 right_pitch=-0.0717 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [0.3214, -3.9863, 7.5009, 1.7656, 0.0708, 0.105, 0.0171, -0.3077, -1.1966, 7.0359, 1.6777, -0.022, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.36,"left_y":0.025,"left_z":0.015,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The gray plush is forward of the jaws but still left of center. I’m shifting left and closing lower around its soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe plush is still visible ahead of the fingertips, so the last close missed behind it. I’m opening, lifting slightly, and moving farther forward to place the jaws over its torso.
move_to
left_x0.4350left_y0.0100left_z0.0850left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper1.0000right_z0.1900right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0563, 1.6527, 0.2977, 0.7555, -0.0166, -0.0322, 0.0129, -0.02, 0.8314, 0.6075, -0.4095, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3556 left_y=0.0266 left_z=0.0096 left_yaw=0.0703 left_pitch=-0.0359 left_roll=-0.0019 left_gripper=0.0129 right_x=0.2934 right_y=-0.0002 right_z=0.1653 right_yaw=-0.0045 right_pitch=-0.0713 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.253, -5.135, 3.6855, 1.9902, 0.1636, 0.1441, 1.0379, -0.1299, -1.4701, 7.3641, 1.6581, -0.0269, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":0.01,"left_z":0.085,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":1,"right_z":0.19,"right_pitch":0},"note":"The plush is still visible ahead of the fingertips, so the last close missed behind it. I’m opening, lifting slightly, and moving farther forward to place the jaws over its torso."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe gray torso is now alongside the fingertips, with the basket safely to the right. I’m making a small leftward correction and closing around the plush.
move_to
left_x0.4400left_y0.0350left_z0.0300left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0246, 1.6203, 0.6479, 0.3805, 0.0006, -0.0326, 0.9952, -0.02, 0.7982, 0.6079, -0.411, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4253 left_y=0.014 left_z=0.0696 left_yaw=0.0243 left_pitch=-0.0283 left_roll=-0.0119 left_gripper=0.9952 right_x=0.2913 right_y=-0.0001 right_z=0.1742 right_yaw=-0.0044 right_pitch=-0.0393 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.7726, -7.2, 7.9658, 1.7558, 0.0415, 0.2418, 0.022, -0.2393, -2.2496, 9.1829, 1.663, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":0.035,"left_z":0.03,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The gray torso is now alongside the fingertips, with the basket safely to the right. I’m making a small leftward correction and closing around the plush."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe gray plush remains just ahead and left of the closed jaws. I’ll make one final approach at the left arm’s lateral limit, aiming for its reachable right side.
move_to
left_x0.4800left_y0.0500left_z0.0600left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0841, 1.8168, 0.6392, 0.5896, 0.0315, 0.0017, 0.0127, -0.02, 0.7982, 0.6071, -0.4107, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4375 left_y=0.0349 left_z=0.0281 left_yaw=0.0394 left_pitch=-0.0242 left_roll=-0.0005 left_gripper=0.0127 right_x=0.2912 right_y=-0.0001 right_z=0.1739 right_yaw=-0.0044 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.6222, -7.2547, 4.4786, 1.956, 0.2076, 0.0904, 0.7839, -0.3624, -1.2239, 7.2137, 1.6777, -0.0122, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":0.05,"left_z":0.06,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The gray plush remains just ahead and left of the closed jaws. I’ll make one final approach at the left arm’s lateral limit, aiming for its reachable right side."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gray plush has moved toward the left workspace boundary, where repeated attempts are not helping. I’m clearing that arm and switching to the tan plush in the middle so I can make progress on the sorting.
move_to
left_x0.2966left_y0.0018left_z0.2200left_pitch0.0000left_roll0.0000right_x0.3700right_y0.3200right_z0.1600right_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]: [0.1127, 1.829, 0.8097, 0.4385, 0.0463, 0.0006, 0.9952, -0.02, 0.7982, 0.6067, -0.4107, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4707 left_y=0.0487 left_z=0.0549 left_yaw=0.056 left_pitch=-0.0166 left_roll=-0.0093 left_gripper=0.9952 right_x=0.2912 right_y=-0.0001 right_z=0.1737 right_yaw=-0.0044 right_pitch=-0.0401 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.1162, -6.9265, 7.9795, 1.8291, 0.0464, 0.1294, -0.1197, -0.3624, -1.2376, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2966,"left_y":0.0018,"left_z":0.22,"left_pitch":0,"left_roll":0,"right_x":0.37,"right_y":0.32,"right_z":0.16,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The gray plush has moved toward the left workspace boundary, where repeated attempts are not helping. I’m clearing that arm and switching to the tan plush in the middle so I can make progress on the sorting."})
tool
executing move_to over 27 steps (2.7s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe tan plush is centered on the right wrist’s jaw column. I’m lowering the open jaws around its body, keeping clear of the baskets.
move_to
right_x0.3950right_y0.3200right_z0.0450right_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]: [-0.0704, 0.8394, 0.73, -0.4633, -0.1001, -0.0883, 0.9966, 0.9493, 1.8542, 1.3495, -0.3466, 0.733, 0.6186, 0.9998] state[eef_state]: left_x=0.3013 left_y=0.0001 left_z=0.2083 left_yaw=0.0442 left_pitch=-0.0061 left_roll=-0.0043 left_gripper=0.9966 right_x=0.3669 right_y=0.3154 right_z=0.1482 right_yaw=0.0249 right_pitch=-0.0312 right_roll=-0.0207 right_gripper=0.9998 state[joint_eff]: [-0.3897, -1.7026, 9.9761, 1.7216, -0.1734, -0.0611, 0.1392, 0.6359, -9.8667, 8.759, 1.2479, 0.6081, 0.2222, -0.0366] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.32,"right_z":0.045,"right_pitch":0,"right_roll":0},"note":"The tan plush is centered on the right wrist’s jaw column. I’m lowering the open jaws around its body, keeping clear of the baskets."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe open jaws are positioned around the tan plush. I’ll close without translating, then check the opening and lift to verify the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0734, 0.8433, 0.7368, -0.4828, -0.1055, -0.0906, 0.9968, 0.91, 2.0491, 1.2114, 0.0456, 0.7189, 0.5602, 0.9998] state[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.2064 left_yaw=0.0469 left_pitch=-0.022 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3914 right_y=0.3198 right_z=0.0601 right_yaw=0.0273 right_pitch=-0.0034 right_roll=-0.0166 right_gripper=0.9998 state[joint_eff]: [0.0889, -1.7983, 6.4205, 1.8926, -0.0073, -0.0415, 0.0024, -0.5812, -8.5812, 4.5607, 1.3602, 0.1148, 0.1245, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws are positioned around the tan plush. I’ll close without translating, then check the opening and lift to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe gripper stopped at about a 2 cm opening, consistent with holding part of the plush rather than closing empty. I’m lifting to verify that the toy comes off the table.
move_to
right_z0.1450right_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]: [-0.0734, 0.8436, 0.7368, -0.485, -0.1055, -0.0906, 0.9968, 0.9047, 2.0571, 1.2053, 0.0711, 0.7441, 0.5388, 0.2152] state[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2058 left_yaw=0.0469 left_pitch=-0.0246 left_roll=-0.001 left_gripper=0.9968 right_x=0.3953 right_y=0.3152 right_z=0.0599 right_yaw=0.0155 right_pitch=0.0173 right_roll=-0.0372 right_gripper=0.2152 state[joint_eff]: [-0.0342, -1.1966, 7.0769, 1.7851, -0.0806, -0.0659, -0.0122, 0.1162, -11.5487, 6.3248, 1.1844, 0.0073, 0.1636, 1.0183] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.145,"right_pitch":0,"right_roll":0},"note":"The gripper stopped at about a 2 cm opening, consistent with holding part of the plush rather than closing empty. I’m lifting to verify that the toy comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe gripper is holding, but the plush is still hanging low near the tabletop. I’m raising it higher before moving toward the basket.
move_to
right_x0.4000right_y0.3200right_z0.2400right_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]: [-0.0734, 0.8436, 0.7368, -0.4854, -0.1055, -0.0902, 0.9968, 0.9009, 1.9636, 1.3216, -0.1959, 0.6979, 0.5472, 0.215] state[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2057 left_yaw=0.0467 left_pitch=-0.025 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3909 right_y=0.3164 right_z=0.1047 right_yaw=0.0388 right_pitch=-0.0448 right_roll=-0.0527 right_gripper=0.215 state[joint_eff]: [-0.0342, -1.347, 6.9538, 1.6972, -0.0562, -0.0464, -0.0122, -0.7043, -14.0923, 9.6479, 1.2674, 0.4078, 0.1099, 0.6178] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.32,"right_z":0.24,"right_pitch":0,"right_roll":0},"note":"The gripper is holding, but the plush is still hanging low near the tabletop. I’m raising it higher before moving toward the basket."})
tool
executing move_to over 9 steps (0.9s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe tan plush is lifted securely. The right basket is much easier to reach with this arm, so I’m revising the arrangement: plush animals in the right basket and pens in the left.
move_to
right_x0.5350right_y0.1400right_z0.2800right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0734, 0.8444, 0.7368, -0.4854, -0.1055, -0.0906, 0.9968, 0.894, 1.9259, 1.6573, -0.5507, 0.6762, 0.535, 0.2166] state[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2055 left_yaw=0.0469 left_pitch=-0.0258 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4002 right_y=0.3274 right_z=0.2006 right_yaw=0.0543 right_pitch=-0.0448 right_roll=-0.0381 right_gripper=0.2166 state[joint_eff]: [-0.1846, -1.5521, 7.159, 1.7216, -0.1001, -0.0562, -0.0122, -0.7316, -14.4752, 9.5658, 1.3211, 0.3785, 0.0073, 0.4225] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.14,"right_z":0.28,"right_pitch":0.2,"right_roll":0},"note":"The tan plush is lifted securely. The right basket is much easier to reach with this arm, so I’m revising the arrangement: plush animals in the right basket and pens in the left."})
tool
executing move_to over 16 steps (1.6s)
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 tan plush is above the right basket, with its body inside the basket’s outline. I’m lowering it until it is supported before releasing.
move_to
right_x0.5350right_y0.1400right_z0.1600right_pitch0.1500right_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]: [-0.0734, 0.8452, 0.7368, -0.4858, -0.1055, -0.0902, 0.9968, 0.3477, 1.808, 1.4857, -0.1852, 0.2893, 0.1135, 0.2164] state[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.2052 left_yaw=0.0467 left_pitch=-0.0269 left_roll=-0.0005 left_gripper=0.9968 right_x=0.5263 right_y=0.1409 right_z=0.2317 right_yaw=0.0395 right_pitch=0.0771 right_roll=-0.0314 right_gripper=0.2164 state[joint_eff]: [-0.0479, -1.4154, 6.9812, 1.6923, -0.0757, -0.0464, -0.0122, -0.294, -12.1094, 11.2615, 2.2637, 0.0464, -0.1099, 0.7399] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.535,"right_y":0.14,"right_z":0.16,"right_pitch":0.15,"right_roll":0},"note":"The tan plush is above the right basket, with its body inside the basket’s outline. I’m lowering it until it is supported before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe tan plush is supported in the right basket, so I’m releasing it. The left arm will approach the smaller brown plush beside the yellow pen.
move_to
right_gripper1.0000left_x0.4000left_y-0.1600left_z0.1300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.485, -0.1055, -0.0902, 0.9968, 0.3363, 1.8751, 1.2453, 0.1169, 0.2672, 0.1047, 0.2159] state[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9968 right_x=0.526 right_y=0.1382 right_z=0.1502 right_yaw=0.0514 right_pitch=0.0687 right_roll=-0.0303 right_gripper=0.2159 state[joint_eff]: [-0.1436, -1.5385, 7.2547, 1.7558, -0.0708, -0.0317, -0.0122, -0.2667, -9.0188, 6.4479, 2.0879, 0.1148, 0.0464, 0.7643] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.4,"left_y":-0.16,"left_z":0.13,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The tan plush is supported in the right basket, so I’m releasing it. The left arm will approach the smaller brown plush beside the yellow pen."})
tool
executing move_to over 15 steps (1.5s)
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 smaller brown plush is beneath the left gripper, while the tan plush remains in the right basket. I’m lowering around the small plush and withdrawing the right arm to clear the workspace.
move_to
left_x0.3900left_y-0.1700left_z0.0250left_pitch0.0000left_roll0.0000right_x0.2967right_y0.0011right_z0.2100right_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]: [-0.5758, 1.536, 0.8265, -0.0063, -0.4698, -0.3569, 0.9968, 0.3363, 1.8786, 1.2358, 0.115, 0.2676, 0.1005, 0.9971] state[eef_state]: left_x=0.3874 left_y=-0.1519 left_z=0.1125 left_yaw=-0.0106 left_pitch=-0.0621 left_roll=0.0297 left_gripper=0.9968 right_x=0.5239 right_y=0.1375 right_z=0.1438 right_yaw=0.0536 right_pitch=0.0544 right_roll=-0.0384 right_gripper=0.9971 state[joint_eff]: [-0.4171, -6.9812, 8.8821, 1.6484, -0.2759, -0.0415, -0.0122, -0.1983, -10.3316, 7.4598, 1.7411, 0.0269, 0.0122, -0.0659] approver: 1 step(s) modified (delta_clamped). 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_x":0.39,"left_y":-0.17,"left_z":0.025,"left_pitch":0,"left_roll":0,"right_x":0.2967,"right_y":0.0011,"right_z":0.21,"right_pitch":0,"right_roll":0},"note":"The smaller brown plush is beneath the left gripper, while the tan plush remains in the right basket. I’m lowering around the small plush and withdrawing the right arm to clear the workspace."})
tool
executing move_to over 18 steps (1.8s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe left wrist contacted the basket before reaching the small plush, so I’m backing up and lifting clear. The plush is nearer the front than that approach allowed.
move_to
left_x0.3100left_y-0.1700left_z0.1500left_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]: [-0.6193, 1.766, 0.7136, 0.6479, -0.6117, -0.3054, 0.9968, -0.0494, 0.841, 0.7258, -0.4042, -0.0521, -0.0463, 0.9977] state[eef_state]: left_x=0.4211 left_y=-0.1712 left_z=0.1036 left_yaw=0.0501 left_pitch=0.2352 left_roll=-0.0425 left_gripper=0.9968 right_x=0.3087 right_y=-0.0025 right_z=0.218 right_yaw=0.0161 right_pitch=0.0434 right_roll=-0.007 right_gripper=0.9977 state[joint_eff]: [-0.7179, -2.0171, 1.0051, -0.0269, 0.8181, -0.8474, -0.0122, -0.3077, -1.5248, 6.8308, 1.8584, -0.1538, -0.0464, 0.0562] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.17,"left_z":0.15,"left_pitch":0,"left_roll":0},"note":"The left wrist contacted the basket before reaching the small plush, so I’m backing up and lifting clear. The plush is nearer the front than that approach allowed."})
tool
executing move_to over 9 steps (0.9s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe small brown plush is now centered just ahead of the fingertips, beside the yellow pen. I’m lowering at this nearer position, away from the basket rim.
move_to
left_x0.3300left_y-0.1700left_z0.0250left_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]: [-0.8417, 1.3331, 0.733, -0.1394, -0.7059, -0.5728, 0.9968, -0.0525, 0.8474, 0.725, -0.4286, -0.0608, -0.0605, 0.9978] state[eef_state]: left_x=0.318 left_y=-0.1786 left_z=0.1421 left_yaw=0.0183 left_pitch=0.025 left_roll=-0.0166 left_gripper=0.9968 right_x=0.3062 right_y=-0.0017 right_z=0.2107 right_yaw=0.0279 right_pitch=0.0121 right_roll=-0.0124 right_gripper=0.9978 state[joint_eff]: [-0.1436, -5.7778, 9.3197, 1.4823, -0.442, -0.0024, -0.0122, 0.1162, -1.5521, 7.0496, 1.9951, 0.0366, 0.0855, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.17,"left_z":0.025,"left_pitch":0,"left_roll":0},"note":"The small brown plush is now centered just ahead of the fingertips, beside the yellow pen. I’m lowering at this nearer position, away from the basket rim."})
tool
executing move_to over 8 steps (0.8s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteThe small plush’s body lies between the open fingers. I’m closing in place so the jaws do not push it forward during the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7834, 1.6836, 0.5098, 0.3599, -0.6651, -0.5385, 0.9968, -0.0528, 0.8536, 0.725, -0.4343, -0.0612, -0.0639, 0.9978] state[eef_state]: left_x=0.3228 left_y=-0.1626 left_z=0.0197 left_yaw=0.0296 left_pitch=-0.0466 left_roll=0.0482 left_gripper=0.9968 right_x=0.306 right_y=-0.0018 right_z=0.2077 right_yaw=0.0297 right_pitch=0.0003 right_roll=-0.0141 right_gripper=0.9978 state[joint_eff]: [0.3624, -6.8855, 4.5744, 1.6581, -0.3199, -0.0122, -0.0122, -0.1573, -1.9487, 6.9675, 1.8095, -0.0806, -0.0122, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The small plush’s body lies between the open fingers. I’m closing in place so the jaws do not push it forward during the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 259
top_cam
camera top_cam step 259
assistant
agent noteThe gripper has retained a roughly 2 cm opening on the small plush. I’m lifting it to verify the hold before carrying it to the plush basket.
move_to
left_z0.2000left_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]: [-0.7811, 1.7039, 0.4999, 0.3794, -0.6586, -0.5388, 0.2159, -0.0528, 0.8539, 0.725, -0.4355, -0.0612, -0.0643, 0.9978] state[eef_state]: left_x=0.3211 left_y=-0.161 left_z=0.0126 left_yaw=0.0279 left_pitch=-0.0574 left_roll=0.0524 left_gripper=0.2159 right_x=0.3059 right_y=-0.0018 right_z=0.2074 right_yaw=0.0299 right_pitch=-0.0012 right_roll=-0.0143 right_gripper=0.9978 state[joint_eff]: [-0.4171, -7.8154, 5.2308, 1.1844, -0.3443, -0.0611, 1.033, -0.1709, -1.6068, 7.1726, 1.7607, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.20,"left_pitch":0,"left_roll":0},"note":"The gripper has retained a roughly 2 cm opening on the small plush. I’m lifting it to verify the hold before carrying it to the plush basket."})
tool
executing move_to over 13 steps (1.3s)
step 272
assistant
agent noteThe small plush rose with the gripper. I’m carrying it across to the near-left side of the right basket, staying above the rim and away from the parked right arm.
move_to
left_x0.4700left_y-0.3900left_z0.2500left_pitch0.2000left_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]: [-0.7811, 1.2724, 0.8833, -0.3634, -0.6518, -0.5434, 0.2172, -0.0528, 0.8577, 0.725, -0.4362, -0.0612, -0.0643, 0.9978] state[eef_state]: left_x=0.3234 left_y=-0.1647 left_z=0.1832 left_yaw=0.0236 left_pitch=-0.0109 left_roll=-0.0068 left_gripper=0.2172 right_x=0.3062 right_y=-0.0018 right_z=0.2061 right_yaw=0.0299 right_pitch=-0.0058 right_roll=-0.0139 right_gripper=0.9978 state[joint_eff]: [-0.2803, -5.9556, 9.0325, 1.2869, -0.4567, 0.0171, 0.906, -0.1162, -1.9487, 6.9812, 1.7118, -0.0757, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.39,"left_z":0.25,"left_pitch":0.2,"left_roll":0},"note":"The small plush rose with the gripper. I’m carrying it across to the near-left side of the right basket, staying above the rim and away from the parked right arm."})
tool
executing move_to over 21 steps (2.1s)
step 293
assistant
agent noteThe small plush is over the left side of the plush basket. I’m lowering it alongside the tan toy so both will be contained before I open the jaws.
move_to
left_x0.4900left_y-0.3900left_z0.1500left_pitch0.2000left_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]: [-0.9146, 2.2555, 2.1277, -0.4667, -0.8471, -0.5156, 0.2171, -0.0528, 0.8639, 0.7242, -0.437, -0.0612, -0.0681, 0.9978] state[eef_state]: left_x=0.4693 left_y=-0.3867 left_z=0.2402 left_yaw=0.0321 left_pitch=0.1835 left_roll=-0.0248 left_gripper=0.2171 right_x=0.3065 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978 state[joint_eff]: [-0.5675, -13.5863, 8.2393, 1.3016, -0.4322, 0.3004, 0.8913, -0.1436, -2.1812, 7.1043, 1.6923, -0.0611, -0.0122, -0.0122] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.39,"left_z":0.15,"left_pitch":0.2,"left_roll":0},"note":"The small plush is over the left side of the plush basket. I’m lowering it alongside the tan toy so both will be contained before I open the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 299
assistant
agent noteThe small plush is lowered into the right basket next to the tan plush. I’m opening the gripper to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8886, 2.3379, 1.9259, -0.2134, -0.8417, -0.4824, 0.2173, -0.0528, 0.8642, 0.7242, -0.4366, -0.0612, -0.0681, 0.9978] state[eef_state]: left_x=0.4859 left_y=-0.3836 left_z=0.1492 left_yaw=0.0316 left_pitch=0.1624 left_roll=0.0297 left_gripper=0.2173 right_x=0.3066 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978 state[joint_eff]: [-0.1162, -13.0393, 6.6393, 1.7314, -0.3541, 0.0611, 0.8962, -0.1162, -1.7299, 6.9675, 1.7265, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The small plush is lowered into the right basket next to the tan plush. I’m opening the gripper to leave it there."})
tool
executing move_to over 8 steps (0.8s)
step 307
assistant
agent noteBoth brown plush toys are in the right basket. I’m approaching the yellow pen with the left arm and the two blue pens with the right arm, keeping the arms in separate parts of the table.
move_to
left_x0.3350left_y-0.1100left_z0.1300left_pitch0.0000left_roll0.0000right_x0.2500right_y0.1900right_z0.1100right_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]: [-0.8867, 2.3528, 1.9156, -0.2161, -0.8379, -0.49, 0.9954, -0.0528, 0.8642, 0.7242, -0.4366, -0.0616, -0.0681, 0.9978] state[eef_state]: left_x=0.4856 left_y=-0.3821 left_z=0.1357 left_yaw=0.0314 left_pitch=0.1439 left_roll=0.0436 left_gripper=0.9954 right_x=0.3066 right_y=-0.0017 right_z=0.2039 right_yaw=0.0322 right_pitch=-0.0134 right_roll=-0.0163 right_gripper=0.9978 state[joint_eff]: [-0.2256, -15.2274, 7.7607, 1.4921, -0.3443, 0.0317, -0.188, -0.212, -1.5248, 7.1316, 1.6923, -0.0855, -0.0317, -0.0122] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.11,"left_z":0.13,"left_pitch":0,"left_roll":0,"right_x":0.25,"right_y":0.19,"right_z":0.11,"right_pitch":0,"right_roll":0},"note":"Both brown plush toys are in the right basket. I’m approaching the yellow pen with the left arm and the two blue pens with the right arm, keeping the arms in separate parts of the table."})
tool
executing move_to over 25 steps (2.5s)
step 332
assistant
agent noteThe yellow pen is centered ahead of the left jaws, and the two blue pens lie side by side ahead of the right jaws. I’m lowering both open grippers to table level for the thin objects.
move_to
left_x0.3500left_y-0.1100left_z-0.0100left_pitch0.0000left_roll0.0000right_x0.2900right_y0.2100right_z-0.0100right_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]: [-0.5827, 1.248, 0.614, -0.0219, -0.5339, -0.4015, 0.9966, 1.0393, 1.2423, 0.5564, -0.2184, 0.7704, 0.6662, 0.9978] state[eef_state]: left_x=0.3398 left_y=-0.112 left_z=0.1302 left_yaw=0.056 left_pitch=0.0108 left_roll=-0.0079 left_gripper=0.9966 right_x=0.247 right_y=0.1844 right_z=0.0986 right_yaw=0.0636 right_pitch=-0.0378 right_roll=-0.0411 right_gripper=0.9978 state[joint_eff]: [0.1436, -4.6017, 6.8444, 1.6239, -0.1245, 0.1245, 0.1148, 0.5812, -4.3556, 8.3897, 1.3065, 0.3736, 0.2466, -0.0073] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.11,"left_z":-0.01,"left_pitch":0,"left_roll":0,"right_x":0.29,"right_y":0.21,"right_z":-0.01,"right_pitch":0,"right_roll":0},"note":"The yellow pen is centered ahead of the left jaws, and the two blue pens lie side by side ahead of the right jaws. I’m lowering both open grippers to table level for the thin objects."})
tool
executing move_to over 10 steps (1.0s)
step 342
assistant
agent noteBoth grippers have reached the tabletop near the pens; the right basket shifted slightly from wrist contact. I’m closing in place, then will lift straight up to clear the basket.
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]: [-0.5541, 1.8126, 0.3985, 0.7544, -0.5365, -0.3847, 0.9969, 0.9596, 1.8294, 0.4698, 0.6224, 0.8062, 0.5381, 0.9979] state[eef_state]: left_x=0.3523 left_y=-0.1076 left_z=-0.0002 left_yaw=0.0778 left_pitch=0.0085 left_roll=0.01 left_gripper=0.9969 right_x=0.2966 right_y=0.2074 right_z=0.0111 right_yaw=0.0254 right_pitch=0.0778 right_roll=-0.0297 right_gripper=0.9979 state[joint_eff]: [0.0889, -4.8889, 2.5368, 0.5201, 0.5641, -0.1245, 0.0024, -1.2786, -6.9402, 3.8769, -0.6178, -0.7546, -0.5739, -0.0171] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both grippers have reached the tabletop near the pens; the right basket shifted slightly from wrist contact. I’m closing in place, then will lift straight up to clear the basket."})
tool
executing move_to over 10 steps (1.0s)
step 352
assistant
agent noteThe left gripper holds a pen-sized thickness, and the right also stopped short of empty. I’m lifting both to check which pens were secured.
move_to
left_z0.2000left_pitch0.0000left_roll0.0000right_z0.2000right_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]: [-0.5529, 1.8248, 0.3962, 0.7887, -0.5457, -0.3847, 0.1631, 0.9554, 1.8347, 0.4702, 0.6407, 0.7948, 0.5354, 0.0782] state[eef_state]: left_x=0.3546 left_y=-0.1069 left_z=0.0017 left_yaw=0.0863 left_pitch=0.0278 left_roll=0.0027 left_gripper=0.1631 right_x=0.2981 right_y=0.2094 right_z=0.0111 right_yaw=0.0299 right_pitch=0.0796 right_roll=-0.0168 right_gripper=0.0782 state[joint_eff]: [-0.4034, -7.4598, 3.9179, 1.2821, -0.1294, -0.0464, 1.1306, 0.2803, -7.2821, 4.3145, 1.2674, 0.4127, -0.0415, 1.3162] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_pitch":0,"left_roll":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The left gripper holds a pen-sized thickness, and the right also stopped short of empty. I’m lifting both to check which pens were secured."})
tool
executing move_to over 13 steps (1.3s)
step 365
assistant
agent noteThe yellow pen lifted with the left gripper, and the right gripper is holding a thin blue pen. I’m moving the yellow pen over the left basket first, keeping the arms separated.
move_to
left_x0.5100left_y-0.1200left_z0.2200left_pitch0.1500left_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]: [-0.5484, 1.2549, 0.8547, -0.2554, -0.5377, -0.4007, 0.1638, 0.9379, 1.3403, 0.9302, -0.3786, 0.7204, 0.5636, 0.0804] state[eef_state]: left_x=0.3588 left_y=-0.1089 left_z=0.1877 left_yaw=0.093 left_pitch=0.0124 left_roll=-0.0056 left_gripper=0.1638 right_x=0.2989 right_y=0.2165 right_z=0.1826 right_yaw=0.0522 right_pitch=-0.0003 right_roll=-0.0118 right_gripper=0.0804 state[joint_eff]: [-0.1162, -6.065, 8.7863, 1.4969, -0.105, 0.022, 1.0281, -0.7863, -7.1863, 9.0462, 1.326, 0.2955, 0.1538, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.12,"left_z":0.22,"left_pitch":0.15,"left_roll":0},"note":"The yellow pen lifted with the left gripper, and the right gripper is holding a thin blue pen. I’m moving the yellow pen over the left basket first, keeping the arms separated."})
tool
executing move_to over 12 steps (1.2s)
step 377
assistant
agent noteThe yellow pen is directly above the inside of the left basket. I’m releasing it into that 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]: [-0.3851, 1.7264, 1.2537, -0.0547, -0.4587, -0.2573, 0.1638, 0.9363, 1.343, 0.9279, -0.3882, 0.7052, 0.5613, 0.0804] state[eef_state]: left_x=0.4978 left_y=-0.1135 left_z=0.1999 left_yaw=0.1194 left_pitch=0.0952 left_roll=0.0132 left_gripper=0.1638 right_x=0.2973 right_y=0.2169 right_z=0.1782 right_yaw=0.0626 right_pitch=-0.018 right_roll=-0.0179 right_gripper=0.0804 state[joint_eff]: [0.212, -9.0598, 9.1829, 1.8877, -0.0415, 0.1636, 1.0281, -0.1436, -5.4769, 7.1043, 1.4823, 0.4225, 0.0122, 1.0281] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow pen is directly above the inside of the left basket. I’m releasing it into that basket."})
tool
executing move_to over 9 steps (0.9s)
step 386
assistant
agent noteThe yellow pen has been released into the left basket. I’m clearing the left arm and bringing the blue pen to the basket’s reachable right side.
move_to
left_x0.2966left_y0.0018left_z0.2200left_pitch0.0000left_roll0.0000right_x0.5100right_y0.4000right_z0.2400right_pitch0.2500right_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]: [-0.3828, 1.7416, 1.261, -0.062, -0.4484, -0.2619, 0.9954, 0.9363, 1.343, 0.9276, -0.3882, 0.6941, 0.5613, 0.0804] state[eef_state]: left_x=0.4996 left_y=-0.1148 left_z=0.1939 left_yaw=0.1151 left_pitch=0.0793 left_roll=0.0119 left_gripper=0.9954 right_x=0.2966 right_y=0.2184 right_z=0.1772 right_yaw=0.0703 right_pitch=-0.0243 right_roll=-0.0131 right_gripper=0.0804 state[joint_eff]: [-0.3897, -10.4274, 6.4752, 1.8144, -0.3346, -0.0122, -0.1294, -0.0342, -5.2855, 6.9128, 1.4139, 0.3443, -0.0269, 1.0281] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2966,"left_y":0.0018,"left_z":0.22,"left_pitch":0,"left_roll":0,"right_x":0.51,"right_y":0.4,"right_z":0.24,"right_pitch":0.25,"right_roll":0},"note":"The yellow pen has been released into the left basket. I’m clearing the left arm and bringing the blue pen to the basket’s reachable right side."})
tool
executing move_to over 17 steps (1.7s)
step 403
assistant
agent noteThe right gripper is close to the left basket’s right rim. I’m turning the long pen inward and lowering slightly so it will fall into the basket rather than onto the table.
move_to
right_x0.5350right_y0.4000right_z0.1700right_yaw1.2000right_pitch0.2500right_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]: [-0.1452, 0.8551, 0.7818, -0.4683, -0.2489, -0.1852, 0.9966, 0.8486, 2.3089, 2.0991, -0.2485, 0.7036, 0.2935, 0.0818] state[eef_state]: left_x=0.3061 left_y=0.0029 left_z=0.2289 left_yaw=0.1463 left_pitch=0.0404 left_roll=-0.0164 left_gripper=0.9966 right_x=0.5019 right_y=0.4022 right_z=0.2245 right_yaw=0.0958 right_pitch=0.2179 right_roll=-0.0068 right_gripper=0.0818 state[joint_eff]: [0.1709, -1.306, 6.3248, 1.7851, 0.0073, 0.0952, 0.1294, -0.8821, -14.4889, 8.7316, 1.5214, 0.4713, 0.0415, 1.0379] camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.4,"right_z":0.17,"right_yaw":1.2,"right_pitch":0.25,"right_roll":0},"note":"The right gripper is close to the left basket’s right rim. I’m turning the long pen inward and lowering slightly so it will fall into the basket rather than onto the table."})
tool
executing move_to over 8 steps (0.8s)
step 411
assistant
agent noteThe pen is turned across the basket’s inner edge. I’m releasing it; the gray plush and at least one displaced brown plush still remain outside the baskets, so the sorting is not complete.
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]: [-0.1463, 0.8612, 0.77, -0.4931, -0.2398, -0.1883, 0.9968, 0.4892, 2.3783, 1.9781, 0.0242, -0.4789, -0.1928, 0.0829] state[eef_state]: left_x=0.3026 left_y=0.0014 left_z=0.2166 left_yaw=0.1389 left_pitch=-0.0019 left_roll=-0.0115 left_gripper=0.9968 right_x=0.5523 right_y=0.3904 right_z=0.1712 right_yaw=1.002 right_pitch=0.2301 right_roll=-0.0044 right_gripper=0.0829 state[joint_eff]: [-0.0205, -1.7983, 7.8701, 1.9756, -0.2222, -0.0269, 0.0024, -1.0462, -14.0786, 8.1026, 1.4237, -0.3736, -0.0904, 1.0281] camera 'top_cam' (step 411): [image omitted: streamed camera frame] camera 'left_cam' (step 411): [image omitted: streamed camera frame] camera 'right_cam' (step 411): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen is turned across the basket’s inner edge. I’m releasing it; the gray plush and at least one displaced brown plush still remain outside the baskets, so the sorting is not complete."})
tool
executing move_to over 10 steps (1.0s)
step 421
assistant
agent noteThe objects are plush animals and pens/markers, but the sorting is incomplete. The yellow marker is visibly in the left basket; several plush toys remain outside or beside the right basket, and I cannot verify that the blue pen landed inside. I have reached the trial’s action budget.
give_up
hindsightKeep the jaws fully open during alignment, then close in a separate motion; combining translation with closing repeatedly pushed the gray plush away. At low grasp heights, the wrist housing can strike and move a basket well before the fingertips reach the target. The baskets shifted during this trial, invalidating earlier placement coordinates. Recheck their positions before each placement, and do not treat a toy released at a basket edge as contained without a clear overhead verification.
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]: [-0.1463, 0.8623, 0.77, -0.4858, -0.239, -0.1913, 0.9968, 0.49, 2.4237, 1.9789, 0.0051, -0.4808, -0.202, 0.9954] state[eef_state]: left_x=0.3037 left_y=0.0011 left_z=0.2177 left_yaw=0.1399 left_pitch=0.0038 left_roll=-0.0162 left_gripper=0.9968 right_x=0.552 right_y=0.3911 right_z=0.1381 right_yaw=1.003 right_pitch=0.175 right_roll=0.0194 right_gripper=0.9954 state[joint_eff]: [-0.0615, -1.4564, 6.9265, 1.6484, -0.1392, 0.0024, -0.0122, -0.1162, -18.2906, 7.2684, 2.0049, -0.1245, 0.0562, -0.1392] camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The objects are plush animals and pens/markers, but the sorting is incomplete. The yellow marker is visibly in the left basket; several plush toys remain outside or beside the right basket, and I cannot verify that the blue pen landed inside. I have reached the trial’s action budget.","hindsight":"Keep the jaws fully open during alignment, then close in a separate motion; combining translation with closing repeatedly pushed the gray plush away. At low grasp heights, the wrist housing can strike and move a basket well before the fingertips reach the target. The baskets shifted during this trial, invalidating earlier placement coordinates. Recheck their positions before each placement, and do not treat a toy released at a basket edge as contained without a clear overhead verification."})
tool
give_up: The objects are plush animals and pens/markers, but the sorting is incomplete. The yellow marker is visibly in the left basket; several plush toys remain outside or beside the right basket, and I cannot verify that the blue pen landed inside. I have reached the trial’s action budget.
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 · 6.815 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3798, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1838 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.5932, 1.7607, -0.0073, 0.1441, -0.0611, -0.9641, -1.6479, 9.8667, 1.7118, -0.1001, -0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbe04fa3e464a5ef2b8109050a0889fc55d6a63cffb46817b0af2538c98061e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54de73fb3140f574694ecb3593529d9e91043828c7e6d541a3c437f96f86767d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:508796dcc0ba371930cb4997db9e7bb4c2d5568f018e6e49ccd000123df96c1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.605 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGOKFKZ96F1Fkhe_fFtJLawdckh0UeixGY0kK7TmnkKU8-OVpTDnvOpgzNhpSgW1f48staOIWGF8Lv33x5pgTzQ-2AUfUznlQ_i6uuN4oVl-Eb8YXYEnMY2blfgDV01P2RvraHsqZ5WZN0T8EaAGvY7SqxE6XEm8jecIVNCzQ-SdyjMdaR8Ex9KrA0Os7bec_4mZDiPaCsunzg9pWl6jygfhWNjb6tv9aqQTjM-mXrUJJo1ED6lWoCbrr69MMm-xAlYFd_DAQA8f1iImgI6xJADPB7iUWubM1rQt2gjJAbQMlwTk121phF7oC61N4oTRJ3XhLEwD54WX8HzTkKKNAsXrKzwPos4zKHmgTXEQoSuBIBWY7oqweLrdniJNh3n-Rczl3cXA82_KFoshNAPl74mKE7GfzQ-5P4ube06urOfy08Bz7Y_9gHfZGLBKQvRuCMYUEm8h9ejtQhkcqStcxXsrUQbpiGxICX7UpmWA35tugmYfgbnKcQZ4APwC1j4VeQCIT43XW8M4V-1KIZ9pK5HxRlc1-qU5KyK9XJh4htDUuHAP7mah9Im0nDVJUo5Ov4_1kMS__m3jLA6ajjpfmtoiYT6Ayj7uZORL0kZnvA6ye0mw4s8UYjm6hjtiZzMMx5kDxo3bs2wT2VhhPN62Li0WqHIiYwsd1DYDV7rX-ObQ2CQLpj9aMb6qvV50_c8LepyIlT33I7W-VRpOKOiC9ZlH2B9gNw1AYI7m1BGWiZOjo-skRWLHBAwNMbqg3OSzoElJACxnNHEY9tH0Tv9ytLW8JLOzew-91jw05VL46rQK3ZT35KUKd7vFdfEyAj2pcv4DEy4Dl7ibXM0BnQdr91huNKX5eG8aH-PuK1usMmoARw1n5XAP9JtgwpLexQfe2BgqI4b_kzsWZIjvCc9xAQmRAXzvIEIEzbUdK2CnqOG3SEYzVcuZc8fqxoW_Jqb-iHEVE-orqKIkMgMcW-sKfxXJZTUHEqU_yyUg5wvrqMsO2mnAB3jsjO7HaUBFigZz4MAGlsvU1p9t-xnpY-LpmoNSzSM6VD_x96zjdQJsJE6liGCKo-lT1wWacR4yMXFZ8TG6kY7tyVUF8fmxh-qbPVlISTz016Cw9hJ4riOSJNtf5nksE_xqUdi84MpYTvBmfmgsNEus-fKJInASKzXV1D9udlK16ksZn10K5u4UpJhiKApm84TPhBYWVGqvZxMqv3AeguOcMCmvddMBgDR7odzMCYSMwPIhIwkOmhQRGR4-K7cOU9GPN_3KcQ0RF7r_VM9pioGDuFLtp0J5PEAIW4M36QQC7A4L6RAZOk7YakL7MMwhGIFrzg6u9Ix9McmunogyWBlMC2sswu1Ylq4EZdiMxAAtZ-pD4g_VmLX-jDLIiJg4wI2JkIujlsEV2eTcr-KIKAocj0KCjp-Jz0iAw2GZMTTQMmHr9exY5Tue7WED7s0Mg3fTTVxA3skbpNQyZdNqZoGN3Z7FkDNjVZSUONPc-sVsjpLb1SPU_eg1uFU36ayJfpTqwvt-1lZWdqrgAZGI60ka_mn3HXNFnxtHTdjuRvfjcZmbbHoBtzxGg6scLJipMcAGjcxTbdqHH_E0LdspNluVXAeVtF7oMD4HnNMRlfU6B1dwC9TVtpisP1b7OQDFwBM1NwJhrKiduBK1Ax1jQGIjq_BB9RnZeS7EeD61c2fLfe0gUw6W2kd6I0idcyG3DhO6qhWRxTSniTgz8p9z8VKlA_HQB7xu6v1W5qtlxApJLM0XHEKnwKhot8QnCwUxSt7jzh8hOr-33elavggJweTd3kD5rNaxvepWJ4Vf2OYAKInpkO4fVXfsWvxQGCa_dw36Z3vxZDlu6LXtHjAFJPgswdUb6AnVCrDCdfWYkO8VgSDTp7zZX80i5O4ZktpQrGdTMwuhwvferV0G5Siw4IHRlkL5YHlAgrz8Mdu7NU-AH7m28jGZ7S0VyvjjHNrsqlqEunDH3NeMmvkG2Vrg2aKBEKxLY0o_8iky492ymTWlYgT4Fjn3ReRoeM1xdmtqs362Fw8r2jY4Zj6fAApOiX-iU7BqGFtfMEwZ3LkbcO8XRQ1-ewTa-jPKyzYAvBuLYvxYJlix-uTO-R93dWaDEv1zajCHj-rp3okD7BfaEhOnkLJ1eILGqAVEYxzkJ_MQnL_8MhsDhySr1HTrN1MjGfnesyPhxBrVN-IY6-gekqerDrxJ2CIAZmJocujFedAVo5M9wGC0ioi3HjBuwTAkc37rTv7mPOUiAAguJa8P0fON7bhqnNNa53cpcjh1-X7DLRMdpb_FBP4UsmC4RUu5s2PQqa96h_dQODP835uuvo6rwtCIR76Wsw5wmg2acQErPrlDI0bjYBOJhVBBxUMJmkDAjI9uFlxNWnGKuVYj-fgvFJvIB-ZWirhqpKZBJWixPkBg8XdPgi9ACC7H6GYS6_vCbeOlG_E9cWEvm_rexLDMmtag9IWDZ_wxdXludvMGAZ-pCxqb9CUMp437jnyb",
  "id": "rs_073a942ff8fb4518016ab46385143087d08a7881ded22d1bbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.105,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.2967,\"right_y\":0.0011,\"right_z\":0.19},\"note\":\"I see plush animals and thin pen-like objects, with two empty baskets at the back. I’ll sort the plush animals into the left basket and the thin objects into the right, starting with the gray plush on the left.\"}",
  "call_id": "call_awARrguLYcE6IJlNqGaMpvQg",
  "id": "fc_073a942ff8fb4518016ab463896dd087d09382fbc11b53475a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_awARrguLYcE6IJlNqGaMpvQg",
  "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]: [-0.4511, 1.3201, 0.7124, -0.0689, -0.3676, -0.2745, 0.9995, -0.0193, 0.8051, 0.6106, -0.3965, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1023 left_z=0.1302 left_yaw=-0.0131 left_pitch=-0.0608 left_roll=0.0202 left_gripper=0.9995 right_x=0.2941 right_y=0.0 right_z=0.1765 right_yaw=-0.0038 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.559, 9.4017, 1.7753, -0.3492, -0.022, -0.0611, 0.0205, -1.0872, 9.3333, 1.707, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bca60a3a7394c25701da479a0ed7c97bbe93c07ce49871bf3e174743f3502d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932da9f76a55a8263d5c9d9bbabf96274870df03af15bb3ab167175c86135a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afa696a7221c9a13d5a192d5faf41cf1a617b525d786a0e2f769fea40eeb369",
      "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 · 4.997 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3798, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1838 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.5932, 1.7607, -0.0073, 0.1441, -0.0611, -0.9641, -1.6479, 9.8667, 1.7118, -0.1001, -0.0073, -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]: [-0.4511, 1.3201, 0.7124, -0.0689, -0.3676, -0.2745, 0.9995, -0.0193, 0.8051, 0.6106, -0.3965, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1023 left_z=0.1302 left_yaw=-0.0131 left_pitch=-0.0608 left_roll=0.0202 left_gripper=0.9995 right_x=0.2941 right_y=0.0 right_z=0.1765 right_yaw=-0.0038 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.559, 9.4017, 1.7753, -0.3492, -0.022, -0.0611, 0.0205, -1.0872, 9.3333, 1.707, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bca60a3a7394c25701da479a0ed7c97bbe93c07ce49871bf3e174743f3502d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932da9f76a55a8263d5c9d9bbabf96274870df03af15bb3ab167175c86135a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afa696a7221c9a13d5a192d5faf41cf1a617b525d786a0e2f769fea40eeb369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGOS7AMp-xftCtKFFhXFzOH-JhKKpXWtVT8qC4ND3PN3uSS9fhPM3C-6xQdNUyZ8daz4-Xp3X3Y1HKCYgHRTkhIbc43FzOP6Pu2bprACeMRhaoRi20KkLEhge4WXxa2xcRfYAZNePLEumPfbb3pSWziOt79HpCG_OT7JYuZ0jiGN8z_kFFNFTvY4Y_yyqxTJwB9WnrgizpKOP5lWsi-2AuEPH_ndLylmyACpmZ-oKuFPjAbvhysV8xtSy_2ko-vHtvwPTecMqkfmlfW0bfX-C9MFa5K5lvGijzjr0E5mT8Q4UIxKr_Di-td0xsLfN4geJ5-0JPubWOMqCKVwCB3wJUj7-L2cZOsLnvvM5_d1unFs5f1AMAFVwl5AxtDMO6VR0NPhIyQp0I-Lqfciy-OssaOsBKw3qmPSwtJoQ1VMoRhsoLi_qMZU3sab2Ofhf5G_gdsGHTyZGjWIV_l396ILEy7paEc4bwG0tt9yKW8zKobO5HHAI-_OmiyGhb5DOp9bBL-XYHHRhjhvl_0pKnr6ObcFSTc-SB8EfmuROB_ZmOtZId-6SnQncfvgiyqdp0ZD_mrkmROuPz-9QCeZ_DVvBP9A_OOa-3FTK_rAHdvMmR2IY0Iwabgwrp_rUyYClHQSjDSggR-mcfhDB93k7ApEkYhZhOa0A0eF46frbyBmCB9J3f0ce_lmzROrGctLdyIXCbEnEoUkBSYzNkMNFPjG6_EUDuXK-bE62Wf0WKT4I6w83tldklTWDxVIWZd_5Fi7SMy6ucEpX8poRTZ1equuVrW4DogJblXLI8HHC93JX4_NTe_3U5FZMpVCIZbB4QynO1WXvzkv0toj2qB6NRGtZRaStq0agfsuGbfOcsdP128_8lRHTr22OF72-bIeJjjKuxc37a0W4EUntF5SqAgGYI1AXfIxTIDqlRtay8NEBAhPXZPmk-ufC2nb5QAsfLgtGfhOtNyn6N7tmvemmeoMAWdpzjnbcGk_lTlmgYVKpLA4Tu3_wNLOzqkI04y5Da97moK5oxMvtyv6b_1CVzs0eVekHABbD4fYOafyLF1a6T6W_YpywcyZrEVCiTpKnF8b5CfWRhCxVrMGkZOAu4dSYlBhz7YlvRXSwiqNpKK_JzJWnOOVr3b-gD3-GZoDSCq1T9eKD03zCzP9F_aTySAb6NukcnAZ6Nb5i3BrXKTNsB7QTEOs-8_-R0HPgqKnzj96q0SttEo13IFgpO8IiqSfoNwvrTv37gp7OlrcGJxTHUGezRfcvkHyQMTktt-u8h2sGQ2EoH2hPvOJITbhjAO5dkaIvEM75Q_zDfynymOPDZbwxQfLovuymmIggSGEbSpIXym7sMuod1L3jM4Sw38odQe0rnhGp_6YqrEXM1anO49FZPsUWIUlBbCX1jq3W-YVrNs-mseboV7HqZwBdM3_S-WJB9KuLl8-bJzLUKGyIFS3poW8Xqd1csKWe5r-bwBgKxJ0B8WxMT4uL_QZf_k-gsZHfMe3a3D4dVPWIS_k8TtfEGdQOZu-2hqlilzHEM1cWsGGoYgNvNNi_uMOqRQM6eRI83xuM241IoZqN189iaOBs0yw1wUCTgQdDFmZ-dhk8SbByvnoShSHaPKnv1-fVAfektJwKGNHiiCLzL5oJLClP1J8YPIOW6zp7uDpYdXYbdlQUCbdJ3QNRqKMvQ31OY3aKTnfTSamsoEjEvf2XIDTAG2j4qAM64F6LHscBu7vGrR2hQvfWhUNqKyvZlvRaJZJuZ1XypE_afeu22nsK2AFXVvQTyWzoW-06PXF0K9INsKA",
  "id": "rs_073a942ff8fb4518016ab4638f045087d0bdd49e1e40526074",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.02,\"left_z\":0.045},\"note\":\"The gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body rather than the nearby basket or pens.\"}",
  "call_id": "call_HVlkTrilYcqBycy8QZQmohpJ",
  "id": "fc_073a942ff8fb4518016ab46391308c87d0be151dfd87852417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HVlkTrilYcqBycy8QZQmohpJ",
  "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]: [-0.0967, 1.5776, 0.5671, 0.5343, -0.0776, -0.1009, 0.9995, -0.02, 0.8082, 0.6086, -0.4076, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4215 left_y=-0.0235 left_z=0.0876 left_yaw=0.006 left_pitch=0.0886 left_roll=-0.0369 left_gripper=0.9995 right_x=0.2925 right_y=-0.0001 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.045 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -3.5624, 3.5214, 0.9206, -0.1245, 0.4176, -0.0122, -0.1846, -1.5248, 7.1863, 1.8046, -0.0562, -0.0513, -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:a30bd249c46f7666b43447c3a81290ec6a40912c8b3cd75c53f46d286f6d16fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc89642402e128282fda604b7abedc0428cf906876cf7e6c9367f34e9d6a24f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7061a3a1d1d270cfb8799f8d7759cea130c1f3459f0dfcb065d39079f52e5495",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.491 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]: [-0.4511, 1.3201, 0.7124, -0.0689, -0.3676, -0.2745, 0.9995, -0.0193, 0.8051, 0.6106, -0.3965, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1023 left_z=0.1302 left_yaw=-0.0131 left_pitch=-0.0608 left_roll=0.0202 left_gripper=0.9995 right_x=0.2941 right_y=0.0 right_z=0.1765 right_yaw=-0.0038 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.559, 9.4017, 1.7753, -0.3492, -0.022, -0.0611, 0.0205, -1.0872, 9.3333, 1.707, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 1.5776, 0.5671, 0.5343, -0.0776, -0.1009, 0.9995, -0.02, 0.8082, 0.6086, -0.4076, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4215 left_y=-0.0235 left_z=0.0876 left_yaw=0.006 left_pitch=0.0886 left_roll=-0.0369 left_gripper=0.9995 right_x=0.2925 right_y=-0.0001 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.045 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -3.5624, 3.5214, 0.9206, -0.1245, 0.4176, -0.0122, -0.1846, -1.5248, 7.1863, 1.8046, -0.0562, -0.0513, -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,$blob:a30bd249c46f7666b43447c3a81290ec6a40912c8b3cd75c53f46d286f6d16fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc89642402e128282fda604b7abedc0428cf906876cf7e6c9367f34e9d6a24f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7061a3a1d1d270cfb8799f8d7759cea130c1f3459f0dfcb065d39079f52e5495",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGOcsiACLEVMNak4xLSHiM0ojVXNv-d_hY_6ZEdJAZaFC2_MZE8C1H9sfKz4rb7yZmZGVYEJE2pe8wVDmncRsb-MrhiHxwKlZkYPH5-2QUW9KlbapOp5FEfYJ1IhdEfPymMt81jxPX4Y7_wq39T3G75FWYzQoAbWVdVfrE01BpjAreyfkgDyRS39QKecJ6vnx5am5A89Z8o32VQjlfEQdx2wqM1QULC9mUCQz8o3wViAZUhrCo3rcnIFkHkpDlOzfdXl9I-EWrfSsq8ybr7pI_MfLd8Bzi8ZV0DaNld_79voVmCjYCbZQ-1qz1JDbAkQ4w2-txoxFIKExOl3GLYe8C_OaT2zjHQj04ztW9A-0x04nQz6JEU8Q15727ZH0Bnm5j0Nfet3VIV7ysInnm1NfNVvk9wjD7u712H-zDdNxOSSWiRvDy8Tnqw6YJrNbB3fpnt8p8vTJ5uyM5Sm4UgGs0G7eO-KCsX8rZIMcfhJ3BOhZmsvLjENz-JSnFSGwUCTPt_GmhG57Bm5eguRx0_0emJap5u88mJflK8ZCUN7Mdn6Wsv4m7So5sx9VRqtWT1TSiYeY8cIsEaDt9xdkwAnBJhtLXBnI17b7Va_3HL_SotNqGePUur7xGzd-Jozm2llr7isVSfuGLwgWpJuw2REa8KdrNh_KzNXUGy2UBfoVYLVqnbw9XhvadzIlPiPvl8iK_JF1IIzdSN9QQOmbMmMGQ7CefcPR1PYnYodmY7OvAYLD-aa2EdZwVI8u3DUKAyZDVfAvadfpRCP3tRpawmAW5lTwp0VbgevQAyd9ovGicfxlXi1bzA6pLDSwNWQ3wcelFK80IKUeNx_yHJMUFyBA6l4EIEjW6SFSBbn2mcMQ7OYRHf-jQs0E9TmJjocY8MXvqxVOXOv_Y53t4fQ8cNDAdivOCrucgwzLb68Dxmous08idZOPhJH3aT8kGjItez96o1l2K1uyWX6n3Wl50dqrBgKfzHM09kpbbJUtLd4imA3pHFvYl8UfqSn6d80WcrWBN-IwZYN0mdYOoRvAbK3U2UmRaz75HGxYt747a3I_lC4r7O5QA-GeA8nuXWnYHTcHHEAdX945YUSqKVQijcYMaw88Wye98LGwL1Ggi8rBziqY7THzhmw7sQcd-nXnqgoGO4CTZskufm-LGZGn0NvnvQ5arQZGkuFkS3IZSSZi-sGRHWl4FjQmdc-zmm7dJHFS-ROsGOJLBT047VNN4ORncQY1wWiRFGP69EpEE358G2qPxQJiJRZHZRDaAL_NIJrTo_XGeQqBablOl2gMrE4XmFOdW0NYIwIcnlFcVbIXAlzDf4U5dMEWDG157AAZhzUK5-aNXZK_DHXfplIRYrC5rxwTUA-5yBrH-rsqmzEAjOorzajOW-X_4DbIvXpchVOHPF6y8WlvLSQn9_VXVnlcw5k2R5BfGLoCImEqxP6HPf6iqZzyajqrZ_780klHIt8XbqUiTTggMByypuQSyKK_9cItegOxl2XpyxkwuuNbJsPVUyUHj130PmrNtDPxurH_wFcWVGHNYmjtrEpYaIKoIIpmGHfXO7Fv6_AqeF7OcgDwVzOCHPG3ojISkOMgRzO_cEstMKSPddvXTTONKuer6_HwPMb_pI-fQCZys8TOSfw72p8Zb6GZZnSz81dpUwNYTwkntrX9PpYmKNrc3xZgvBxFV4w9v-Z95PxFeetnzprbIJ-gtlulBGnYiScfEW-LTEKADSOEQqtnVYEsvapNSuR724dAYCwX76-J2p8bGVRSTkv3y6V-xHYVkAdx7c56s8xj6o5ofQHd0aftWM1r2MO2hlk9bqWRJloSD2A9osiyAUwT05oylx12rD-H0X66_b-AzjNKS1Oe-DqcPfqHy0SPjbevZ14vj2swt3Eal2UPF6CC3dQZ1mBl1THXs1FT6gjh1B7UNuztALr9O5VYl5WeA==",
  "id": "rs_073a942ff8fb4518016ab46398975087d08f6c08777e839729",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The gray plush is now centered beneath the jaws, and the descent stopped above the table near its body. I’ll close gently at this position to secure it.\"}",
  "call_id": "call_PBVKNXtYdtNKexOIAuRd4fBe",
  "id": "fc_073a942ff8fb4518016ab4639afe2887d0a5d1bef96e71dd20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PBVKNXtYdtNKexOIAuRd4fBe",
  "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]: [-0.1101, 1.7618, 0.4091, 1.0168, -0.0891, -0.1047, 0.016, -0.02, 0.812, 0.6086, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0263 left_z=0.0641 left_yaw=0.007 left_pitch=0.2286 left_roll=-0.0515 left_gripper=0.016 right_x=0.2926 right_y=-0.0001 right_z=0.1713 right_yaw=-0.0046 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.3966, 2.0308, 0.989, -0.0708, -0.0659, 1.033, -0.1846, -1.6342, 7.0769, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c746f76611a00370c65023847c4f928a566e8e612e4974b78e4110122dd164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d1c784701558b5cd41523ffeab60bb40cd6b47d2308b1898dc97e990d8c1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050e9dbe1016f68833c10c51e6c1366c8d2002cb66af99cfb1f0653f747716a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.623 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3798, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1838 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.5932, 1.7607, -0.0073, 0.1441, -0.0611, -0.9641, -1.6479, 9.8667, 1.7118, -0.1001, -0.0073, -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]: [-0.0967, 1.5776, 0.5671, 0.5343, -0.0776, -0.1009, 0.9995, -0.02, 0.8082, 0.6086, -0.4076, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4215 left_y=-0.0235 left_z=0.0876 left_yaw=0.006 left_pitch=0.0886 left_roll=-0.0369 left_gripper=0.9995 right_x=0.2925 right_y=-0.0001 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.045 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -3.5624, 3.5214, 0.9206, -0.1245, 0.4176, -0.0122, -0.1846, -1.5248, 7.1863, 1.8046, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1101, 1.7618, 0.4091, 1.0168, -0.0891, -0.1047, 0.016, -0.02, 0.812, 0.6086, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0263 left_z=0.0641 left_yaw=0.007 left_pitch=0.2286 left_roll=-0.0515 left_gripper=0.016 right_x=0.2926 right_y=-0.0001 right_z=0.1713 right_yaw=-0.0046 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.3966, 2.0308, 0.989, -0.0708, -0.0659, 1.033, -0.1846, -1.6342, 7.0769, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c746f76611a00370c65023847c4f928a566e8e612e4974b78e4110122dd164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d1c784701558b5cd41523ffeab60bb40cd6b47d2308b1898dc97e990d8c1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050e9dbe1016f68833c10c51e6c1366c8d2002cb66af99cfb1f0653f747716a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGOqPC4vkfKRiA8i9UDF8f8Qa8a7U7UjuZp-V8yLqypsKiz2k0ABbq-gKxLld9se-OudWx23Hsup6RgpnKgNKU2veRzjL0s9huUVjn8IFai-ktFnUkrzpao-vTt7PHPx0kd6ZK4jkWCVZfn7S1fv9Bp7s3Xu-AeH-v7IeSwW1wHX1n_W4KMYa7FBeW5t8gpG1czLo8enJKRhqs38dfTJkhnACobrn_wcWRLQLRuaJEGlr_B3dr3aCIYfIE4kzITT4fyEwNd2USR7L13Bg36t2-Ot-OvXj4rkbUIYewJjWQ57H9vhcawSwlvoQN5UEBQ8O6ewEzTmIXYPw_NS3HN_c8Q0M-XPAs1rLO0Vkf3XwbR8jYpQaCXUb8UIyKZtG4cKpTAVyyUdGUf5FxVe9PChIGD1etdpQl-JhGQNleW5I7riLTx6iU1wdpafA_xTsqNYiiSjdqTh3lct0YhNRiCaIh0mo2sXUx-b9oJrehevghjDyPPHZNrowm-khO3LBOHoZ2RktE4epNnFa0G-PWoc3I3jzJvWlm7gN5UARP5Z_YUeZ0nNCjG1CkfvkSKmNEb6-exrnlojjVSaBjPrmu3e4WHDAatGZIGXibK9xA36W2u2VKCJkgALFQt_NthHfimphNYdU4Ziwe2r9QMGU0wEJ-Ej3Q6RkmYTuIa6I7fn6oR4Dxbl9VQJS3Z8vSmYxTi1pjq0c85RX33gmrgtJP43Evxy3YzPDTU8xxeFFnXWup8wwOUb6PVSw-3I7DfCEZDuDlf3BOfqc1YC7bSy3dama2KjFt_8U_QdYJ-HfSbfmbDrCdoKvUNqMxdfnAA1MyehGbvm-hw1kkOH2Jwbv1ArBYSgoPJk_pkotnyILaIQHOOpqgUswCth7kHIthz-bgXYpxAhYDyBN933B3daZOh82JgNaKaBYNdy_rf6eK6MtVMbdIONnt3pgg28HqJ0h2o28o52oFWRcOQ7_b3Gxq6C1eD-0-Fc4IIenlXG8oRcuvh3bYhbqavJEZAEVMS9fQ_f8E1z1hA9D56nNmSlfUB2aG3VXvcpDK21BYYlgP6hWihX6kr8SSLsC55JL_ULEwEjnYtbrDZQUAhf3vZeQxq4Hf8FKz1Nlz6ZCVlqGbtg41CzZPXUOdupUbEzGqRDHyVQHi-vCTWeRNjaQIiq4iFx2v8-mOVePHj6TVcVnz47cW0F-NSnmGJh_1WM0lg0UhZ4iDkGK0MR02ZU2RhYuBJxRP9xpKpgZHBcDYYAdMOckBt1JoSxotTuaaMRi-dFkvY4TM_K3I8ec5hpbjaAynkl_KFLk1SMTJ94Q4I-ShvoFFNx6dHb-nl69ddRZwaWk6pl33JFbPb5pB-qEm-pJOCOszCbsfTZlcXSziaEPwEWDxl2YowIAHtDU7rOl72jc-6w3E1soZZQWr_SuiNvADqTtLWPPSXNBsoV8OuY0uByP2L-Y0oh03iyMqVENPNudk5VV111_oG957GMTF539oLwCbBNf-EgmbycAxjNCB9nalEOVAbMc919aN8BsXgErFzPch-vgQ1GNPkCmUmshsHCecuOx9aUyKG0ozW6rZUq88P5Fzd4mhZ00V8Y2xE2eT-6z7RNi6PZiHnkOz5UisHcujQvjJBr4KOmdtbR7SFZZGjJ2PJCWP-tmLe9kPFcanJWDhF4IBcrbq3qGh1vhfcmSwamPOC6g7tpy0uidnHnPjhnnaSPMQCLb1h6dn_OE-C-DZL6RPMdKj-7RZ16vOGXbtn5P0oP2VpmHG1aTmawlmUj5S5HBn6EmP8Kg1s2SYm3TggxMXVmd4SgTeOK8FPSmvX1kapr2tOpPUZsAIYxga_PUhcRdu2O82HJOyc_BuEwEUDXID9ASmFpIowAJ1aRlhuQuimAFvMAeJk3fy2Cnc20qfQNwO9Uw5EhAfwuYhUaVaOshMAFIxFB_g3qT6QH3WJSGdwjR3rmBMCPN-oZi9wOIv_YX6UQz_siritZUrZBUDmhJdtl3Rkf0kV34BWuuTFfWYhwa0252_4JQXxYl28GSXlaaaEJNHpY4oPLH7CmhVTQQeMlpjr8b7DBjn_1VGR2EEIgD-ptk8WyQYjCMm5pIzdwY5QktbtEFq5cjOgpFz_952MK0WECjaTUZiQNkOw5NQ==",
  "id": "rs_073a942ff8fb4518016ab463a600a887d08e77fc056d83a4d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.035,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The close was empty, and the left basket tipped when the gripper got too far forward. I’m opening and backing away from the basket to realign over the gray plush, which is closer to the front.\"}",
  "call_id": "call_XcMSuoBrRFd7Orsw1Idn5fAH",
  "id": "fc_073a942ff8fb4518016ab463a909ac87d09de4f182be918181",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XcMSuoBrRFd7Orsw1Idn5fAH",
  "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]: [-0.136, 1.5669, 0.3145, 0.9451, -0.115, -0.128, 0.9953, -0.02, 0.8154, 0.6083, -0.4091, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.0288 left_z=0.088 left_yaw=0.0174 left_pitch=0.2574 left_roll=-0.0698 left_gripper=0.9953 right_x=0.2926 right_y=-0.0001 right_z=0.1701 right_yaw=-0.0044 right_pitch=-0.0542 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6957, 4.1231, 1.5604, -0.0317, 0.1245, 0.0269, -0.212, -1.6889, 7.0359, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16107e50c079ff67f448433eded7510d2bc7f73bca4a49ba0a92dba25438f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8a26f39d2338d2fd88736cb07f654eb79fe0568cb40e1f23fc030470dc3060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc1bda76dcbd709bf39bb63b8cc5cc815d1491ec2a170a716b1bde7e66507fe",
      "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 · 3.391 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4511, 1.3201, 0.7124, -0.0689, -0.3676, -0.2745, 0.9995, -0.0193, 0.8051, 0.6106, -0.3965, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1023 left_z=0.1302 left_yaw=-0.0131 left_pitch=-0.0608 left_roll=0.0202 left_gripper=0.9995 right_x=0.2941 right_y=0.0 right_z=0.1765 right_yaw=-0.0038 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.559, 9.4017, 1.7753, -0.3492, -0.022, -0.0611, 0.0205, -1.0872, 9.3333, 1.707, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1101, 1.7618, 0.4091, 1.0168, -0.0891, -0.1047, 0.016, -0.02, 0.812, 0.6086, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0263 left_z=0.0641 left_yaw=0.007 left_pitch=0.2286 left_roll=-0.0515 left_gripper=0.016 right_x=0.2926 right_y=-0.0001 right_z=0.1713 right_yaw=-0.0046 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.3966, 2.0308, 0.989, -0.0708, -0.0659, 1.033, -0.1846, -1.6342, 7.0769, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 1.5669, 0.3145, 0.9451, -0.115, -0.128, 0.9953, -0.02, 0.8154, 0.6083, -0.4091, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.0288 left_z=0.088 left_yaw=0.0174 left_pitch=0.2574 left_roll=-0.0698 left_gripper=0.9953 right_x=0.2926 right_y=-0.0001 right_z=0.1701 right_yaw=-0.0044 right_pitch=-0.0542 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6957, 4.1231, 1.5604, -0.0317, 0.1245, 0.0269, -0.212, -1.6889, 7.0359, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16107e50c079ff67f448433eded7510d2bc7f73bca4a49ba0a92dba25438f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8a26f39d2338d2fd88736cb07f654eb79fe0568cb40e1f23fc030470dc3060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc1bda76dcbd709bf39bb63b8cc5cc815d1491ec2a170a716b1bde7e66507fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGOuFmeGJADMAjA5CoGhB4P-v3XFB4KRCYgtnm-75x96Zluk8A6C9gsnUyVHrq4-wCdRh9hOPrTH6tEpkHYfTESnG4x4pwxljvFQv4lPyE1SWApK-f7N791US_kPlLc8gqrD9YWLojJIxvb864bd9402sB2-LzQ7DwhzBKR3BHaO20d5ECtBeRtYp-DinQ8gfTNhSJ_8VO-NcfhOUxsE3TG14a50_YO1Oj0QnOZWlsSZj5zJbHYwyYsXopNt5a-LBd7UH0H4epOv5_p0AzSaHA5oQk3rVJ-VwWVBU--aP8QQrY1RVfLbioknrVAwr3yQQcvlbabnum_NA1m3zI57j8jNt5TRvIDm9czjFWzftrXNQXmytIJzeSjA3Nbzwjbfo6d-5v82yA_U8rRgbYXA1_jVI-bLWwDw2SEKBPg2zUSqlYyEdya6nhalw4ft_3QHIBELrhpjtJPj32zsKlBIHBqnQnjoYYzhC_ODbCl9-m-hEqXWW7hHAJeMdxhogAyKcnLR7zB8Zc3d24ezSWVr9N4hj7Z2hdgRlBM2I3oB_MksIFxUf-5SyuoYqZEaDQZTBi0Us11YwyaKZXJH34Wp2NEoF7UQhVSlxYAlwC8Zi7KFQPAPK-H__IDvlE-XUE-7sjB-0BTNggfly70ZJzqG9O4LEmS3pmfkehh_Kg_ILoKte9S_-FXt5scW0rB8VPxycoz0T6fmH5lidGt3oiGo4n_ijjxKbKqBKlBBwNAoPKWLZvLAole5Mbu8eDqyndTtoELvfNYwajQu7bNtHLbJlkyoBCeLtB53Xe_TkuFIQeuArSEjNTeDFobkuMGD2iXxWJ6-KtkkvKC1Of8_MBGWdcmd81cfr8NnUYgU_SQK2q0bGdw_EsbW0MILCnju3113TH4961RLFoPdknwzUIjvUgnoYPxFkSFhrCRt1uH2n0TPM689OrktkjBVn25GXCrdbO-Bo7HrjUsyITJYbbt3NpXj3e0GwoF7_uK-pc8eDYCPe4QQ5BzR7wkOgQ6uHJXzDE6kRUz6IgG0uB2nR8ffniTx4tcB-BO45V-gbAbW_8I98oCvz445Mtn-I12BaIRv_G1-1LRye6LoGe12nRCBFidM7Df7p1n3uCv4kXbSdAejqK5ysFVyqN7jG4TBmuLl5i5fgtg8xfd_ScYKa1PXxI7RthlnygMVgkdxUQ-ydtUcWWQjW1xjZ0AMR0ScleTzDngMSm-Gw_qQW-Fql20e8QqIhQT0Fj3kzVerYLFACCDqyQI=",
  "id": "rs_073a942ff8fb4518016ab463ad6dd087d0b3a60871bd9b8451",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.035,\"left_z\":0.22},\"note\":\"The left arm has not yet reached the retreat target, and its fingers remain close to the plush and tipped basket. I’m lifting clear before making another approach.\"}",
  "call_id": "call_LQn0DZJe7HKzzAuunZn7jZnl",
  "id": "fc_073a942ff8fb4518016ab463adba5087d08b942c18b8391939",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQn0DZJe7HKzzAuunZn7jZnl",
  "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]: [-0.2344, 0.8032, 0.5049, -0.0162, -0.2035, -0.1574, 0.9966, -0.02, 0.823, 0.6079, -0.4099, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3203 left_y=-0.0361 left_z=0.2123 left_yaw=0.0121 left_pitch=0.2548 left_roll=-0.0698 left_gripper=0.9966 right_x=0.2929 right_y=-0.0002 right_z=0.1677 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4017, 9.853, 1.873, -0.149, -0.0464, 0.1343, -0.1709, -1.9761, 7.0906, 1.6923, 0.0024, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a1c8b23f58c2f5290df5ff6140a216e3b6f91360e7d51814cd48fa0decc1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ddda71d60c1cefa3d1e566358651e0350de93820def9373c273381d44ee9a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d88effd678b27cb3182c4245e2eb07e336e9f6c14fb53996a6c268cee9dce9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.624 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 1.5776, 0.5671, 0.5343, -0.0776, -0.1009, 0.9995, -0.02, 0.8082, 0.6086, -0.4076, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4215 left_y=-0.0235 left_z=0.0876 left_yaw=0.006 left_pitch=0.0886 left_roll=-0.0369 left_gripper=0.9995 right_x=0.2925 right_y=-0.0001 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.045 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -3.5624, 3.5214, 0.9206, -0.1245, 0.4176, -0.0122, -0.1846, -1.5248, 7.1863, 1.8046, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 1.5669, 0.3145, 0.9451, -0.115, -0.128, 0.9953, -0.02, 0.8154, 0.6083, -0.4091, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.0288 left_z=0.088 left_yaw=0.0174 left_pitch=0.2574 left_roll=-0.0698 left_gripper=0.9953 right_x=0.2926 right_y=-0.0001 right_z=0.1701 right_yaw=-0.0044 right_pitch=-0.0542 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6957, 4.1231, 1.5604, -0.0317, 0.1245, 0.0269, -0.212, -1.6889, 7.0359, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2344, 0.8032, 0.5049, -0.0162, -0.2035, -0.1574, 0.9966, -0.02, 0.823, 0.6079, -0.4099, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3203 left_y=-0.0361 left_z=0.2123 left_yaw=0.0121 left_pitch=0.2548 left_roll=-0.0698 left_gripper=0.9966 right_x=0.2929 right_y=-0.0002 right_z=0.1677 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4017, 9.853, 1.873, -0.149, -0.0464, 0.1343, -0.1709, -1.9761, 7.0906, 1.6923, 0.0024, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a1c8b23f58c2f5290df5ff6140a216e3b6f91360e7d51814cd48fa0decc1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ddda71d60c1cefa3d1e566358651e0350de93820def9373c273381d44ee9a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d88effd678b27cb3182c4245e2eb07e336e9f6c14fb53996a6c268cee9dce9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO3d2YBA9DCTD7DQ2B3-ZbeDfNpCdq0HafL16SZYRUV6Qu409h7MRJJy2vLF4EO8ODXdZU-Ew6p0-yLifEPjWJ7dnl3uPy5SMm1VxQcnmJFHzD42tc7jzMByQMsh9w0jdMUyYZeUDYs3edyKTV0gGjtLi0XhZMLVQ7N8xBLjINfDR24OuWVzt2xmsofQDAe1fx-yO_kitYquB94LJcxDeE5aAQ_z9wulM5_xghbvsyE5rUyTYR0t2JJyxi40yMcG7P8wWPPuZ-aINVQMJ0OVE3PSYL2UWHXCajRgj3Ey7RSaA0hHTLZHl-duidykg9tnjTlKHm5YvAx55HGDL0nInkfRSWcMxkaCI07dM0ZBFV2f1UPjIOdY0utcQbU5ACH4F3aaVnVvQEn2TJDauKMO5VR-5KkprIO8ZQ9S8uUuxeLFqbrJRpGcVsmGUUnz4BewVSbeXAQnp3fhUzz1Hh51ZvUIqKCQE2ZLhlT94z8di06TXuxfKiSbMEwCFjEJFZj-zLSvtFrHOVb6h__I243eforS_3Y-JhujIe3nJM4FSo0KOGumhGC4oSckw4LbDko6RAO507ClM2TmIN51h2m-cOLM405r0lx2z36I_TZ8Yv5kLB7kE-_yBGUkCNw5dC2H8h1qWaoiCXFA5SKj9Z__b7axZCIjPbjlC0Rw8fMP9eqbIO1WxHURnsMGFu-0vQDM6yEWFVqa2mGh4AjYA2e6L3Rk_ioT9OhwBtFtxOx6dcdNEaOqgZcVRljV66Os86aWUKqgLbgUU94bW0_YEr4UkoUXTRXfaO1XSHHVkKAcaA2Ll6ckFF2B9pP69KsCIQi9KFUw2DtalKVzp0XfKvVmLbWPcNLt1HGVBV3-ulxcA0zlvCHYIpHsQ8h74HR5METCCzlkw32N7m4gkZRZGYNwo1nI5TAJSXQ6K--JKTQ_3mF5EzlR-vclQ6pypPqytv6Jgjim4LCg229DcRpqgIN4_BGeYbgpx45Nc3ePr_lgM6KKwyaNdGYyemqTvf3ZpUcnxwbFRQG1IPd6VZ8SdLcSvXKWRIGhAqH_20Q7yLyY1lQDXNsq0hJJZqDg0H9rjvzfKq5YEaBzE3E4ZfdpS8EqZ1VKmoGBwFwsPplHvo99ch0wvF-NoIiauNQ6STzUARuR5TiI6XVkM5vdsP9fMWDz35pk-BwqUHYqXq-SrC_p0LgfG-unKFwb_E_4BQuYEfek-Yw1yC2FT8wTaB4_mDAF1MY-Sn-SrdFCpl267pR7MFy5doBAwd-gIpw0vj6-rxTF6l2d86FoQgtviGp6HhO6iYMaxixD_zQRgCNrr10QGNvLs1yUPGqNNsbBUD7TwNBx3iVAjUb2UaazxST1BEPAtQ32ebvKvuVez5DXituI3Mrh4jC1moVnmXNR0xvwGXgYynQsRl29JyC-Kcxk0AwD6-ajueLm5e1kQH78-DvgIcsOA15F73BJ4Op7JxQnSzKSuOZbq6e5egeset1pPd--h4xp3dJAplmsBRnJBNlIUEmrCJ-JGyrYTAmYDIysR9fB0qI",
  "id": "rs_073a942ff8fb4518016ab463b5da4087d0b6f5c6f90c52fb1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.045,\"left_z\":0.035,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The arm is clear, and the gray plush lies directly below the wrist view. I’m approaching vertically at the corrected, nearer position with the tool straightened.\"}",
  "call_id": "call_abxiks4FcUTKDiCXY3FinkOW",
  "id": "fc_073a942ff8fb4518016ab463b6d2e487d081ae7aa5b6f7198c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_abxiks4FcUTKDiCXY3FinkOW",
  "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]: [-0.3035, 1.3025, 0.1883, 0.6334, -0.2852, -0.1658, 0.9968, -0.02, 0.8288, 0.6075, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3256 left_y=-0.0461 left_z=0.0625 left_yaw=0.0093 left_pitch=0.1036 left_roll=-0.0003 left_gripper=0.9968 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0049 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.9761, 3.4393, 1.1844, 0.1001, -0.2369, 0.0024, -0.1573, -1.853, 7.4325, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f800a84d87dc39c6163507075af406c8761e5790f2258fbffc2611ba1f9803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161b8d473a5281df32830b67d30707239dbcca38ab09328a0ca6a4f306f9736a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:391cb2d0fa023b9e290f1f317faf3277172c796f9305f73278bdc07971173b8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.947 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1101, 1.7618, 0.4091, 1.0168, -0.0891, -0.1047, 0.016, -0.02, 0.812, 0.6086, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0263 left_z=0.0641 left_yaw=0.007 left_pitch=0.2286 left_roll=-0.0515 left_gripper=0.016 right_x=0.2926 right_y=-0.0001 right_z=0.1713 right_yaw=-0.0046 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.3966, 2.0308, 0.989, -0.0708, -0.0659, 1.033, -0.1846, -1.6342, 7.0769, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2344, 0.8032, 0.5049, -0.0162, -0.2035, -0.1574, 0.9966, -0.02, 0.823, 0.6079, -0.4099, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3203 left_y=-0.0361 left_z=0.2123 left_yaw=0.0121 left_pitch=0.2548 left_roll=-0.0698 left_gripper=0.9966 right_x=0.2929 right_y=-0.0002 right_z=0.1677 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4017, 9.853, 1.873, -0.149, -0.0464, 0.1343, -0.1709, -1.9761, 7.0906, 1.6923, 0.0024, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.3025, 0.1883, 0.6334, -0.2852, -0.1658, 0.9968, -0.02, 0.8288, 0.6075, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3256 left_y=-0.0461 left_z=0.0625 left_yaw=0.0093 left_pitch=0.1036 left_roll=-0.0003 left_gripper=0.9968 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0049 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.9761, 3.4393, 1.1844, 0.1001, -0.2369, 0.0024, -0.1573, -1.853, 7.4325, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f800a84d87dc39c6163507075af406c8761e5790f2258fbffc2611ba1f9803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161b8d473a5281df32830b67d30707239dbcca38ab09328a0ca6a4f306f9736a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:391cb2d0fa023b9e290f1f317faf3277172c796f9305f73278bdc07971173b8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO-G_FssKby1uNM--LmLQYN7zBjdW48dJvilOMRswDHT2dPkumfXoS3sDU4xtiLi7MNLQ03zOu97vjY3kxuNnxR-NTyy6Pg__LPYHc2I4QvKLqh5WY5tLZdT96vboDam6mQfnZn5n7fTKP-7jbTRDhP-omIGWeh2jSPEm9sacyInjPjNKThL_BBsMNtR2CnPRAbMrMnHn1Tv8V-T4Xvg0cApdXBBEbaMdxbnyRA-VoWvWWaTTiZw59oAfBeLf5bcaXZD4V5cs7DmoRM_UulUL2Cd1kdbdbN5BioJ1O8LYSnv_jChzQCIdzUDtBD9-kVLCD6lokG1StoZPGJ3hHnkZvVzK1836-OsAG6dLcKrwNl4Njolp5TvLjD-LrDaFrl82SUea0uWbYpzHAPEDNda-QZJGCqq34BYGt5G1nUotxuDOekrEgRhHBCihF7J6EubExDMx0TJwV8JEY5C_ZFB4AdN9KAf4Al1PappIC_vFoKbbsRoplMwo41W79wB0zdUTFmHKMbkucVSzPn6b3rGFyoYPKsLSTVSLFVMOA5EcFnlmZT1n7ZmZdd7ClBOVRBWcWtml5I7OE2juOVgL9EO0cuRIibolbALQEwRLDBS0yGAKuaXNqNy6CPYcTdu6_9j2d6ghl3_-ic3X-RXVW1WuYpxopRdPxYaIeS4_DvEBzU1nL6EdAx5VOGEpH70pnKG8qJhRoc104ELHPHS4uAFEhBCm9kPvBAZeaGIBAnFHsQiW5FIzRzMfW8-Chy6KoZejvbwcWRbMYAf0ZVB4PcgnOdasNB8mary-cxLnQT7OgF2CyUaiOVZMoMUjpeMdGRNbtNG2geGdN8nI6bZhXEkFSGYdXI-IS9ZrK_Kn_rxYvUUXQxxLZ9CkJ1XbxHyGPVtEC4iAde3bX9G2X5Halef0MmOSJ8piKHYRAUAI3IXGOufNSNBfhj4WyV6LkCd3IYF9owiG64vWu9RlQNny5277q22jQBNb1W7qbl4RDagTWy-svO-c3sAr-WxekPPNraeu6oUb54ARR5p1qbGl2_khI3KBIgCYixrMC-YzRrSKaoFLHfS99_5cpaJBk9DS-WPCSxvg9L-JU3sau9UkHJzEAAaMCKP_T2ABIJljFsL_8fTId1d9dMhYLgOc7L7tg31GWb8PGS_aetLkCwJjHHc2ObQTBo5Jr1_j_S12O9M-WDUhq3jNtrwP36dA_GC6forbZIt1RuTOk6-0N5mm7xiZd1WuwJwogn_JqoZCQv3h-rWDHl4T2IFt8LxaIOs0lweXHb7v7D0w1v0AVCIF21sbY-vCh6-usjLZK5BCcmu3A6CFbBlins3HKO_VxNgic_58P7U5F9OzDI844hOJ2rsauY-7O2wv2kixhQR2bqMHcX6sNDTi_E5_u_t1LVEBv9L-puFhn8gL8ogbVEPwOzy9-9BUcOek-WKpRB1W-1KQrnrfLetMwA1Md0c8_xEgemh6hMYNUAXu7jORDDE1Q0qaWND3EYwYTJYNtSxwayHXeL8iM=",
  "id": "rs_073a942ff8fb4518016ab463bc693c87d0a57cd4a556ffcb5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.02,\"left_z\":0.03,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The jaws are beside the gray plush’s body, slightly off to its right. I’m moving inward over the body and closing for a secure grasp.\"}",
  "call_id": "call_myvFOVvTMrz75N98iBI8alZL",
  "id": "fc_073a942ff8fb4518016ab463bd8f6087d0bbd74597fda20abb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_myvFOVvTMrz75N98iBI8alZL",
  "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]: [-0.1696, 1.319, 0.1585, 0.691, -0.1749, -0.1226, 0.0126, -0.02, 0.8288, 0.6075, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.021 left_z=0.0567 left_yaw=0.0273 left_pitch=0.1018 left_roll=-0.0134 left_gripper=0.0126 right_x=0.2933 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -1.6615, 3.453, 1.16, 0.0952, 0.0024, 0.7546, -0.3487, -1.2513, 7.0222, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed27493f3bb42106409fe2abf9a0d5628e9a333c3a88c226791b5f96f4a5531e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0cdd62c61bd28d7359aed78a847d2b4ec38a75afa3d4f68c3e8ceed83432fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cadd7190bf78e8f8ab9ebc0ade9bab8353ce1a96e850d75df265aed8f9918d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 1.5669, 0.3145, 0.9451, -0.115, -0.128, 0.9953, -0.02, 0.8154, 0.6083, -0.4091, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.0288 left_z=0.088 left_yaw=0.0174 left_pitch=0.2574 left_roll=-0.0698 left_gripper=0.9953 right_x=0.2926 right_y=-0.0001 right_z=0.1701 right_yaw=-0.0044 right_pitch=-0.0542 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6957, 4.1231, 1.5604, -0.0317, 0.1245, 0.0269, -0.212, -1.6889, 7.0359, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.3025, 0.1883, 0.6334, -0.2852, -0.1658, 0.9968, -0.02, 0.8288, 0.6075, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3256 left_y=-0.0461 left_z=0.0625 left_yaw=0.0093 left_pitch=0.1036 left_roll=-0.0003 left_gripper=0.9968 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0049 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.9761, 3.4393, 1.1844, 0.1001, -0.2369, 0.0024, -0.1573, -1.853, 7.4325, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.319, 0.1585, 0.691, -0.1749, -0.1226, 0.0126, -0.02, 0.8288, 0.6075, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.021 left_z=0.0567 left_yaw=0.0273 left_pitch=0.1018 left_roll=-0.0134 left_gripper=0.0126 right_x=0.2933 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -1.6615, 3.453, 1.16, 0.0952, 0.0024, 0.7546, -0.3487, -1.2513, 7.0222, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed27493f3bb42106409fe2abf9a0d5628e9a333c3a88c226791b5f96f4a5531e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0cdd62c61bd28d7359aed78a847d2b4ec38a75afa3d4f68c3e8ceed83432fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cadd7190bf78e8f8ab9ebc0ade9bab8353ce1a96e850d75df265aed8f9918d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPEsZeTcgBQoUZYJF3Z5fYwfLvIcn9AFnRuWy0Jz3lRY5xc-_132QfkQYlr3QOFpOWOW-6eANNei5ixdR7F_5F57bx7soAbILH3rqhIZrhE1HA6IvZXKJ7sY6Shrdx9cK5jHXcFo6ioSIXEtsmRPVYUGP4wH3uh3_vmPb2BqXMhjbDO07z600ZBXNmmtNjAn0Pdwnz9VS0tTapNA9M0ZhFaiMZxNyjNtHnRzbyNaM49NQsjBdKraKs_PWC9o5rjf58xi6eBo589cS1u7J9DeOE3PjRsWz_H5wOk_gtjweianKMTXJq-fSQ6QupofLIn2ySPVEMURkEubhTVqgtwIvBnC9mDPdnQ98cziE_8VYXI8AABmDD3jRpS6cU-cXh44UQd4GxLtB-7KWE1JIvufIRkrFS_ovNqoHO8g3FM5Yv0OeCqp2YiEs3s6x-YizZugfTrMc5KXb1mwgef1d26SFPbkTFNci0mkecUduJGkj8ypXfKycOizOo3pIQ_Ev9A0jzN7B5ZzPIeAgPPC73G5n4QqPzNAzgeymlPJPaOTA8DAMrAEALA3w3asjzzdPcsyDU4JaExiS6klOtjS7GnPdaAurqjeUAxx1OsFOY8KSFoCazk8nXPZazn9f4-vKdq9hSdfnglqXfB8WiitCmxNeoIEJq_PAJz4beGSZ6Tiw3AvWoOPHeODsdMZel72TL32mcgr-Zh8t-gdsbAs4EdJxdrgKDoQtTg4czKUIwe9Tgo_qm0kDYna9bthMqnZq8btdgw8z1YvtpeuD1AjNwId8ROj4ZP43IKZPi9_Ydj5qdj7Lc6VQ-4BoD2F2jWnBH3rqFxAxDFX61vDoADePk1CKhA_NW9AgjHmhmUJmzLgrxWFTOTfrf0q519eyF06XBaHnpCf7XYCC1EztRQ7mj0qKoLIGRwWCRd-KnQZbvtEb5IdseOF86k1aqMCsbGXxWERhrsHLbN3yHFdriIq9fJAOA5GxoQoN78EZxcH-Go2J8FPEKLRlH2cKQwFGwGzBQ6ZD1uNdaO25whwl4J0oyKJnl1B71x56OoR2wre55PsBI-yughIN41-CRdZHw0etkTyFyh8yfiCOneutk0_jvYzPR2yq8-gB-GTMezpqxOnpucbswxX9U1aFUMLvMpJIWD9hjh5SB6gltEqBrCe50Ad7Bsq1SNWS9vAL_Lc1XBiOylNyD8UFn0a6kKkm-hposBSaejZNsxSypCGNCIfONBnaeP4wYGJ4I6H7JpxKsK5-ax_n4tVvkIudHnVsB6Kpw4iE_Q00jwzdXrxdGZqagQDPxRJU6b-LM8obN2PtzSKx48lFP99uEDvBRTBk96VseDkmABqG674SlgCxd6-MkhTCGdwwzIQxYFOqc83OJW7VaAyuXUIyJbvHvsKqeEl6y4vf2XUlvtz6vuqy6kCPQkuBvlDIHMKdlIicEZoAxm0nVL8qHjbRyJyePSKe5gvpUAmHqWW0Qt69cPgFd7VzcPfCBcskLmvPbRpg4O8oUM-OD1heUbgO7yckL9taK8ka1LhAh3ew2lJdmXcg0vWbD2NEpWF4beH0rV7MO6rg2jENECHVDEP3B6ylu2u32xLGhlYv8hwf19oG6OE0yxU09g_neyBvAhbTA0h3H3ieI5YplksOgxTWtBV2v1Z531hXoljGICxqoaOZLD2005LuUDQMbZKK6QgPqAvFcQ2tQBfzrVk3MOQv-NQhQdGNph678eUWp6_3-l-u1WmRMLw5-nSKQGkzI54ObRExgMTBRyrlg_XLRQqbh7sSOXEMJR_Yioy7A2",
  "id": "rs_073a942ff8fb4518016ab463c1068087d09860263532d3d2b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.015,\"left_z\":0.06,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The second close was also empty. Comparing the overhead view with the wrist view, the gray plush’s body is farther forward than the jaws; I’m correcting that position before retrying.\"}",
  "call_id": "call_io7ux7ipb6WeGB6L2Qc1iRKm",
  "id": "fc_073a942ff8fb4518016ab463c3bdcc87d090beecac44a22940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_io7ux7ipb6WeGB6L2Qc1iRKm",
  "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]: [-0.1143, 1.3975, 0.3359, 0.4858, -0.1398, -0.1123, 0.9953, -0.02, 0.8314, 0.6075, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=-0.0121 left_z=0.0541 left_yaw=0.0466 left_pitch=-0.006 left_roll=-0.0028 left_gripper=0.9953 right_x=0.2933 right_y=-0.0002 right_z=0.1652 right_yaw=-0.0049 right_pitch=-0.0717 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.9863, 7.5009, 1.7656, 0.0708, 0.105, 0.0171, -0.3077, -1.1966, 7.0359, 1.6777, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b29ae3a87427f3cfda69a6b5ec629efda5c6587186ca1d4c118f2d56df32ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726fe082238de77716c5971a5f280245858a2156e0cd6bdbd025d52b0ae80c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5d1c3c4ad3610453af504a5e25b6f81c53022d175b102207ab7c956bf860f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 8.406 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2344, 0.8032, 0.5049, -0.0162, -0.2035, -0.1574, 0.9966, -0.02, 0.823, 0.6079, -0.4099, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3203 left_y=-0.0361 left_z=0.2123 left_yaw=0.0121 left_pitch=0.2548 left_roll=-0.0698 left_gripper=0.9966 right_x=0.2929 right_y=-0.0002 right_z=0.1677 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4017, 9.853, 1.873, -0.149, -0.0464, 0.1343, -0.1709, -1.9761, 7.0906, 1.6923, 0.0024, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.319, 0.1585, 0.691, -0.1749, -0.1226, 0.0126, -0.02, 0.8288, 0.6075, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.021 left_z=0.0567 left_yaw=0.0273 left_pitch=0.1018 left_roll=-0.0134 left_gripper=0.0126 right_x=0.2933 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -1.6615, 3.453, 1.16, 0.0952, 0.0024, 0.7546, -0.3487, -1.2513, 7.0222, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 1.3975, 0.3359, 0.4858, -0.1398, -0.1123, 0.9953, -0.02, 0.8314, 0.6075, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=-0.0121 left_z=0.0541 left_yaw=0.0466 left_pitch=-0.006 left_roll=-0.0028 left_gripper=0.9953 right_x=0.2933 right_y=-0.0002 right_z=0.1652 right_yaw=-0.0049 right_pitch=-0.0717 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.9863, 7.5009, 1.7656, 0.0708, 0.105, 0.0171, -0.3077, -1.1966, 7.0359, 1.6777, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b29ae3a87427f3cfda69a6b5ec629efda5c6587186ca1d4c118f2d56df32ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726fe082238de77716c5971a5f280245858a2156e0cd6bdbd025d52b0ae80c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5d1c3c4ad3610453af504a5e25b6f81c53022d175b102207ab7c956bf860f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPJ8YeA5PDCC8-GIq1JW5nd74TrJ_eSeUQWWMTGV8K9gwUcfgWAMBhRa2e4Ezfk01kfLkyQBUb7UMJTUo9-CZSeENDUJ58xd7YqzyZe6xbJXyuBpuXQ1TtSPh4URkNhriaD-BktEXp4utpGYHRE1UN3hy85O2wSKhrgtNhxDZQfgOM_kha3uxYF9CIzTzwGHtOywAzJNjW__HyT6-XmfHMWlzuoSWvMrojc40T0Ga2yHqIU1niJ_JXiM0l9jUAQtvTu3hifJ79k0Wly9Wgj6o9FJXNi1o3YEorSCqOvuLGTLJ_JndI5-HUaZzUkxdZVPOH7ZiiAQZPjldg06JiRd2CRyBk0_X33T32hS1QwTG4fdruBkTq2Bax0F-kIhGM4DCYVlFlzG9dz2CvH3S_PvZLGGnG2zsOwchc493iuy4ldNlNULpfVadlOqKqXNrP4RGa2CYxl_bgrTALgrv9FgkXm9HGU4Rfw64yhEr0FvfCpo8BALRwRBFa1EsmJlPfPEMy5TSxRKUUrAzKFncErUCmda6yUIEuvjZf_r6pxFPFC1438NmRYxcMJF_Ab_4aiMjHxxGKqmmT-fN6Lz0z_JnuXT7yDA0FAB7DDeB2hu-cWwJX8F6YI7zihN-f049Itn4J-O7k600K_XUpRk2KpHhy7aSUfn9HpwzGJhUJz6vJ_FJxAOmjV3gKB6-yuU6cR7EfbI2YiNWh9o4dsymk_wNg4fHxksTRoHOCxaoMrwRcjZ86b8Pu2Nmksb8eQc10DY6m8LxluNcfCz_Gn4S_KsAJleJbKopuwnw7gGR_enBHyfaBe9MnvNpwyplFa7_LLQsGMQ_dm1L4REe9VoxnzRb8RUnYjHWiyLXVygdIaCFVBSLr40SizCr9JBtyv-gGtd7l2cT8Et8vYcpMP4Jid7f1vJxZE2ysK1Q5BZNnKvrE6v1w33M9HgpOG0RDKXUyyy6gMkb-RsgW5paV3nPRDMrZPOpQE9jbZ3LNp7_jteCCgeNj3s1CA5Ax2EM_POctpAPd3a3VpxGNkPTZNw40D_lW3sRTjvTNwzIVWmkxVRKAyd_7BSkR13iCRAudpLdArgBXcDH80aXtdE_niHvCvJ6jIJ9TmkShT2iry5lOQJC4pC2dJAjh_tK3bLgFH663HBaQ0APnFRzDOeV3OwYdB7Kr2DBzvDCE2pMvVGaYNV5zB9-ouy6PbvTpPh_PLBgFDrfZ7iuRE-mFTIZTWsTTwGTqbI5ES9wHbI4GmU3LasYl_aPLf2EXaflA2IPs9nkUj7EfaEkGXLcYLtOqn19_g-AUJRceuhvD85UBgDeNakJ99XhhLspYILJ3MTZa87YdCSOTHm0yQzxswYTWs6jyeYL0pZdGnFCeribd4oV-iCWaHhtVPUyM9lYXIRcLEV6e03zfelAuw9-RSRijZmMzKeNwYa8f-vtWzwkIvd46gVwHoBTZejGtGkU_D01oXx1CFRpXI",
  "id": "rs_073a942ff8fb4518016ab463c76f5487d0bf653fbff293049f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.025,\"left_z\":0.015,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The gray plush is forward of the jaws but still left of center. I’m shifting left and closing lower around its soft torso.\"}",
  "call_id": "call_iM9T9vEbnT6lpFmT2V3jZPgg",
  "id": "fc_073a942ff8fb4518016ab463c8230487d0878e429bbf17adcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iM9T9vEbnT6lpFmT2V3jZPgg",
  "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]: [0.0563, 1.6527, 0.2977, 0.7555, -0.0166, -0.0322, 0.0129, -0.02, 0.8314, 0.6075, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3556 left_y=0.0266 left_z=0.0096 left_yaw=0.0703 left_pitch=-0.0359 left_roll=-0.0019 left_gripper=0.0129 right_x=0.2934 right_y=-0.0002 right_z=0.1653 right_yaw=-0.0045 right_pitch=-0.0713 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.135, 3.6855, 1.9902, 0.1636, 0.1441, 1.0379, -0.1299, -1.4701, 7.3641, 1.6581, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac83f206612f756aebbd20756d87a1ec9211474507d6e3fb292bcac31c4ede3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ff30636551d1dcdd15e148750b7636af78dd5af340e7dcfe75315a7bd287c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd8c1889661657ac1c81e16f2fbeef38bc2ba2c2cd6238350f51a5a320a66f",
      "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 · 2.892 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.3025, 0.1883, 0.6334, -0.2852, -0.1658, 0.9968, -0.02, 0.8288, 0.6075, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3256 left_y=-0.0461 left_z=0.0625 left_yaw=0.0093 left_pitch=0.1036 left_roll=-0.0003 left_gripper=0.9968 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0049 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.9761, 3.4393, 1.1844, 0.1001, -0.2369, 0.0024, -0.1573, -1.853, 7.4325, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 1.3975, 0.3359, 0.4858, -0.1398, -0.1123, 0.9953, -0.02, 0.8314, 0.6075, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=-0.0121 left_z=0.0541 left_yaw=0.0466 left_pitch=-0.006 left_roll=-0.0028 left_gripper=0.9953 right_x=0.2933 right_y=-0.0002 right_z=0.1652 right_yaw=-0.0049 right_pitch=-0.0717 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.9863, 7.5009, 1.7656, 0.0708, 0.105, 0.0171, -0.3077, -1.1966, 7.0359, 1.6777, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0563, 1.6527, 0.2977, 0.7555, -0.0166, -0.0322, 0.0129, -0.02, 0.8314, 0.6075, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3556 left_y=0.0266 left_z=0.0096 left_yaw=0.0703 left_pitch=-0.0359 left_roll=-0.0019 left_gripper=0.0129 right_x=0.2934 right_y=-0.0002 right_z=0.1653 right_yaw=-0.0045 right_pitch=-0.0713 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.135, 3.6855, 1.9902, 0.1636, 0.1441, 1.0379, -0.1299, -1.4701, 7.3641, 1.6581, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac83f206612f756aebbd20756d87a1ec9211474507d6e3fb292bcac31c4ede3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ff30636551d1dcdd15e148750b7636af78dd5af340e7dcfe75315a7bd287c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd8c1889661657ac1c81e16f2fbeef38bc2ba2c2cd6238350f51a5a320a66f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPSgF_q4MYxraQ3HElHqY5QMBVsSvl8gExpuFEEyIi5LjwBSlPOYGCpsvkUJbFnwNZkY-6ANq08AdMsaBmcv77QJnfO6DxX4A66TE0DxBFtG1MUbxg70irqy1Nz6K3-Yv6UHQapNlOmn9Tbza9jTZqO5_JlMPpv_6W2aUkoDAyNIR5Ml6VuXs-k7di2ZKCMFF804aCVzitT-tXR1k4j4SPJ9_YmWy7dgKCzvKJlAq4xbIPX0pc0MsRvFHol7tyer_hc0GBOT2KR7fMauDsh2Q2CdhKFIClxFtqpbT2p_m1eFQDyjKOoS6VboWWeq0Ckqq-o-XT-LgiuqKa1Ug3SKnrPXlyW9xlZm5p-pkeIyjnzgiHoWL1iQx3beEsNZkc0Ce-HgxPCwV3gUqwQ_ir9TU8J9GQvnIEyT4S1gqYQD328IG-6U2QpDadYXtWNjMnZZ1hluuz0JWp24nlsPOv3j8-oU9eFtXUGYpQ1RWz-VKhBX8GEHZumv_LPlm8HG11V9Gbe1zlC6bU6wsSF65fVtuYtM0EVKhxnUiuN3dm_542p4OLdY4gmpJfi7lmoUzYmJGWB9J3k3j-685hfh57rKg9mJU0dem-duHXo0_TgR19F31YPuh99rz9kFHTdzjC1BbSLXcRZjBQSghI77Me0Vt6CJSbm1pLmYzWeoVYdi0lQc1loiJZDlFMl8W5wUFRKVaCf3nSNVfqVaqkKB7jBYp9vdWQtyQDTjSekYHh3P05MBjDCxyGNd4oai9KG64pSON76Exrh7YFjL_comR7oFzH2bHRe26IZ9LbhOTVP4B2kazBWY6S0L5kIRxobf-vocnY7PfUw5Joue6hsX_7oKSkk4cJNQTibS5RJGNsJmQMaumtfgasd8gUdvdt7iOhjrw5rRpbf0q62NEzX_D-CxVzNaaNSB-S3ON9EgHogH4c6G-G8vToV2kZNDL0ZWaNCMGKCNM9KYf3FVj_0HLelCSVUMMvekT6l6j3bjbDKMETibYu9MNbSi8pDdVun0S4R38zFycu2jbdIZHcoLcyjwGx7NdqJYhoWuehMyjdx_YRnLDO3dyXw-JHJ1I08vWr7HQVvypHUmf-QuNa0hsoZKg5gWbsEUX2m0QWGCxGYmNhr6N5It1aQKTgNzRRHrUXzp--srK0hcU98fs-ICpw6d79HkYyPP6VzJaflWgK8XDuJEwl_Ct36XxWNGyG-xxONL6O_U8yi-9wbY0ATcgfICp3SWWINYyKU2nTn_ggVYCTIErlXgChdeBgd6IfeFwU8hylxN8Y-9JT2ciKfj1023oZRpExccgCslK7LKSjLv_zt0R-v5GxQneeqGPlH7NEPXiU6JXnd6GN0dfZejokFY5hGIQTEPylowXPFBOrY27UVDcy-hU3nQvGMK_BR2WpllxeK-S7RLbnVP3HxgAyS6oIFvjSRFSokbN7s0A0fQdPzI35JYZrC9HvcR-FyY3qpDWmPUzPGUa10qyGIh_EDm5yjSooJyzfYJ1rw7nks7OSQ_47_omejkbQmCHGktpNs0jcdzPgT_tPyoMxaZVjeHaH8cPP9YRGRdHX24-BU7rqkKU2Lxtyzmm8SQHxhrkrZbBEqBe5gB1STE1qyXn_aiJFgQPKOnREwjESdeXbTSrS-64BrtaFJBfLvhDpkVk_N78bDfkVPNz3zZcopbPhhx9JLKIJN198VE5kuUMcaJ1J15yyOlpvJlTzj_wUrTACAr4GTPQ3AngLVchPgEqbJ1KqzhEYlcTkVfeyE_1rQODmunVNDA0OLAdD196hWSm3vwKPIk31S4ME86Rwl56jl30AXAk2h-sk451x-0EZugjAl81qUrotJ_ImwcII0Cyp0PYEz-Qab3S9-cXxvBce4mVM-3XMsVxiWA_svIV2JawkSBJnqpOH4-G7YrKNq9O7ExY1czouiqL6WJOz3m0ZJS-gQ-FebX2zkQqoqR4r_MLpS1i5qHC1g_lSE7GarnwDDVSwUS0hr2ZHIxu358GstuY0HE-3_ZamS4fHP5PcnHGrcM4snKzVHJcirvn0sVn5dLZs-V42r-KPdQ8QgCCJIOW6rFYk7Os1tjfNNasVoJ8a4o11fMjgYtGEmRY1LORWP0GjBw43WZviVFr28fmSVgT80redxsl3eVnlKhfbVbUX8tlSHUVwfwCjJ83MsZ7Rhbv-WinxZbj5WneMgdngKTYGGNI0EVPohSo6MEvB7SSpsWaHsjHgtgSg1h4Z14IMRBXeDNnBEz9aaK4dBCAxqRuq3wahaw16Yhz3akLcu-0iwUrTdo0GsrzWUnHQwTimt3OP2Au5aTLicLR-p1mThUy9M1qhoZ_aOHhKnGg7mmm-dDlu2GuIyScRJA1OBcz3XQ_H2Fve90Gj7LyeViwh-imFMZvyGsSrnqwHhd6kDOe1IjTaGKlNhv3hucnDam0STuotc",
  "id": "rs_073a942ff8fb4518016ab463cb937c87d09a2117086de0f10e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":0.01,\"left_z\":0.085,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The plush is still visible ahead of the fingertips, so the last close missed behind it. I’m opening, lifting slightly, and moving farther forward to place the jaws over its torso.\"}",
  "call_id": "call_OI53bJRZuCdnLZZos3f35eJc",
  "id": "fc_073a942ff8fb4518016ab463d1712087d0a6a7053cfc405b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OI53bJRZuCdnLZZos3f35eJc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0246, 1.6203, 0.6479, 0.3805, 0.0006, -0.0326, 0.9952, -0.02, 0.7982, 0.6079, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4253 left_y=0.014 left_z=0.0696 left_yaw=0.0243 left_pitch=-0.0283 left_roll=-0.0119 left_gripper=0.9952 right_x=0.2913 right_y=-0.0001 right_z=0.1742 right_yaw=-0.0044 right_pitch=-0.0393 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -7.2, 7.9658, 1.7558, 0.0415, 0.2418, 0.022, -0.2393, -2.2496, 9.1829, 1.663, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e455de8431bad0a4a3e12d7e295f1aa28ff432514343169947947506b93d1af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b8fd3668e0f7ee3d26faa6306cf4ed61939177ed438e890a999bbea4853cf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11190c3f420610e891555a3bee6389588315a31350811f9d9f769706981d4649",
      "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 · 4.601 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.319, 0.1585, 0.691, -0.1749, -0.1226, 0.0126, -0.02, 0.8288, 0.6075, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.021 left_z=0.0567 left_yaw=0.0273 left_pitch=0.1018 left_roll=-0.0134 left_gripper=0.0126 right_x=0.2933 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -1.6615, 3.453, 1.16, 0.0952, 0.0024, 0.7546, -0.3487, -1.2513, 7.0222, 1.7167, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0563, 1.6527, 0.2977, 0.7555, -0.0166, -0.0322, 0.0129, -0.02, 0.8314, 0.6075, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3556 left_y=0.0266 left_z=0.0096 left_yaw=0.0703 left_pitch=-0.0359 left_roll=-0.0019 left_gripper=0.0129 right_x=0.2934 right_y=-0.0002 right_z=0.1653 right_yaw=-0.0045 right_pitch=-0.0713 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.135, 3.6855, 1.9902, 0.1636, 0.1441, 1.0379, -0.1299, -1.4701, 7.3641, 1.6581, -0.0269, -0.0366, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0246, 1.6203, 0.6479, 0.3805, 0.0006, -0.0326, 0.9952, -0.02, 0.7982, 0.6079, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4253 left_y=0.014 left_z=0.0696 left_yaw=0.0243 left_pitch=-0.0283 left_roll=-0.0119 left_gripper=0.9952 right_x=0.2913 right_y=-0.0001 right_z=0.1742 right_yaw=-0.0044 right_pitch=-0.0393 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -7.2, 7.9658, 1.7558, 0.0415, 0.2418, 0.022, -0.2393, -2.2496, 9.1829, 1.663, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e455de8431bad0a4a3e12d7e295f1aa28ff432514343169947947506b93d1af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b8fd3668e0f7ee3d26faa6306cf4ed61939177ed438e890a999bbea4853cf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11190c3f420610e891555a3bee6389588315a31350811f9d9f769706981d4649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPWiqSfkohlHgQosKP3AOsCBBpMOswArvXYNIkwHRsJc8Izp6cT3rfmdKcdEQ2dzP18CVacXWhoXDy43ZnpCrbhlt6XGxziOLGv19U7eNAJ6QCT5d73U6QyIn0NdrfAeAuqzCCqaPudiQXMgHpqb0YYfOM1z59zWsoHzrlwF9LArMy-ux9pdPjBlu_IU1JRSvqOSzqZKDrNEwfdLyzSQj8VcUhnoQgNv53VLKjcvLC5Wl3hOYaJu-3KQ7DuVzddJSlUa8PhOlB0S9vSFQrJ8fXOkgyP9hddFJR0BxRJgsFk06c7rwBsbgYmzMf7nZc-_ixwn8at_9gHZGBnayVC5QQXIAQikU6OHjY4Mz53krnC0-Sj1M7C51k8RkPhaLF4Ua7EYArBGBgxKZpvUquXoChYtq71uG6Tz9GSb8Uaa2aILizxsIhFY-XFjSbzXLYxTD_1c8g9pTO6ZVi9l4Pa-zBuoiajzKvfjOgJcCbQt876SFApa_ILeIs30eR3YE9HKhZuw6_TgDWX-9bBeDKkzTlXE2I7Vidm9KKfmFeZOuazxoHox9Hj8BN9p2SeQTMY0-Bq8iGlmWeE7h1x4vHo_5kCuCkFoTT6Jbosy1acn4Py3R7p7NUydyTg3s1zomU4t0H7O2MbxAtbHQQ8LnqBvMnFN2uLq-6xX3vQzSze-ccRViUMJo8PcWRGH5K_JOvck6LE-2az2tW5oA8-2jXSRzMPqS40tl4hPRTJTFRtMpeO946ExtYUT7tqJFPVUH_RUNwFcQnEHksvJID20_4lE5ar6sPP34X6BQmxfa9iPVLw2MqVF7hCRrYap4U3r6VwRAGUf-xo39LoPI83hUJBU4hoR_TL9lAHdixhWeLqiCI-FVIcOCfvAjWD30OcfrtesqQ0OfYseZg1FR9kxjNftvkSgn1BQNibF8iK59RPwSUQ9fKel4RX-aDK5MsIktiTzEOzukvbjs0IrWmj535G7GsDDjIbzs0jy8FgiRkccUUIrdn5EByoQ5se4rDYOg7n_mmMkAczgWRn2rXofwnDFJ5c75IXI83cmsbJOF2ROQHsUazKfy8-nr1lZCQebJVlj_kFatBVgB2DoDm1LF3jlxbdTdBCRzDm_enwJymYcM-YQUlC9Hj428yMfCmDybj3SWmYX9VSe3XpR1NS--z1rrJRn4l7oy686vpxUkJtRz1_MVU0J3n1py5oQx4lXNsBPbcDSquXpXWFxSgiV1CBixq4VABEc2x_iPESa5YxCUE27_WvD_BvmD71BDRYul2kMuJa",
  "id": "rs_073a942ff8fb4518016ab463d4b28887d08242aed57a4beec4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.035,\"left_z\":0.03,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The gray torso is now alongside the fingertips, with the basket safely to the right. I’m making a small leftward correction and closing around the plush.\"}",
  "call_id": "call_E1BB97iyNL8hRJwUkxEdsaWw",
  "id": "fc_073a942ff8fb4518016ab463d52d5887d0a567eca1ce4f6b14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E1BB97iyNL8hRJwUkxEdsaWw",
  "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]: [0.0841, 1.8168, 0.6392, 0.5896, 0.0315, 0.0017, 0.0127, -0.02, 0.7982, 0.6071, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4375 left_y=0.0349 left_z=0.0281 left_yaw=0.0394 left_pitch=-0.0242 left_roll=-0.0005 left_gripper=0.0127 right_x=0.2912 right_y=-0.0001 right_z=0.1739 right_yaw=-0.0044 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -7.2547, 4.4786, 1.956, 0.2076, 0.0904, 0.7839, -0.3624, -1.2239, 7.2137, 1.6777, -0.0122, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350233a52c0d6b74ea76855180e8bfce58099da40024c3c42c0061cc9658b8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158970b6bf09e072eadcf238cd534e66b36895a2d395272938f8a7ffc44f00b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d963c43c6bb8ec4354abf51c32f5eb49e02be655621f902ede7fde967fff4c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 8.962 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 1.3975, 0.3359, 0.4858, -0.1398, -0.1123, 0.9953, -0.02, 0.8314, 0.6075, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=-0.0121 left_z=0.0541 left_yaw=0.0466 left_pitch=-0.006 left_roll=-0.0028 left_gripper=0.9953 right_x=0.2933 right_y=-0.0002 right_z=0.1652 right_yaw=-0.0049 right_pitch=-0.0717 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.9863, 7.5009, 1.7656, 0.0708, 0.105, 0.0171, -0.3077, -1.1966, 7.0359, 1.6777, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0246, 1.6203, 0.6479, 0.3805, 0.0006, -0.0326, 0.9952, -0.02, 0.7982, 0.6079, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4253 left_y=0.014 left_z=0.0696 left_yaw=0.0243 left_pitch=-0.0283 left_roll=-0.0119 left_gripper=0.9952 right_x=0.2913 right_y=-0.0001 right_z=0.1742 right_yaw=-0.0044 right_pitch=-0.0393 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -7.2, 7.9658, 1.7558, 0.0415, 0.2418, 0.022, -0.2393, -2.2496, 9.1829, 1.663, -0.0513, -0.0513, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0841, 1.8168, 0.6392, 0.5896, 0.0315, 0.0017, 0.0127, -0.02, 0.7982, 0.6071, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4375 left_y=0.0349 left_z=0.0281 left_yaw=0.0394 left_pitch=-0.0242 left_roll=-0.0005 left_gripper=0.0127 right_x=0.2912 right_y=-0.0001 right_z=0.1739 right_yaw=-0.0044 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -7.2547, 4.4786, 1.956, 0.2076, 0.0904, 0.7839, -0.3624, -1.2239, 7.2137, 1.6777, -0.0122, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350233a52c0d6b74ea76855180e8bfce58099da40024c3c42c0061cc9658b8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158970b6bf09e072eadcf238cd534e66b36895a2d395272938f8a7ffc44f00b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d963c43c6bb8ec4354abf51c32f5eb49e02be655621f902ede7fde967fff4c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPbNT1t418J4clRg5j2NR3gs39Al88MglbXAGFlhX6RQ5pSKNMH3ZJo9X432xs6fdYsN6lV5Q4sUm0Tv_APXKDwsC2dZi8jz3clcnp31LMCu16QTwLzhV0tHmw6Yh8POnt1y5UecVzQM8xqZU52aOYpS4GVlPhtl0k4oBj63rXBDIVUgvExCTU66-C79LZ80BsVMIZUL670kHasFdbbcAcvEB1EuisvousFsSKMEIGQBmuZwisqL3AUS9MRVBXvcJnUNljGDrf5n8jOGhjDkYPtuwIXiwQU1TcB1bi-TMTBx0BMeRbf-gGTA7-WcR1y4FA5S-31G1_B5H5UFG4pmPx8KKhselKvXiim6k5ZVTfZnnHKE7OlMKjT5oT6OUciiKAVRPPCRDm7b4LcaUX2t3eXTKfhW-MHK82TrL2gU0TMb8QZUqD2rM3JU7EYDBGgMvseaVeZbiglhnZUbxxIlt1FVp7_9qRApEA2ZHdxp4ImPPEdDZl4Grzy8XjIVxWvrLK3l5d7arQfmkLZydg4ccU8kJl2Vc9H_JkNDI48lIy5VKQW6Sz4ByHvS5K4tK9VDHRgbLNYjpjJfxDTIIe7TFhhDdingkOYGzr6JH4KkS3g4jvoy6IYURFl-it1r_K-eQx67AwgaOmFT_iJblBQWXg0QBeNiI78vW34cJUl7UzmdhmtQOtgyaxGXRt-aSApq9f_fLN6EK4DiS-qVL3Jly-i9YrkqjCyxmJOiWb1brTf3n2G0xDLQF62LNmgPCuBpo5mA_pALzKdEun6LihXVV4CYdbEtRIT5GG_GY53pI9kre4hLWT9sShyQLtJNNVr844ZAwtcBz7B280CQLG14c29luYWo3ggvdYD6polGO3fMWdl23YJs06aV8UDYuoBVG6FZQ5VR-AP6bf4qMLx8dcFUwMJhWg_-U9s4ZifhIbVI0Xs-QkRkif--lDzyN4Yq-2g8cSdyvRd2VeHnhU5xe_J2VN_ayqANbMqDDzwgwEXA6JPadvjbeTTQqPDfJTVBerM4oKF0hrXLcDf467o7oAt6Jr23x2lWdydUY_cMJTUB6fAfvu8PthvlBEDm6zcMqxuTFZXYORtJmgPJBzP45aj5IUnuA8xw3IxTq3macWyhHEcM1UNepUQheerwdsAfLaAX77Xpw-vC2DYGSkOckpZT7EBhlsd6m8AOaDe8bmvli8qjmj66t83Q4faFwKt4N5UQuEI7CFYUvqfqln1lM10Uw9T8GFXjxnL8QLKNbC6q2It_qxppKp1S4inNd2oXuiZ66cI56Rdl3RHiQ0mN5Uhg3If3zovJo-0zAzcdkIu68xB-RZAFxbVXjFH0qFwahImoIAd_GZQZtR3kFB-UcGelVKB3TfdRxgyy1yNa4r44UVyGUhtkfAFUhDIO83wDMZ3xbcuX79o_HEYgMcsNG-aU5cz8SpG5f-AOFqbPy6aHlghwMLKfpDbDEmYXwD3LyG-YchfeAhd2fzHMzo3POiEwmUvNbYDcWRPcKRBC73MQZb6SbRUfY0jWatBH_rnnXa2UVSXfkQKVLobZWe-hLY9u7GzkUrjaPeZjcv9fP7cuEjXizIeKdwa3JRUXxDrNVn2SRqudQR2BUhTZT0KR35vqYO1aEThwX8994EnekE5Ny7vXVvcsPq_y6L-4Z1BY4MZcM7ASM0Ag_BLi_UtwrPss9e3QsE6aVGTCGXzX0NTSG3l1yVDmhBpfVVbsNNafwEiSL8gor13nXQdscuZo2p7oF79la8XfyOZnSMACBHgIL4=",
  "id": "rs_073a942ff8fb4518016ab463d8919487d0a3e1888a137a4a59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":0.05,\"left_z\":0.06,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gray plush remains just ahead and left of the closed jaws. I’ll make one final approach at the left arm’s lateral limit, aiming for its reachable right side.\"}",
  "call_id": "call_nPBvPqWfCzYYTM5Maz2aYmNG",
  "id": "fc_073a942ff8fb4518016ab463daccf887d0a2b4d78be777261a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nPBvPqWfCzYYTM5Maz2aYmNG",
  "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]: [0.1127, 1.829, 0.8097, 0.4385, 0.0463, 0.0006, 0.9952, -0.02, 0.7982, 0.6067, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4707 left_y=0.0487 left_z=0.0549 left_yaw=0.056 left_pitch=-0.0166 left_roll=-0.0093 left_gripper=0.9952 right_x=0.2912 right_y=-0.0001 right_z=0.1737 right_yaw=-0.0044 right_pitch=-0.0401 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.9265, 7.9795, 1.8291, 0.0464, 0.1294, -0.1197, -0.3624, -1.2376, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746dc9b9ff70540a4593ec546a62dc4ab92174fb79202a310a5eaa4a234a3bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d24281aa96788d7adf94e38c54610dbc510c99fc68af0532f404be67b01d7ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866b82b9e63380c02dce1f6f4957d998bdfe6f3af635a664e7005e443380e16c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0563, 1.6527, 0.2977, 0.7555, -0.0166, -0.0322, 0.0129, -0.02, 0.8314, 0.6075, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3556 left_y=0.0266 left_z=0.0096 left_yaw=0.0703 left_pitch=-0.0359 left_roll=-0.0019 left_gripper=0.0129 right_x=0.2934 right_y=-0.0002 right_z=0.1653 right_yaw=-0.0045 right_pitch=-0.0713 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.135, 3.6855, 1.9902, 0.1636, 0.1441, 1.0379, -0.1299, -1.4701, 7.3641, 1.6581, -0.0269, -0.0366, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0841, 1.8168, 0.6392, 0.5896, 0.0315, 0.0017, 0.0127, -0.02, 0.7982, 0.6071, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4375 left_y=0.0349 left_z=0.0281 left_yaw=0.0394 left_pitch=-0.0242 left_roll=-0.0005 left_gripper=0.0127 right_x=0.2912 right_y=-0.0001 right_z=0.1739 right_yaw=-0.0044 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -7.2547, 4.4786, 1.956, 0.2076, 0.0904, 0.7839, -0.3624, -1.2239, 7.2137, 1.6777, -0.0122, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.829, 0.8097, 0.4385, 0.0463, 0.0006, 0.9952, -0.02, 0.7982, 0.6067, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4707 left_y=0.0487 left_z=0.0549 left_yaw=0.056 left_pitch=-0.0166 left_roll=-0.0093 left_gripper=0.9952 right_x=0.2912 right_y=-0.0001 right_z=0.1737 right_yaw=-0.0044 right_pitch=-0.0401 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.9265, 7.9795, 1.8291, 0.0464, 0.1294, -0.1197, -0.3624, -1.2376, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746dc9b9ff70540a4593ec546a62dc4ab92174fb79202a310a5eaa4a234a3bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d24281aa96788d7adf94e38c54610dbc510c99fc68af0532f404be67b01d7ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866b82b9e63380c02dce1f6f4957d998bdfe6f3af635a664e7005e443380e16c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPlIX_I30GlihQK4F_F18IA_ovQUpAGAj5aAW84iBZJS97vo67VpTBCylq_pFhUP3Y_e4PCcyb5DwdEJ7ZRfe784TI2Uo64lcO6UrU_0DphvgxC4vlrsYJ0YD2NfY66_lVS6AmrEOo3PZnL_kTHbNcMuOebEAzMQXN01c7f896ll5Vk0Fl3Byag_aoMZQLYBqi3Vo15VKIHnIht7ziuIBZXCecA_eD743T1nnqfSNpzmS5tHcbdlk0KrBVBIZxQzgE4ybgnlBuYYvT-kiXeagBBUzjlpz1t-OI-hC1hJjYxsRj_SHhHWHZQ4bN1BCQSAlY9RzrDCzVi7CWOF5Jb2EVxVmRoihkErkGhfQfyzPBv2kRC6T64Kt7zZxNf4pE3Z1XRj9SkjPGolf4WVWf_BzJvIUMmoeYAXnBQr03jQh2veRgNmIiK36ufXOK8ww2eyNFmyqt3IA-tK-ZLRnvOtCR15xwZzw8p0pvzN0eBDRiHvdQu8C1mXPkV9mcygY4o0TKzzncRrbhrEFcqK5tLVTEn60naSHpqlgZGXFdqgk9cuhepKTtmSXAcd2G1ZQJVS6_RdQlTvd7QDS1bZZEXgw9aQUsQeVOFgLr14-Gup5-HxIkGUX7tqWSFh79-UpDFQczOru9SHCfVb5HHxI34WTbdKWK2kT-5pyR3Rv6iS7f6oje4-LdGFHpRLjj3h3goDJ-AhzO4PpZGUQ0uWqDlbuhtwbJg2bbG86roKKM61HNIWxPu5JU0eYOkbnqTw9LbW8DKOsjWXzIcUzi6bUCKzXmbGi16AYa2pF5hob42XQjI3VbsHv1Yw1FORSNmJR-DoDOQbKqZ7vVBUWTJJ4KtdVp8gyhyWUBvy0t49TzjDNcdkvCCx5VNghQCf4qeQ1sEaV8nQeWaBkPCv5ZeX6mn4riDjOCnBajV1ztKlEo4M18CHJ_j9oYauOG3D5gbr83MvbRAhrkhcPjWm2BD-EuXi5i3j8pvZRY6wWPwmvsOFXCdLH82dLUmZne--l1XRjs2YAWyR-XdDW3AFx3WGLPpB8RTYOAEAJay1iYFpEL1uGgRscn4XI1yZuJgbi-qwm8WnI9EH6dusTUvvYuY2u3iwGcny1cjyApLxPwtw2sOpGNqUehtFsagbHKn1R-ZxwHz9oY7N5g90pog72Ht-7NIN14tlcRiAf7Q4GPgJLQQAgjX_0JXBQYnyQ-3gNuk5EStlMhTVEdGuk6XT-3HvFUOElghkojT4eTIud0hDYU4qZcdEhX356uWIpDMkPJ1-8zeY4f5oHHBjxeZzTRAtnXC24aX9bIdFPEy8RpYMa8V5FTHFKUEr0Q5PPYq44yEkq6ODhls-CfNzXy1hojUUHq5H32w8cgTZPSlAaBa2aztxouEP8eVGwbdF3MCrHqjUW4u4qU3-Tx157kqX7vO0f0NBtcbHAlOh8hNDzpBwUtJwcRFeV3QIK1PKqVWs3_7mLIryXpZo8TsOX6JFhPdrwWfZfCYKPazOGAZ4wJ5b7Pboo_q3XHI9b-ppoX5yCnnFU5sVa4G5oXYI89nnrV3-0HhYfzmokXOHrthFLyQFH6zHvTnFLMA_JnD3hYW0bqLJ_151jAo3NOF092iMhmbsaGj2SkBoZCOVpMvxoCe7L8PSA8uM1hnje8R8Rt9-yECQSfQHVrKtTaO-9SUw94TUaZPv-Q9ltbxTqkGSKw3AHsJ66sa5w64vcgND2HQrcXi2g90yNDomddmUKJmIfi3yKtT0dTv5xPsJ1qsB8lFsCu6LdUU6z0rgCCXNu5B37iFB16Kd7eEyOboaca5o7vL9zkKjoayXn7TnV3hpV3EC4jzDbn2-WJ1kB92KOP2lMGltgLgvoNUbvsvaxQXO7DD5VCNvSZtX9rYrShAIG3Om6A9yOMGv6rA4EY1vI6zy0o1GBVnjZCD-8eGBHPYTh12ps0t2ExapbWtYlpviV37uHc8wtBDrCsRpq7MOLxGovhBVMXMwZqdvDLOJ95_BwGjRr-B7syJtjZ1DQCe2XeXSzGYePZj8Y03vhGGudKNAOUE_L3pOJs3h1LZxRM1zdMGQ6tGgAdknKDaVCopHjBzxb5QjVTcC_9SC_P_T7cAEwfNGj5CmuC_vTugQZzCy-zjRDUb-oDfkRnDibDFh0iHksdAP8eHlzw96q9jGRkdjbXYgkdlq8D7eiCiHWW78GOWn1rPB0FLinRfXfGzyCxyW6c2jS8h_szBivUCYcUHFWdd-cWcsOtfrADAdu3noDeHia0XKVoXU-xajZoEZhgJUrUX20yg2VXbM3NZWyrQPAaRv70lmG-T0AxID-NbROPfwD6nvBPIVOMyoziIJwxykp8DjsRHIaWH8Iwt-kBhOVF54_SDGCHLh6VLyQaapdbTIISmi_nOUoc1KoDddHK6kEfUThfpuB5d3Obg4LYofe-vCieP0fokGwGUnPdy09He63Un6duuffEDrPsF61mVX5mT0vmEaMTQaMN2oDFARZsgrpkspqI5_icVxxJ0SIvJVdk_7Z91-YFak4IVoDytD6bkuVT51DEaE7W9YJV4z-Qr7OBUJiLpGexVJZNua1GVrYVKoYO18g==",
  "id": "rs_073a942ff8fb4518016ab463de3b2487d0a90df2268fef23e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2966,\"left_y\":0.0018,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.32,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The gray plush has moved toward the left workspace boundary, where repeated attempts are not helping. I’m clearing that arm and switching to the tan plush in the middle so I can make progress on the sorting.\"}",
  "call_id": "call_3WRjXE67Dl6LnmjDVnhYkUIP",
  "id": "fc_073a942ff8fb4518016ab463e3ed9087d0bb3a79efa535dde2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3WRjXE67Dl6LnmjDVnhYkUIP",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.0704, 0.8394, 0.73, -0.4633, -0.1001, -0.0883, 0.9966, 0.9493, 1.8542, 1.3495, -0.3466, 0.733, 0.6186, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=0.0001 left_z=0.2083 left_yaw=0.0442 left_pitch=-0.0061 left_roll=-0.0043 left_gripper=0.9966 right_x=0.3669 right_y=0.3154 right_z=0.1482 right_yaw=0.0249 right_pitch=-0.0312 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.7026, 9.9761, 1.7216, -0.1734, -0.0611, 0.1392, 0.6359, -9.8667, 8.759, 1.2479, 0.6081, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebc618200e5bd79ac5aef7c277b603159e8ae2df53e294da647497e3d12a4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ad58af1c5f25f14cb37b876dd7abf811eb51f64c41740239e123d61305fc7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702905dc250de275f55c374ef4596ffb6a44104ef4687c78008359bd593f6150",
      "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 · 6.729 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0246, 1.6203, 0.6479, 0.3805, 0.0006, -0.0326, 0.9952, -0.02, 0.7982, 0.6079, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4253 left_y=0.014 left_z=0.0696 left_yaw=0.0243 left_pitch=-0.0283 left_roll=-0.0119 left_gripper=0.9952 right_x=0.2913 right_y=-0.0001 right_z=0.1742 right_yaw=-0.0044 right_pitch=-0.0393 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -7.2, 7.9658, 1.7558, 0.0415, 0.2418, 0.022, -0.2393, -2.2496, 9.1829, 1.663, -0.0513, -0.0513, -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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.829, 0.8097, 0.4385, 0.0463, 0.0006, 0.9952, -0.02, 0.7982, 0.6067, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4707 left_y=0.0487 left_z=0.0549 left_yaw=0.056 left_pitch=-0.0166 left_roll=-0.0093 left_gripper=0.9952 right_x=0.2912 right_y=-0.0001 right_z=0.1737 right_yaw=-0.0044 right_pitch=-0.0401 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.9265, 7.9795, 1.8291, 0.0464, 0.1294, -0.1197, -0.3624, -1.2376, 7.1863, 1.7118, -0.0611, -0.0513, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0704, 0.8394, 0.73, -0.4633, -0.1001, -0.0883, 0.9966, 0.9493, 1.8542, 1.3495, -0.3466, 0.733, 0.6186, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=0.0001 left_z=0.2083 left_yaw=0.0442 left_pitch=-0.0061 left_roll=-0.0043 left_gripper=0.9966 right_x=0.3669 right_y=0.3154 right_z=0.1482 right_yaw=0.0249 right_pitch=-0.0312 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.7026, 9.9761, 1.7216, -0.1734, -0.0611, 0.1392, 0.6359, -9.8667, 8.759, 1.2479, 0.6081, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebc618200e5bd79ac5aef7c277b603159e8ae2df53e294da647497e3d12a4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ad58af1c5f25f14cb37b876dd7abf811eb51f64c41740239e123d61305fc7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702905dc250de275f55c374ef4596ffb6a44104ef4687c78008359bd593f6150",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPr_mwLLUX813EaCfL-DqGWFOoiGORy6liX7LK1R84XJc8rihVw4JBzvVDhDYjuwbhRdXlNJdko9OAGok4dplrH2OI33hTtZkoBTHLzBhQet4UcBJhBluDvI7IKmi2UYuSBO0nnYqBNjMWzNNWW3_KOyhSsxANoEngNyUp5P4GIDyKXbMmuFcGruGWgvA0Xy04igrReUh0NKAbqdXPHQmEYcH4_I0Pf9PfvIV0KzMnXQxmyvT0D36VpEi5ygBFqCBcU8i619YuV0PJ_BRdSk4gRyBnUIJqc4KnJcppm8l0FG55l58-a6q3m58LaNapgDAmcK2ie4zUPG119Ye39a5dAivh-HgAQyl6O1ELaxu1GU6Hhf-bR2UIZgDkkObsW_ExGX9SsDn42t3UvFHMfIq40Wj15Jho08CFBKCoygk5ObbGkxKrKayZ-v75enA_Y87LLdutX_hHFupUMeIOyBjWWVKYbchjjDEdiqnWPkU5CEMTsZ_26lIal3UNFEvGLROKukNhtRNPeZu8vZx10ahtiZZbdrPcZHqZ-qiYfTPN8STXD7AEGHvXNen4f1nZfs8ajSrJmqKapEQQQ1_iRItSz0PEFATSdUhZ60GHxgdgQLzTai4pOr1TmqOXzkTfprOhLCPHqv5akUpb8MXMsB0Ipt1jQ72TKpLT6zOtR0UbDr8RJqZbOVxd5GYV4YCvU-Gml-e9_K4iu_eUl0AAsZ9CdGsG14GWqNBIs2B_wf-VT9dz74qu1y5iE_49RBCvwM-n8C37RfxrBn3DPQBBtiV7wNyraqS3OmvHac9en0WldMv2hhPUJcneZa8Om-6S352TuHD8njZBaIF0eNH_3Vau3vfGY5E8hwsN8nbvgq5W0k-krMO8WMIDijJxPIU5RjcpqZ6ieZQmwOO5N4bf5r8C-X3Agp4mBBqx1BBBDRkIGIYYGRpeN2Fi0QZL1lL4LsdGh12w2xSv-EKAGr8w2Nez2WrdZUNqBIMXNalss67Z4OTsJBNrJUZV0r8qdAueAstNg60TGimkR__Zzowb7r0vEROFiv7itxZ2dKrWsQakD7n4RBRqW8yuv7P2c9l3b8ZeHoDJ7k38YA9kW2C3WTD6-20g4fJoXb5F1P8gBNe7NzZUc73tLQT582uTZ7HQ4IjN1J7Im8R3JaUrnP9WpqdHqg3qTqZ79zL1exDNt0_yxj5ckBcEyx1QVJ7IY7lVE16qEdb-gG_Qs9OdCB9Ih89xgbCjozVCrApgmjX7s0jqyLQ7znaAvMPMafHhOV7HnVU2NezsHKkK5P9voGJb0UyP74QYAySWgcFhn20H_ke2oA7PuYRhKE8CO9jutGh-F44Sw",
  "id": "rs_073a942ff8fb4518016ab463e9e0d487d08d132debfdd4a3f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.32,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The tan plush is centered on the right wrist’s jaw column. I’m lowering the open jaws around its body, keeping clear of the baskets.\"}",
  "call_id": "call_ebmoQXfLJaXnupnwzB3FhKR7",
  "id": "fc_073a942ff8fb4518016ab463ea788487d09c04af4cce33fdf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ebmoQXfLJaXnupnwzB3FhKR7",
  "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]: [-0.0734, 0.8433, 0.7368, -0.4828, -0.1055, -0.0906, 0.9968, 0.91, 2.0491, 1.2114, 0.0456, 0.7189, 0.5602, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.2064 left_yaw=0.0469 left_pitch=-0.022 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3914 right_y=0.3198 right_z=0.0601 right_yaw=0.0273 right_pitch=-0.0034 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7983, 6.4205, 1.8926, -0.0073, -0.0415, 0.0024, -0.5812, -8.5812, 4.5607, 1.3602, 0.1148, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11b1dda5499da97be15f9de54f18d0bf75312a4de8d47051c0c04bc01dede72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7a79ff735235b4ea176883566e8ef917df40e34ce2fe8f3369977923ed0b32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb557a7210b956623b1e5aa9596e6ba4f598d81bbfe0f52dccb68c79412336f8",
      "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 · 2.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0841, 1.8168, 0.6392, 0.5896, 0.0315, 0.0017, 0.0127, -0.02, 0.7982, 0.6071, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4375 left_y=0.0349 left_z=0.0281 left_yaw=0.0394 left_pitch=-0.0242 left_roll=-0.0005 left_gripper=0.0127 right_x=0.2912 right_y=-0.0001 right_z=0.1739 right_yaw=-0.0044 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -7.2547, 4.4786, 1.956, 0.2076, 0.0904, 0.7839, -0.3624, -1.2239, 7.2137, 1.6777, -0.0122, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0704, 0.8394, 0.73, -0.4633, -0.1001, -0.0883, 0.9966, 0.9493, 1.8542, 1.3495, -0.3466, 0.733, 0.6186, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=0.0001 left_z=0.2083 left_yaw=0.0442 left_pitch=-0.0061 left_roll=-0.0043 left_gripper=0.9966 right_x=0.3669 right_y=0.3154 right_z=0.1482 right_yaw=0.0249 right_pitch=-0.0312 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.7026, 9.9761, 1.7216, -0.1734, -0.0611, 0.1392, 0.6359, -9.8667, 8.759, 1.2479, 0.6081, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8433, 0.7368, -0.4828, -0.1055, -0.0906, 0.9968, 0.91, 2.0491, 1.2114, 0.0456, 0.7189, 0.5602, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.2064 left_yaw=0.0469 left_pitch=-0.022 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3914 right_y=0.3198 right_z=0.0601 right_yaw=0.0273 right_pitch=-0.0034 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7983, 6.4205, 1.8926, -0.0073, -0.0415, 0.0024, -0.5812, -8.5812, 4.5607, 1.3602, 0.1148, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11b1dda5499da97be15f9de54f18d0bf75312a4de8d47051c0c04bc01dede72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7a79ff735235b4ea176883566e8ef917df40e34ce2fe8f3369977923ed0b32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb557a7210b956623b1e5aa9596e6ba4f598d81bbfe0f52dccb68c79412336f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPzKSIDsr7G1Zcsnfza82x1yhQ_lj9Lpbp09V7QNCp391K66E0oBHKURQb3iQ4l_roLHejCeRc4tarNoNckoRmwW5fgJKKy5ul8c4BII1kVF09H6zqErcSjTEwwRW-sqViVysX1hnBBgSNk72_G4oHY5DFYRo8aIaruJS1KNJO-SB2OL8yI19D2_xSgxFdzyUkcsDlptM6jDNlw80BXilW5d0ViZj2RqWAGgk6bdB9Lhq4Z7AiYfiNWZ-RuNSt_xSSDRga-cVowIl9wmtdM6YgI-j5piqzBdUPomKIv0-3Sro0YNPJtvTVRjJ_MNw066fn8dOSJasDGCyN1HM-dNsaxEhmTJ2QDhf2GTV6ur6pQvh4WoM5VEfeNWXctHM2wE-n0wcBye3kC0yW9FxNZaz2VPqiD151JWasObsdL-vzTVcM8q5g_5Yq0sklKPv17amDzRlePMfFhnjsT6NIFDe_2HVEXDDHEHDwDLcRhMP4fNhzP8RsDV7QekjMdvKwYZItDrH2598f7rJsxzDVEbJ0KTvckjtF7m68PI4VSK1W_VDLHWoUh1SpdZHpvTnxaawQpEUBUvGFUE9PPn9RbODu8XOU6Y-1my8b9T9aOSaQP5sA0BpV9Zc_USJ4Hh5cMeVQOa1xg6IDd6OvcB1B_kCUqvwU0XkffysdSdaBFH-i2G5Ys82YQGN-FxeCw5uvCRdZSb2xFQmMPgTh1RmL5jd_xYcFAMQGC5yoJ-X97Qo09_ZegpPZ9TR__H-EpNAIYOTqStReIJ8C0AztxVVOP8N9u8rNMWyufHFyPPXOgHVnVDLpE7zX2Uv5pi7h1LLBpC2mJWnhsrJAzbJUM8JxQO2vRMt1zS_kD2ih-5vG8h0L54vs1mQ5JDShOSfoYP_xjJu6aTlK86hgSOjj8iNjw8yxjtD2xd3jO9oqYtGRwiszLejbnp457yaOqOQVl6Qqx8Rt63qw0uCgk-bRuWazBAPYWNeRQQTlIKJ3b5uidaUBLk0ca5-mxPI7D1ckhzpZyCqAaCWQgxnbr-65krmGv4zd6SJ5x_aDbCIgHGa1vuguExWg80cXGmnUs6gtiVYH4_XvMt0bqvuuYCSovUoXWbC32DfQTTKDLyoFZknGEQKxVXpJNzheQwkNpHSRfkmhNeQZvhTh9xCMXzxywB8P_hZBAYM_CYaZ8ONuA38bE49ItgvxdyRc_g7bi2S0DskIxbbeSQnc63lgBtPAi1BDRDycrejgBz-47GYYuj7bnLzxggTelwsBgajcFBzNHTlo01Ihe-zYrxcPut4oZEF-sOU4duJyX_iNKS6xc5YNSBCSeFKD-q_7eBh6Mq2xCMg7wcxQKvQUI1KaD0lvtTvz52U3MhpdN9-LKrQ1SKl7CluvraT52c9GCeACXiXK2FJXCj_iqSkxCfHYjLkvvj2pWXoGccazGx_2FHXldIKGkfNXGAakM3ol6gKed_XqkJ9kGoeuVFzjR-g0i1uarfhuH8Y5n8w==",
  "id": "rs_073a942ff8fb4518016ab463f0a09487d0bb044425d02ae4c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are positioned around the tan plush. I’ll close without translating, then check the opening and lift to verify the grasp.\"}",
  "call_id": "call_PJ8aYn274F2OdfzJ9cw5ZMKx",
  "id": "fc_073a942ff8fb4518016ab463f1d73087d0983293b7ee5836cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PJ8aYn274F2OdfzJ9cw5ZMKx",
  "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]: [-0.0734, 0.8436, 0.7368, -0.485, -0.1055, -0.0906, 0.9968, 0.9047, 2.0571, 1.2053, 0.0711, 0.7441, 0.5388, 0.2152]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2058 left_yaw=0.0469 left_pitch=-0.0246 left_roll=-0.001 left_gripper=0.9968 right_x=0.3953 right_y=0.3152 right_z=0.0599 right_yaw=0.0155 right_pitch=0.0173 right_roll=-0.0372 right_gripper=0.2152\nstate[joint_eff]: [-0.0342, -1.1966, 7.0769, 1.7851, -0.0806, -0.0659, -0.0122, 0.1162, -11.5487, 6.3248, 1.1844, 0.0073, 0.1636, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0fe45ba196c0998f9209dd3f3b49096efa278f2c2ce8b0c5d94e878308ed6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4636653bc51246cfe59e0ef54f4dd7cededbdce5f4eee7fda73767175a3016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296360420b93a74b7bbc4b63f56636aa1870d2531fb9acc985f1cc63d9279629",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.878 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.829, 0.8097, 0.4385, 0.0463, 0.0006, 0.9952, -0.02, 0.7982, 0.6067, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4707 left_y=0.0487 left_z=0.0549 left_yaw=0.056 left_pitch=-0.0166 left_roll=-0.0093 left_gripper=0.9952 right_x=0.2912 right_y=-0.0001 right_z=0.1737 right_yaw=-0.0044 right_pitch=-0.0401 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.9265, 7.9795, 1.8291, 0.0464, 0.1294, -0.1197, -0.3624, -1.2376, 7.1863, 1.7118, -0.0611, -0.0513, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8433, 0.7368, -0.4828, -0.1055, -0.0906, 0.9968, 0.91, 2.0491, 1.2114, 0.0456, 0.7189, 0.5602, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.2064 left_yaw=0.0469 left_pitch=-0.022 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3914 right_y=0.3198 right_z=0.0601 right_yaw=0.0273 right_pitch=-0.0034 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7983, 6.4205, 1.8926, -0.0073, -0.0415, 0.0024, -0.5812, -8.5812, 4.5607, 1.3602, 0.1148, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.485, -0.1055, -0.0906, 0.9968, 0.9047, 2.0571, 1.2053, 0.0711, 0.7441, 0.5388, 0.2152]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2058 left_yaw=0.0469 left_pitch=-0.0246 left_roll=-0.001 left_gripper=0.9968 right_x=0.3953 right_y=0.3152 right_z=0.0599 right_yaw=0.0155 right_pitch=0.0173 right_roll=-0.0372 right_gripper=0.2152\nstate[joint_eff]: [-0.0342, -1.1966, 7.0769, 1.7851, -0.0806, -0.0659, -0.0122, 0.1162, -11.5487, 6.3248, 1.1844, 0.0073, 0.1636, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0fe45ba196c0998f9209dd3f3b49096efa278f2c2ce8b0c5d94e878308ed6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4636653bc51246cfe59e0ef54f4dd7cededbdce5f4eee7fda73767175a3016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296360420b93a74b7bbc4b63f56636aa1870d2531fb9acc985f1cc63d9279629",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGP2w9e7Vt5f2oUXIDZJx_Ky9m44a1WP-GHT4nJpLQOzFMYceucuqKSqlsDK9htbLfk4ZIhUyEzsV6Xk5YZTGzoCnKtmasosfkbjaLGdJtPWcifQSRjnrogSn2lRyLBCxbZOKJMJ7qForrwGInp9adIkS6-lZ2uDKGWMxdOyRe-L9iu5linQ57JJzwN3WuhPzc2bIgAxQUS6r80c8xBG-7VcJAa9E2P9z4hbdzJofExGOg40VVMz4_UGwnIWYOoYAysoPIj2Pql_ISJZ2wbq9hx1Ivxf6ecCzCpr8bQEQ3IFsKc0ju5NUViope7sPN0qJnzuwZQm08GOgnUhPsDOmBaRlfQGhb64bnYlHAgdZxwdcUedCte4ivzllP4DzTFlzGGRvam6iHDybtzVnsevViuZDR_DlfWqYetBFx_ouDqIpkMuyBUFZsDv53qflVXhLuyp5CTu6JxbASPXjZItwDmNFSK9yTBzFJ7ZZk4eJjw2kxDlW-GYMFvH6QtNfXB4v3Nw3HgOQVIZCINEwz_mVHnFyftLUavB5vF71HI8NzAU6ofwyeziRnqAdzL73mSt5AGOGhssV-g-umgO3H08-m7HNmuDNHfvZHOp1CfKLxLB2fcWtdobvX9vdKRjKBlD0OHiH8iFp8hNazHDcrbMSbtbnI78glDAyNpNbEXwDDBleW36Q-IWABLkN1qM28eFwU9ZbPKH5U69BMsvJW7fOArN3yMAk9Y3tR6zzNAF0-ao49KFq3IYdvGsielBshzEJl8Tcok3VqhfqFdOGVNZ21AQImgleNhTbmvTK7oMP-wsw6OHOT01pkkrRliPml4Le6NaPOskNDuMAF5wrHkkcrOjHUQLiPH-uOKGyR-qyLSc2GhqmJCfFLDovzwNsyXJdMZlOIcMHJvT6RkyoG4LISZrU1vPWi_qeTh_i30zwkRIz_0zsm4QsHcdmrHj5Hq3s5EPTPeT4hY0DGP_Qxd-FFy3LOHKeY3Ee_32oOhqA51VQPxjtvspWkztCNXFGeYQ9NoSyzDMaKhlboaN6V-DRxZeepAsFQOGQlCdZA3fw07UTkFqwUM-PNLV29vfs6AMjL6NOZtRCXs_3gFZm_4dElICWSHFdNVghMy-fPX8OhwQSXYI4mLGjdFpK-jk1K96EfYGqPqjCpiuNjzJG97z8EwIlZjKQYtK5namZ1C6re40md7e5AtDbXgKBgKiEBNqwze919kWzzdzX1UjowwieEBcBSUEM8JKv72bb3PW0Fw7uPhygaEpNKfPNHRXiHCX64Dg",
  "id": "rs_073a942ff8fb4518016ab463f5490887d099bd7bc863810720",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.145,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper stopped at about a 2 cm opening, consistent with holding part of the plush rather than closing empty. I’m lifting to verify that the toy comes off the table.\"}",
  "call_id": "call_tKZAWt1pO1oAJZBn5cnEm2pq",
  "id": "fc_073a942ff8fb4518016ab463f5d07487d092178cf05e16a15f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tKZAWt1pO1oAJZBn5cnEm2pq",
  "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]: [-0.0734, 0.8436, 0.7368, -0.4854, -0.1055, -0.0902, 0.9968, 0.9009, 1.9636, 1.3216, -0.1959, 0.6979, 0.5472, 0.215]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2057 left_yaw=0.0467 left_pitch=-0.025 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3909 right_y=0.3164 right_z=0.1047 right_yaw=0.0388 right_pitch=-0.0448 right_roll=-0.0527 right_gripper=0.215\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.6972, -0.0562, -0.0464, -0.0122, -0.7043, -14.0923, 9.6479, 1.2674, 0.4078, 0.1099, 0.6178]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94868cad778d64b02317c930ac0bc1fb130d27436ef681bd8f2a00bcbe57fa9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42409521f9b8cd4d2dae303a33ae9b9e1b8bd056da720ef0eccb85f4612bb423",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b041188da2c4668567f857bb2832334da0ae57b427a143733d9fc6565fcdf3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 8.008 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0704, 0.8394, 0.73, -0.4633, -0.1001, -0.0883, 0.9966, 0.9493, 1.8542, 1.3495, -0.3466, 0.733, 0.6186, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=0.0001 left_z=0.2083 left_yaw=0.0442 left_pitch=-0.0061 left_roll=-0.0043 left_gripper=0.9966 right_x=0.3669 right_y=0.3154 right_z=0.1482 right_yaw=0.0249 right_pitch=-0.0312 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.7026, 9.9761, 1.7216, -0.1734, -0.0611, 0.1392, 0.6359, -9.8667, 8.759, 1.2479, 0.6081, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.485, -0.1055, -0.0906, 0.9968, 0.9047, 2.0571, 1.2053, 0.0711, 0.7441, 0.5388, 0.2152]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2058 left_yaw=0.0469 left_pitch=-0.0246 left_roll=-0.001 left_gripper=0.9968 right_x=0.3953 right_y=0.3152 right_z=0.0599 right_yaw=0.0155 right_pitch=0.0173 right_roll=-0.0372 right_gripper=0.2152\nstate[joint_eff]: [-0.0342, -1.1966, 7.0769, 1.7851, -0.0806, -0.0659, -0.0122, 0.1162, -11.5487, 6.3248, 1.1844, 0.0073, 0.1636, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.4854, -0.1055, -0.0902, 0.9968, 0.9009, 1.9636, 1.3216, -0.1959, 0.6979, 0.5472, 0.215]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2057 left_yaw=0.0467 left_pitch=-0.025 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3909 right_y=0.3164 right_z=0.1047 right_yaw=0.0388 right_pitch=-0.0448 right_roll=-0.0527 right_gripper=0.215\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.6972, -0.0562, -0.0464, -0.0122, -0.7043, -14.0923, 9.6479, 1.2674, 0.4078, 0.1099, 0.6178]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94868cad778d64b02317c930ac0bc1fb130d27436ef681bd8f2a00bcbe57fa9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42409521f9b8cd4d2dae303a33ae9b9e1b8bd056da720ef0eccb85f4612bb423",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b041188da2c4668567f857bb2832334da0ae57b427a143733d9fc6565fcdf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGP6hORVvRGwmn7GNw9607YhxYoTbqXQcgj226B3vzE_D8PG4Tx6KFs3qhm6wxDbRrwkNunpnyTbuFAihCq2Ut_54DWsP-EKrkjufXXQlPw-rO2RMWigSHZZYTsdyviAMmMCkBjXfBjCXC6hz3CFC0qAYI1v2SDF8IG9zqmf9O1J0S45Q_IXWxHFO_InBkzWzbqzktobWT5pSCHkjWtYkmeKO7inFvpY2m-qf4lTBCOhv--NPOG1IyLoPOekIToC4mS_6xKd1SFCZgC5_SiKEVme0escYrO9zl31yn7udQ7Cg584KXpXuOs51Y2jqay9OZG-xAJ9UF0S34Ydp9TlKYEWM7QONd8Ax0ok6AfvfbWwVt1VJ9R7Xj9Af1-zSDmzfQTapta7w7Qk8vzxqpBeSD7nIf-Y9nfPFImvTWSIewD-H6lk51BkvmdrJoYd5YLLEZ28Co12zY3UazwfA6UGF2JrgvSOw8zNbIrZRa7yP78ogEPArpSjFVDwOCUtfkcnSI6iKE6m9Bw1qnex89QW4tF72NdFTiN6kGQkYVVJbeS88-aYG8fR2CIj4PG36hJr9UTkz2wz8ghVJrtm5Wlx3lfG_vj_BOt6dzv2qw9Xt7CKnstfoKe3Hv6Y-6d-WKRjWWcnGL7RPgruGiB9FARnj7iLV2xhcZGpf9Gl3REthl89PrtNt3ugz0iddWjuvIOUhT988diRZFvrrcKj1qG178AtswpHAN82smjY2W5wNYQ0Q7Qz4AKKcvUzsc74YEJEBFM4jsIt52Rm2iK7IjR42OgIsrsPKl7F3i9FHorIQNmYRMyjjTtD9VeT8kqbXGi4KJ9YPpMIJF-dDJpKVBxUaJhJ3ir9Ex3HFv4LQETJL44iSxKeEpwcFWtnPzEPT9eZhDJy2-NZP3nw7NwcRWxA4tjV4JzaM0kyI822fcGEs5nNvPoHjuejBywAfdL6bcLJM4uze5kBkskJR6rPv32LU77QQ58AkVbDczuDYhX6VyMwIolyp9wl2bPyeqiBBZfzyLaRdvgOhgensmqIYcqiyR00WVwxsp-4GpRB3E-oYFofuxSMiUUGFkInqD1dPZsBfdrKbGtbvwv5ip8lFFWpB1XQHyfW93-vmeS_DNLgBh9-b7f_Z5sQg6cd3U5dG_VneLFB3JF1VSlwZxs7D1CNUf3g39yFE7j5wq-_zNtSGMnZxd_AhoEgP64sDE4SUQRwlmlIeOsxFTECro_KjBpfk9CQpszgRj6M_56NuZ45II5BBtJHexDeIK8gUQ74iZFjzlw26rppRMchc7BgcRmqnPbR6qpmWcdaZVNYoJTx4OjSvzUzHhtBDsYAQSAiVw4COXVMRbEB7dX5Nv59yAVL2-t_mg==",
  "id": "rs_073a942ff8fb4518016ab463f89eb487d084de60b752d96a19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.32,\"right_z\":0.24,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper is holding, but the plush is still hanging low near the tabletop. I’m raising it higher before moving toward the basket.\"}",
  "call_id": "call_GkX7YdCmOq8RHbQpCBTGnk4a",
  "id": "fc_073a942ff8fb4518016ab463f944dc87d0a8ca2cf12ff06b94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GkX7YdCmOq8RHbQpCBTGnk4a",
  "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]: [-0.0734, 0.8444, 0.7368, -0.4854, -0.1055, -0.0906, 0.9968, 0.894, 1.9259, 1.6573, -0.5507, 0.6762, 0.535, 0.2166]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2055 left_yaw=0.0469 left_pitch=-0.0258 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4002 right_y=0.3274 right_z=0.2006 right_yaw=0.0543 right_pitch=-0.0448 right_roll=-0.0381 right_gripper=0.2166\nstate[joint_eff]: [-0.1846, -1.5521, 7.159, 1.7216, -0.1001, -0.0562, -0.0122, -0.7316, -14.4752, 9.5658, 1.3211, 0.3785, 0.0073, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720f89ff6f8d2a97e7e5d3226225a66fdbcd9e09193a02cfbbbc452f57f0d150",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2ce3872c1abecbe9c520939942bc05dd5432b7ad358aa58d26bea6df5e0faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5bd1ab2a226b843239da31028038c4442a1dba2ab6a1c87ad3f5a121829b69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.85 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8433, 0.7368, -0.4828, -0.1055, -0.0906, 0.9968, 0.91, 2.0491, 1.2114, 0.0456, 0.7189, 0.5602, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.2064 left_yaw=0.0469 left_pitch=-0.022 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3914 right_y=0.3198 right_z=0.0601 right_yaw=0.0273 right_pitch=-0.0034 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7983, 6.4205, 1.8926, -0.0073, -0.0415, 0.0024, -0.5812, -8.5812, 4.5607, 1.3602, 0.1148, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.4854, -0.1055, -0.0902, 0.9968, 0.9009, 1.9636, 1.3216, -0.1959, 0.6979, 0.5472, 0.215]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2057 left_yaw=0.0467 left_pitch=-0.025 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3909 right_y=0.3164 right_z=0.1047 right_yaw=0.0388 right_pitch=-0.0448 right_roll=-0.0527 right_gripper=0.215\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.6972, -0.0562, -0.0464, -0.0122, -0.7043, -14.0923, 9.6479, 1.2674, 0.4078, 0.1099, 0.6178]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8444, 0.7368, -0.4854, -0.1055, -0.0906, 0.9968, 0.894, 1.9259, 1.6573, -0.5507, 0.6762, 0.535, 0.2166]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2055 left_yaw=0.0469 left_pitch=-0.0258 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4002 right_y=0.3274 right_z=0.2006 right_yaw=0.0543 right_pitch=-0.0448 right_roll=-0.0381 right_gripper=0.2166\nstate[joint_eff]: [-0.1846, -1.5521, 7.159, 1.7216, -0.1001, -0.0562, -0.0122, -0.7316, -14.4752, 9.5658, 1.3211, 0.3785, 0.0073, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720f89ff6f8d2a97e7e5d3226225a66fdbcd9e09193a02cfbbbc452f57f0d150",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2ce3872c1abecbe9c520939942bc05dd5432b7ad358aa58d26bea6df5e0faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5bd1ab2a226b843239da31028038c4442a1dba2ab6a1c87ad3f5a121829b69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQC45M_0zTCAAsoplza98Bw5LBIjTGXs1hAw8qrSurX-_zbycE2oixmQx08xMr0wp6OY0S0r0A6it0CQdBjNf0pWwhtzH4VW1vOzUXU8nu7VvBV2h3cToN48_o9Qpi8XrxCl2XUY17FjKHUhwDSxorjOxpEveG8MrCM9LOo3mHqq8ExFqa0W3RWCUwwcUGjm4090GVqphQefwCV0TevFJpkHY2pQYPtXj1K3T5elPkhPprxfQnu4CJO4gb5Qmjvjx3kOPc0ugZ2oivrOoqOGCUargfhe7b7FIhP4wybFCxzk5LgCRbOFnSHup7A8T38QLV5FVoCpFQicP9f-g47hzlCjaBrDp14NrtdhrtSQSeRvYfCM5hSx0etcr3BCdq1rDHjySdkkcQMFpY623S7IY8pKYZ0Gse6tammjkn2MSHVncujWBpEgjomVCpe1AgcjWFHKoc_wlGWRm5WAzttCIFdGgwemqVo1cjE0oGEiQHgSFHhmvFaJ-tZ3PHhViZaKZ8M_KwclWbCPI1rYL3hmgUtcDtSRVV6zeyU91nUbH2n0ak_cDfSA5apxndHT8ncXqqHWz5TSMm0QP0lRLlUTexoQT_dBgtXfwGbJdEWLtTZVXFDm4n3IbS5lUFWDGv3RnpOUpNYGNh7kI5kqCmoVJUP5p7zW07RvFF9IEfk9bQT627HJHRjn1VRkE_V8_iTFI5UQuOjROpO4aEWf9_67knu9fJB1SEiVLnmYuY6Pf0GqAtSPN4Ia-mtw7uD4EajdIQSPUxd_VAR7g4v3IJouK5Uk4gYxbgt-OBFKOzqdzDlmuAGl1I3-yrZOFB9LjOvmlfO3XK9oXujUSC_4QGszzhUtrMZlfj-NtVcn9-aBuqjj51E2j5KVTDuv8ols-I_MQpAXBaSgWxDhJIN24TyuuIwX1bWKg3sIMNjY799bMYteSDzPfFVM8JRzezPJj0ELFAb46uXINfcAFRQnKgnpxq8xF1MTErfQNBJ7Ssfw-xAElv4dyKSr-ajHa4_940s94fkX5k6-7TTcVREi7BHpxTuMxa42L0_7822oOu7v8MF4WstJsQcgq9i5urk8A1I6PFmZSqouseUQPcv3ul3-v5aEH08pYwTeOtdHv9AHjRuYqT0rWuwA6rE4IDlPrz9Z3XOE5ZokVodxjRTbj5YYlfgfdrsnwMebySEZ_-MItZ3OGhZGfovy38mKkmiFEBlFTL95fMeITk-nv7W7s7prn2Imlo7_CQLbieK-WPBJL2u6jAQ2bfSK9LyKS9wxtxQUik6ZhvU6ALZm-3wKuAkyT0HCvRx4HnLCCGp8FZ4iPyOHus3ZvHuuE8krZlvoau1tspGfiaWKQ9FoAIqwUlEdqHUm2V5PVCv3TLMey3PbG5WJ4ZxZbbN2le1hH_oSDJ-FaQhTHRSLkQYiF0WRF6oEzlAxBZXj_mKkBV0VOTNafVXz4BBrt7p62ksl6nmWYRPrsL4DkuI99f81gyQbYt_jHtOFxbzxE9MlLbnLrGxW43o9BBnRvN1WdMPZ0LtSeI_NfBPcp_E9tX4Nff64uPYWVzAXCirAVCEsiAbxzxZ14MVYsRjSyeMqZMr9oTJTqam_UJUJan_OH-m5RWpACrpGwtgqLXTK5KfhVtY8_egHAR_CkZM4Z9PPexI3FWlP920o13VzBJEkZIqE238cwj9KvdjepnrvFuRrQhhWGUJyKhXoenRYDm7PB7GP91wZ_3JRNdzgfdugZt3igzUhWs0vF2MakjWxajGb3CdVsgHN3AXqZ2xOlFjs0xRjpOWLZaVqsrsW7WJB1JlvkniSCzdNX7Z5xQV63jZ_z3Q1sGKBeCj6aoA7XIgFSwNxZvlr_06yXV5oqfnxpH82E_KHkiGWudr2ifEg2W6dCE-RSDWzBJcqFHYF1E1dc8gAh_G_mRdwnt64yZCnd18xCCj_394znvJz_UBVOANayWiSN-8WwYEwjwQkGevRqZLBDcu1lmSLROZm61IqcoShGtPTuDm4iiNEtXd3TI7PXVnswmcIHYTmQJSWAfdO4_Knc3NiMtbs1FVNDpUfuY699O02Fe9kso6FRqH6QuoRXDO1fNnF2JDk5yw4FpLcipBvB1yyurFP2l4jZoZo-dKVF9iaehvCTo9cxjuBsZKCu0RyZj4hM_UeqUjtT6tuQjTgb-eEG4upqxypzYbJEQacDgsQkB07l_hqKCoiN5MTNWM5bBDSuk0ZhR7GGG_hIUjzFiDHNbwVX6Zdhaex0WpuUYEBKmngh8XQbQEwz4p-XA4WOjo1wMc_-jipW8esW7bkJ6Bv_dedwsxnJPmy6r7376dAXQphxaGSJK9qExEMfBq8QkMCBrMUGydxuxuVUgAdYRUsQI_0_nSW0KtDPqA3FYbYUNhCW6hQ3VTTLT-J8-p6SSKWQjV9WpznFzE7k-lIX_uHVWwJ1JLr0RFuAikCHtZEtXtvF6oMROP0kUQWHeg2bT7BDcxbWN5l-yTW39RW8qen4swlsVxEWkeir_0e7KmMzT9yXSeJ5vp09_Cr5zUoNJD5fzGbOZShDvSsOnehX_Gd0Ilkq-QMdOB-4vHE4RLmGtVcWBOzTzPQ2X7exkhZhbuYg3nMagPUK41QRbhvcZrmLSVnysgyBWTPCHwJe9dSm8472B3G7vs6Vz5mTfqClLoOF61OlE=",
  "id": "rs_073a942ff8fb4518016ab463fc72c487d099e1f5905aae88bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.14,\"right_z\":0.28,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The tan plush is lifted securely. The right basket is much easier to reach with this arm, so I’m revising the arrangement: plush animals in the right basket and pens in the left.\"}",
  "call_id": "call_sndheMxa9tCNEWJcQ0lOqyQp",
  "id": "fc_073a942ff8fb4518016ab464019c6887d082b5b423ddd4d436",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sndheMxa9tCNEWJcQ0lOqyQp",
  "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]: [-0.0734, 0.8452, 0.7368, -0.4858, -0.1055, -0.0902, 0.9968, 0.3477, 1.808, 1.4857, -0.1852, 0.2893, 0.1135, 0.2164]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.2052 left_yaw=0.0467 left_pitch=-0.0269 left_roll=-0.0005 left_gripper=0.9968 right_x=0.5263 right_y=0.1409 right_z=0.2317 right_yaw=0.0395 right_pitch=0.0771 right_roll=-0.0314 right_gripper=0.2164\nstate[joint_eff]: [-0.0479, -1.4154, 6.9812, 1.6923, -0.0757, -0.0464, -0.0122, -0.294, -12.1094, 11.2615, 2.2637, 0.0464, -0.1099, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6055dc659c2dcf72c9723e71358f643ed24215f87d4111275e38c49bbb9878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67191d2f13144b042136abe21fa5b9dcd36a8a32abef8af60d74c23a11260bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30e4dc7ebafd2c3ef5d81bd24a3195f250d3fa7d5e54426809ee514a3466c9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.327 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.485, -0.1055, -0.0906, 0.9968, 0.9047, 2.0571, 1.2053, 0.0711, 0.7441, 0.5388, 0.2152]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2058 left_yaw=0.0469 left_pitch=-0.0246 left_roll=-0.001 left_gripper=0.9968 right_x=0.3953 right_y=0.3152 right_z=0.0599 right_yaw=0.0155 right_pitch=0.0173 right_roll=-0.0372 right_gripper=0.2152\nstate[joint_eff]: [-0.0342, -1.1966, 7.0769, 1.7851, -0.0806, -0.0659, -0.0122, 0.1162, -11.5487, 6.3248, 1.1844, 0.0073, 0.1636, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8444, 0.7368, -0.4854, -0.1055, -0.0906, 0.9968, 0.894, 1.9259, 1.6573, -0.5507, 0.6762, 0.535, 0.2166]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2055 left_yaw=0.0469 left_pitch=-0.0258 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4002 right_y=0.3274 right_z=0.2006 right_yaw=0.0543 right_pitch=-0.0448 right_roll=-0.0381 right_gripper=0.2166\nstate[joint_eff]: [-0.1846, -1.5521, 7.159, 1.7216, -0.1001, -0.0562, -0.0122, -0.7316, -14.4752, 9.5658, 1.3211, 0.3785, 0.0073, 0.4225]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.4858, -0.1055, -0.0902, 0.9968, 0.3477, 1.808, 1.4857, -0.1852, 0.2893, 0.1135, 0.2164]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.2052 left_yaw=0.0467 left_pitch=-0.0269 left_roll=-0.0005 left_gripper=0.9968 right_x=0.5263 right_y=0.1409 right_z=0.2317 right_yaw=0.0395 right_pitch=0.0771 right_roll=-0.0314 right_gripper=0.2164\nstate[joint_eff]: [-0.0479, -1.4154, 6.9812, 1.6923, -0.0757, -0.0464, -0.0122, -0.294, -12.1094, 11.2615, 2.2637, 0.0464, -0.1099, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6055dc659c2dcf72c9723e71358f643ed24215f87d4111275e38c49bbb9878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67191d2f13144b042136abe21fa5b9dcd36a8a32abef8af60d74c23a11260bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30e4dc7ebafd2c3ef5d81bd24a3195f250d3fa7d5e54426809ee514a3466c9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGQLq3hkp_eUSgHgc1Mbnw6DWMQwaaz4bYSbO3Mf_4mT0J-70MgYnVenV8mKfe3mnKYVnCiVZBSuoNnozbzqICfhvF0zo5XbXQYZJSz3s0A91M7TToJu43_PHc9xC_pQZg1CR0lO5f3gRvjZfgY_qeR1oYApQQzFWBXV7jv1uA8rUHeKWTGmOXWXYO547qWXCw0YGctzsJ7PDcocpiwK5sg4qPDNxANz5-ZYNiy53DsynxuF0OcyERK0Zs9MCtsY3o4eQ1tW5SB1meGfGU7CAEMwx9ccO9437TszsjCnJXIWUDtFcU1tHAQyucbI2yvS7shcCCsrCnnH8c0nPwrlfkyrz60dubEVvr4jCMIBTlydHtcFOjIvGJeZDOKGOHWImSspbGrZIm9VZTOrZH5gpcri5EkLXWvIGeg-bbMiocRTe368-ko48vWLVaRJ4Giek60PZQVDFNwPd2T7vZEk3SP5RvOhXq2V7TIE1_gSSEIJ5NuxI8TlupGV1nh0VYiXMkuSd6FPmgYY7Q5r05O-FtrFz2ywtVBx1Sgu3qKZwXeQkHbS8q1HQYGBwmNf3wx_DL7ci8uJvISo5VVP7HWm8CFsr54JTKTtIOjf8wVMvGi6kGFB4Hsd4s490hdEj-p85pVJzyaBSHqNhjbxm4rZvAS64VendGs9WaWHtWd4ZsdeV_OwMZgvXHT3PqZP70agBeCCE1Ey3etmVmATMhDf1LULD39jW9JKZaMcKgBtj48cGUExvB6r4y4gR0nXp8xp8um2UDFPXCz3Mf_8NLEc_OR5ppIqA_2KyBFTXVPfKK8TginWeY3mFJ8sI4Iv4a3ASvi5Piiqbx7YHxIRwow0hPxJDIsLkYppG3rAbt9CjvXzmoXr69kCcREPJgx-W2ekCa11F2Cqx2UhuKlEh_j-5Fh-LJd6zOIKRrT2kK7_fgfys-_gQmZKBkL7Wia91TXmXs48z6pQwZ3WvCYADm12h9DxW8ZE1PSGFFG-UrWSGsqAY7ff5dr9DmnfQ6GlQX7pA1QsdGULzVsTDtIb004dQ8An0Teox0hqz79whO2lseuo5OG3h4TgdLtMLqC9AeJTHW53bs4b-iIeGooQjKSA8Z75p1Z8PtL62ubRrejiJXWxq7h0z4oI1z8h0kp8qaodgPJIFwORqsMfgvnx47rQtlTog2ZdWvjmRDOU9fYPcB-YD31PRlD3EcfajNG6Ifh0tOmU4rc5EZmXI62JzL6linKXPKZuJiV6ejXrYH0sVZRivwZfPNlBUWt5hLnLGyQjT3RpK4gi2LpfgdGV1aP5pmoU3j8q9WCF7v0EsEvnqKPrdHoiDxtamiGBWI1RnDGdZksl9fz4kbClAtSCaXMQD_utfXr2MJNa9u5TH7IcQPDOLwDZ-k-QU_M4stAhuof9WJ-2-q4j0m2otbSfMoifZptWsUNxPVCuNAIr7Sbrv5RGVdFksNMGVCkpFyMW6KQXtfYVVVq7r_it1-QT-Z5vRAaNoYWoiEW_Beo_RUVeCTsZ_YSxvfc5b-BjB7b5c4-4ttTfZKgd446DHE4fyy925ZK3CwQSaOPZJyHZ9aAAZ6g50qCJlGZjTuJRjuW82RPKXDb0FhXR8zTWUgxKRPaKgk1oe9TuDLJothtixTojj90pWGbu06nTy_RX853yHt5z4p_48xN45NifKZNHw59eWIUJt5uiCmaLcy3i9gNzC9Is5_91aEvrIYUKVklZezKbvfsgjCw6heYWvv-lQRXOKOuUS0l2j0gZDDVQhyF7vQQi7cWdnSizjJriK-Y6Fx3ddhs3t_xJu0dwXHQ4nk2Ohyfaor9-uMqq4wcUImJrT12Ul5t84JMjFn4Pm0PbQVjipAzXMVv2ORaQjVkirQE-gvuDyZzTQekYe8W-YOxUu3nXq1LJL0qRGrQcnksUBpt1BTaWEzwyh91GmRt2OVRCRvPezZL9oIYnhz_LK1Ijnmk5a7DNtz1pG6xiSWtQ4LELLx50TgHtUMK0z3qvj0IYQpLCGoHjwu2DzooBp3GH3yE-OD-yfT7HoXdRx892UMFHNHN5uF178MoDqwlygj46WaFod7VbpZEY8heTkEN2wbNLLjkxad8mIKa8jjVkLsklnEVIlcQ98EQjLJDa3kbAYHHPraahI0D0MTCdFiUfJtE7H_pIzyB1GuqSmuDroJKg3DntgAtwMuyiJuN7pycMaGioDu1I6F8goAr48v7_RvJip8lAupGN852XOlRQOIoenFlvYZA0JTe7IJ0PG-3hzvlbVFzFA0X27DuMjmajaUmZKYbiu50gJBAT6K7fM4AJupzXYJKQ4l_x0de7qQEcGmI9iV19ZIEs2c7X8xQEQgjJsl9D2JCN4DmiSgLSGgtnaMTYrwyi3tmFGTXxVwH42SVpVrc97ObCAuK6BvkVswjOdWQ=",
  "id": "rs_073a942ff8fb4518016ab46405c14487d0ae0c514e0c9bc54d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.14,\"right_z\":0.16,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The tan plush is above the right basket, with its body inside the basket’s outline. I’m lowering it until it is supported before releasing.\"}",
  "call_id": "call_44WWTkz3NJiDQL3CeE9en3Ld",
  "id": "fc_073a942ff8fb4518016ab4640a2c5487d0ac1c970088aa407d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_44WWTkz3NJiDQL3CeE9en3Ld",
  "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]: [-0.0734, 0.8452, 0.7368, -0.485, -0.1055, -0.0902, 0.9968, 0.3363, 1.8751, 1.2453, 0.1169, 0.2672, 0.1047, 0.2159]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9968 right_x=0.526 right_y=0.1382 right_z=0.1502 right_yaw=0.0514 right_pitch=0.0687 right_roll=-0.0303 right_gripper=0.2159\nstate[joint_eff]: [-0.1436, -1.5385, 7.2547, 1.7558, -0.0708, -0.0317, -0.0122, -0.2667, -9.0188, 6.4479, 2.0879, 0.1148, 0.0464, 0.7643]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708fa1a942213fd601d3364205f5aef9ae63b9bbbcf674a351ac97aeeccb9a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de035d5e0efb4591404317862b5e5b60ca59949d36c98defecd21f7216437ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628ab014c5c3e24c12e1e2bad727ecabfd4d59f49b1f35843b6fbde59f48982b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.229 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8436, 0.7368, -0.4854, -0.1055, -0.0902, 0.9968, 0.9009, 1.9636, 1.3216, -0.1959, 0.6979, 0.5472, 0.215]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2057 left_yaw=0.0467 left_pitch=-0.025 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3909 right_y=0.3164 right_z=0.1047 right_yaw=0.0388 right_pitch=-0.0448 right_roll=-0.0527 right_gripper=0.215\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.6972, -0.0562, -0.0464, -0.0122, -0.7043, -14.0923, 9.6479, 1.2674, 0.4078, 0.1099, 0.6178]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.4858, -0.1055, -0.0902, 0.9968, 0.3477, 1.808, 1.4857, -0.1852, 0.2893, 0.1135, 0.2164]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.2052 left_yaw=0.0467 left_pitch=-0.0269 left_roll=-0.0005 left_gripper=0.9968 right_x=0.5263 right_y=0.1409 right_z=0.2317 right_yaw=0.0395 right_pitch=0.0771 right_roll=-0.0314 right_gripper=0.2164\nstate[joint_eff]: [-0.0479, -1.4154, 6.9812, 1.6923, -0.0757, -0.0464, -0.0122, -0.294, -12.1094, 11.2615, 2.2637, 0.0464, -0.1099, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.485, -0.1055, -0.0902, 0.9968, 0.3363, 1.8751, 1.2453, 0.1169, 0.2672, 0.1047, 0.2159]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9968 right_x=0.526 right_y=0.1382 right_z=0.1502 right_yaw=0.0514 right_pitch=0.0687 right_roll=-0.0303 right_gripper=0.2159\nstate[joint_eff]: [-0.1436, -1.5385, 7.2547, 1.7558, -0.0708, -0.0317, -0.0122, -0.2667, -9.0188, 6.4479, 2.0879, 0.1148, 0.0464, 0.7643]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708fa1a942213fd601d3364205f5aef9ae63b9bbbcf674a351ac97aeeccb9a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de035d5e0efb4591404317862b5e5b60ca59949d36c98defecd21f7216437ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628ab014c5c3e24c12e1e2bad727ecabfd4d59f49b1f35843b6fbde59f48982b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The tan plush is supported in the right basket, so I’m releasing it. The left arm will approach the smaller brown plush beside the yellow pen.\"}",
  "call_id": "call_SxbcRu3JfBzrToHeO0qt7ioc",
  "id": "fc_073a942ff8fb4518016ab4640d191487d0b158d323a1e616e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SxbcRu3JfBzrToHeO0qt7ioc",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.536, 0.8265, -0.0063, -0.4698, -0.3569, 0.9968, 0.3363, 1.8786, 1.2358, 0.115, 0.2676, 0.1005, 0.9971]\nstate[eef_state]: left_x=0.3874 left_y=-0.1519 left_z=0.1125 left_yaw=-0.0106 left_pitch=-0.0621 left_roll=0.0297 left_gripper=0.9968 right_x=0.5239 right_y=0.1375 right_z=0.1438 right_yaw=0.0536 right_pitch=0.0544 right_roll=-0.0384 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -6.9812, 8.8821, 1.6484, -0.2759, -0.0415, -0.0122, -0.1983, -10.3316, 7.4598, 1.7411, 0.0269, 0.0122, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a61c9e0dc39844a632183e1007917ef5eb9b1db2787feceeb27e1f2adbc915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9527f7870322c6d383b2e0ffa216355dcb6a98044f0e5c9e1fcbaa7ff88cc86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afec9b1b2bb2b5a072faa2bed080ac623788f4ae0f58a9649b46eba596095037",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.089 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 81 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8444, 0.7368, -0.4854, -0.1055, -0.0906, 0.9968, 0.894, 1.9259, 1.6573, -0.5507, 0.6762, 0.535, 0.2166]\nstate[eef_state]: left_x=0.2994 left_y=0.0002 left_z=0.2055 left_yaw=0.0469 left_pitch=-0.0258 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4002 right_y=0.3274 right_z=0.2006 right_yaw=0.0543 right_pitch=-0.0448 right_roll=-0.0381 right_gripper=0.2166\nstate[joint_eff]: [-0.1846, -1.5521, 7.159, 1.7216, -0.1001, -0.0562, -0.0122, -0.7316, -14.4752, 9.5658, 1.3211, 0.3785, 0.0073, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.485, -0.1055, -0.0902, 0.9968, 0.3363, 1.8751, 1.2453, 0.1169, 0.2672, 0.1047, 0.2159]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9968 right_x=0.526 right_y=0.1382 right_z=0.1502 right_yaw=0.0514 right_pitch=0.0687 right_roll=-0.0303 right_gripper=0.2159\nstate[joint_eff]: [-0.1436, -1.5385, 7.2547, 1.7558, -0.0708, -0.0317, -0.0122, -0.2667, -9.0188, 6.4479, 2.0879, 0.1148, 0.0464, 0.7643]\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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.536, 0.8265, -0.0063, -0.4698, -0.3569, 0.9968, 0.3363, 1.8786, 1.2358, 0.115, 0.2676, 0.1005, 0.9971]\nstate[eef_state]: left_x=0.3874 left_y=-0.1519 left_z=0.1125 left_yaw=-0.0106 left_pitch=-0.0621 left_roll=0.0297 left_gripper=0.9968 right_x=0.5239 right_y=0.1375 right_z=0.1438 right_yaw=0.0536 right_pitch=0.0544 right_roll=-0.0384 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -6.9812, 8.8821, 1.6484, -0.2759, -0.0415, -0.0122, -0.1983, -10.3316, 7.4598, 1.7411, 0.0269, 0.0122, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a61c9e0dc39844a632183e1007917ef5eb9b1db2787feceeb27e1f2adbc915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9527f7870322c6d383b2e0ffa216355dcb6a98044f0e5c9e1fcbaa7ff88cc86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afec9b1b2bb2b5a072faa2bed080ac623788f4ae0f58a9649b46eba596095037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGQSmht0U6EgAY93r5368GxW5sZeXbWbi5PWQGHxS4rBCMtOxg51_UR618R7EbLCHp6kdddGW1z3ODFjrKnoHstfZLc2hrLFGKYv4m4OHwvxFeXGy_fJz1g3q5w6os73tkWCt0yjh_96lRC8rvq_LmSynSXM1H52umf2clmXfMzr9WbxOn2xLrBXi5WVhTzRHHbBDY1Q5Lya5xC0fqnpLIBoeTJFD3OSwCDKzzGrs22vrMtsedqo0gBFh-zVheLwe_SPBHHCREj1GFKxeCGz20qevKsIdym_e7VQS5ECq2CZ8H1ySPMKlvPfvEgWJDEsneEetbGANY94EnzYZpPJQUut6OXdtD4sNHsElrewSDjSbFeoKwF05-ncsacb2-Ij6iy9TKcAPLF68TQnPt_daXw0sZ3ETy3ibkYLIeWNGIwY71vny0adOa-CbReC_qbVHrsV1mJ9NJ0QliV6qZCuWwoFLmAgjjU00UOgR6zqXsB1sXTySRdhxcStU-wZ7EQ9i9JNSxgvMKBzQbCnUZQTVf8fzp15Xq1GtoWsnr9yvL_Udzz7_TPheBSlEXevBtJ4ovG3lS5CTX-B6opdLpCz_R75Su-hpN2pDfMas86yZDRfSg8rs0Y0A7bHpoRwwwSzsbuZRJh7uI5X3n9sRJjy2XzUrJqi59H2fr2vgC5O-4lnQq37G4dvU3i1awYtd_Q9lZtXDkN6xdIjczdicM_5S3wOrjrLBFZaxOkR0WVtZkDea9cmOaJUm4werF583IbhIkdZxsPOfVe3eEqnDvh6JMeWIDaFkxjMqwGJ1Sv4bvqyDHvInqJkuEwzSHxJ_9S0-Y9h15d_4H3MAn1Dt7NfGYqsgi8wqD2Kt3lKWydEq7brCnjsm2IGUz-Imu-FzcR9eCxlqjUxkalaiogxt2AH5H1lBxUFS68XksfJcRAAH-A1g9nGAa4I7-WFxjQq6xGBfJskffru0zFzQq_bcMnTWiVQBa2Bku8feBFv0GOp3XXThrnGZ-mJhrcnRkCVnFMDYIOZHkVmRQ6qDLA-cQD-WbdyXdcXqNQvtzpwe6DXmexhWi6bMhMYFSzI0Z3sWu_gfv9Xl84nu0KCMWn73c9rLaEHmma1olXQeCrER6TWhJGqKBuiVIgB2R51sc5XB1L5Pawe3v3fq7lVTrT9dZC6EcXmJOu0zZUAr-hGqUsf-KQnPidaVy5YHQpvdtarl8PUZUMiHYk1q4BRYTALSmRnv5z9ncJ0-abT1PaGdz4QHHStuh4l39U0z5fgtDLlhdmshJFmHy_jEuNGqU3lFLSfQWDcuQMQTI7SLU61QlXX6Wok87j3Qk-odnl5D7Bj-0eq4kNOraS3dGVnhwzu4g2hq2k48elWrlUfYoFyu-pIAIOGETBPfgbKB2KjqSm_dgWTWT6xv0v_aj22NW981lneVBEiQOBNjrSEaxELTKC8fArPa-70uTDW7WCgIfe2LCnHejK6",
  "id": "rs_073a942ff8fb4518016ab46410b9e887d0bf1b3a48d667721d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.025,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.2967,\"right_y\":0.0011,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The smaller brown plush is beneath the left gripper, while the tan plush remains in the right basket. I’m lowering around the small plush and withdrawing the right arm to clear the workspace.\"}",
  "call_id": "call_Z6WaG9te518t7C13TAHcoWvw",
  "id": "fc_073a942ff8fb4518016ab46411653887d098a265078874e449",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z6WaG9te518t7C13TAHcoWvw",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6193, 1.766, 0.7136, 0.6479, -0.6117, -0.3054, 0.9968, -0.0494, 0.841, 0.7258, -0.4042, -0.0521, -0.0463, 0.9977]\nstate[eef_state]: left_x=0.4211 left_y=-0.1712 left_z=0.1036 left_yaw=0.0501 left_pitch=0.2352 left_roll=-0.0425 left_gripper=0.9968 right_x=0.3087 right_y=-0.0025 right_z=0.218 right_yaw=0.0161 right_pitch=0.0434 right_roll=-0.007 right_gripper=0.9977\nstate[joint_eff]: [-0.7179, -2.0171, 1.0051, -0.0269, 0.8181, -0.8474, -0.0122, -0.3077, -1.5248, 6.8308, 1.8584, -0.1538, -0.0464, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b3e7ab1f9e2d2b0a2bc8f6fdfd1025560a921d14d35cc51a58f5429ff2b8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d325f29f2bb999b979f063d2b952d8988e67880af056d9fb3c66e27e420a7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f33dfd8d821e5ec32d4cf5bc80fe562589c50a2dfb1868542638ef9e0fe2f7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.648 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 81 changed as sent

message 85 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.4858, -0.1055, -0.0902, 0.9968, 0.3477, 1.808, 1.4857, -0.1852, 0.2893, 0.1135, 0.2164]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.2052 left_yaw=0.0467 left_pitch=-0.0269 left_roll=-0.0005 left_gripper=0.9968 right_x=0.5263 right_y=0.1409 right_z=0.2317 right_yaw=0.0395 right_pitch=0.0771 right_roll=-0.0314 right_gripper=0.2164\nstate[joint_eff]: [-0.0479, -1.4154, 6.9812, 1.6923, -0.0757, -0.0464, -0.0122, -0.294, -12.1094, 11.2615, 2.2637, 0.0464, -0.1099, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.536, 0.8265, -0.0063, -0.4698, -0.3569, 0.9968, 0.3363, 1.8786, 1.2358, 0.115, 0.2676, 0.1005, 0.9971]\nstate[eef_state]: left_x=0.3874 left_y=-0.1519 left_z=0.1125 left_yaw=-0.0106 left_pitch=-0.0621 left_roll=0.0297 left_gripper=0.9968 right_x=0.5239 right_y=0.1375 right_z=0.1438 right_yaw=0.0536 right_pitch=0.0544 right_roll=-0.0384 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -6.9812, 8.8821, 1.6484, -0.2759, -0.0415, -0.0122, -0.1983, -10.3316, 7.4598, 1.7411, 0.0269, 0.0122, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6193, 1.766, 0.7136, 0.6479, -0.6117, -0.3054, 0.9968, -0.0494, 0.841, 0.7258, -0.4042, -0.0521, -0.0463, 0.9977]\nstate[eef_state]: left_x=0.4211 left_y=-0.1712 left_z=0.1036 left_yaw=0.0501 left_pitch=0.2352 left_roll=-0.0425 left_gripper=0.9968 right_x=0.3087 right_y=-0.0025 right_z=0.218 right_yaw=0.0161 right_pitch=0.0434 right_roll=-0.007 right_gripper=0.9977\nstate[joint_eff]: [-0.7179, -2.0171, 1.0051, -0.0269, 0.8181, -0.8474, -0.0122, -0.3077, -1.5248, 6.8308, 1.8584, -0.1538, -0.0464, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b3e7ab1f9e2d2b0a2bc8f6fdfd1025560a921d14d35cc51a58f5429ff2b8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d325f29f2bb999b979f063d2b952d8988e67880af056d9fb3c66e27e420a7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f33dfd8d821e5ec32d4cf5bc80fe562589c50a2dfb1868542638ef9e0fe2f7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQZBloyvC8efuhe_mWz3nx8v0cR1vN7C--xuedD34SZolxjO09c_HsW5W783uP-RTHw0dk-aiZQuD_zc4yL3fLYM0em7StpZIv6a-pPTLgjaov2bMu0JtBcHxOr4VQYL5pk8ygTmMItMR6GBojlAzFVPO5DMiSX7xwU2TuwE9M-4AyoRTRlf4-CZ7-Ow7h-eR2uzdfN1TW4z-ZHOqleMO17A0AV-tGtvxduJQgMo_wl-ykf7RB9PpTsJgdRHVh9lpwJjTMWSB2JAQYUGg1Mfu3x-lp4EwKKkOrYFgw5WZ-XLTds8hVa1-q5GgvRL-M7wN1VN7lTtW4ZHi5lZnv4fHgMv24C8XFI2o6Q9m5zq2X0zfszMGpoo4IyHoJ1VuOlBR5FaxqvZ_IfnYZTPbahnx9gPZYoOz-KZYAZnqLQE02fFQpZC8r0USPrWcZYWW5ujns61BXiYOIEKCnAVTDgipc0XHvoG78x0MrffiikT8cwmZfhiu3g25fSSrTgfeUixS3s0S25t7Hbt9AaS7JDdjQoDePni0RxsuOtfHmPYdcJYe7h08UG6QJ7BFt5OV9FWop7esYo_ySwDSfihjMQzM64ajmwnyVC21sjVaOZJE8JYS_kwzyDHLfBKXaqShFYJmj1po2DuazV07dPvqBT-QIxjL-UNmrRZ2MZP_lSZIQEXb-Mc8IKWPBjhL0LFgfDfRm83gErlwTt_OXNiXHV5m4MEE_sL-sEgXO-66uhKDv960LTvS1CDM8PSYSH62wvYHMw5JSdqPhaPq8P1Fd5RdCJWvJWUeoB-ey3j11nWM2iQXlOduDq2KOaawjQlb41sl8AT0X6hljcTiL_AU7sIYi2Rt2cmJBw_O8au-XcGcCh_izY2jvDbOAORuwxQo01oqMe94PzPM70Q7t7iymVcEoZi70pRAorRP-KMuoBf170aXvcGpdHDIgGXm55BNgQiMGTaGzW4rumae3FK1C5_j0iN6QvWqLN5U5WqOtmKA-z2g7nDczNwhUrbzvpN5RyRenPcTEwVfPnNRh5w0ZEhjAmsQsWHpZsQxNalovXDLrpgVagmytzijOE8mvPoLJf7bMSRxmbKpTf6ftugMRSf7bwLSNc-e8I24YSwmEA2jDdJZkFiyZwUxlEF2SsbCE8hX_QwQyidi5jq_W_glDtvlhf8De5wJlMYyqKxlM6B81bLrREa8U-6a6XYy512IFhMyhXnbUNYoGFeW6wxxNv3LDlS9dvBI5mG6KhOvByHat7f87IJ6DGIQY9PnkhoacZO0xsxCnkkPS4t6FOE7MHiNRCNI-byjfssIsg5lADPIbOHBhhTCf66W4s-Nr_TO9TQ8xV4BrkZPmOADrCL9clOa1VOjuteZEm23ZmDwlp4uUQeRl7emgYSJPbZ_UokrK6DiR4a1Kw6FgLRRQtAnvZHSfCA_X2fs9CFES5Npgc1ulcMl2gCn1aq1_nMROC8MgX4QgTuYdbEqcIVJmGX8yduegTpObpwcDWinW43wVZAyuO0886efA0ega3OeyodXtO9y3-zbXEu-v2USmnNgB2uycI_HM6q6CyNMWvtUh0CG5WsqUzUhurFuw_EA9fqF3vKLumDmeUdeeEOzLiaD3ArO7JhLsivBlRGqDu6W-SW13rer46WLUswd0KtLZ3PnUFbl-L9sI9TKQEs-TgMfofyruU5yOpXGHVKJg4vpAyZcA07Ju1ofwJAQRkuqxmRlCjcwvy2fXlqeAOQCDnkl2iKOXm3eQyLB17Qcznb5zKUceXDytXbHDVLW0gpY0L6Sifo34ooZYYvCsEQCZzNokKN_iDvTA4rIFV5MIm02DaiK5t7CGjO4w-dXh7NlJyPlZNS6473-SXCZQeoJ6gUWkLD-kE27_fptnST6fOUSFKegXbGo84anmpe-ffPDr7hkxvM2TyirHIWpKjc8_MSIsKrGz-UogDaNAJXkGbU6bSpiItct4=",
  "id": "rs_073a942ff8fb4518016ab46415cbac87d08acb73bd30040748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.15,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left wrist contacted the basket before reaching the small plush, so I’m backing up and lifting clear. The plush is nearer the front than that approach allowed.\"}",
  "call_id": "call_gAHkOdBf2Wo8Xyw9CMC3MNyf",
  "id": "fc_073a942ff8fb4518016ab464184eb487d0aa11bfc64e010be1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gAHkOdBf2Wo8Xyw9CMC3MNyf",
  "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]: [-0.8417, 1.3331, 0.733, -0.1394, -0.7059, -0.5728, 0.9968, -0.0525, 0.8474, 0.725, -0.4286, -0.0608, -0.0605, 0.9978]\nstate[eef_state]: left_x=0.318 left_y=-0.1786 left_z=0.1421 left_yaw=0.0183 left_pitch=0.025 left_roll=-0.0166 left_gripper=0.9968 right_x=0.3062 right_y=-0.0017 right_z=0.2107 right_yaw=0.0279 right_pitch=0.0121 right_roll=-0.0124 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -5.7778, 9.3197, 1.4823, -0.442, -0.0024, -0.0122, 0.1162, -1.5521, 7.0496, 1.9951, 0.0366, 0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0a6ebc36df04b8a48bf104beb6968686cd69b605c85fee596674561e009d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f7d70425531583f5dbc241edf74a68f4c5d3be87fbf46d5c01d4375fb1e5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174c9acba159e071251c32aec6eff647572216734a69d8153adf1d7b5a1674a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.431 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 85 changed as sent

message 89 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0734, 0.8452, 0.7368, -0.485, -0.1055, -0.0902, 0.9968, 0.3363, 1.8751, 1.2453, 0.1169, 0.2672, 0.1047, 0.2159]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9968 right_x=0.526 right_y=0.1382 right_z=0.1502 right_yaw=0.0514 right_pitch=0.0687 right_roll=-0.0303 right_gripper=0.2159\nstate[joint_eff]: [-0.1436, -1.5385, 7.2547, 1.7558, -0.0708, -0.0317, -0.0122, -0.2667, -9.0188, 6.4479, 2.0879, 0.1148, 0.0464, 0.7643]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6193, 1.766, 0.7136, 0.6479, -0.6117, -0.3054, 0.9968, -0.0494, 0.841, 0.7258, -0.4042, -0.0521, -0.0463, 0.9977]\nstate[eef_state]: left_x=0.4211 left_y=-0.1712 left_z=0.1036 left_yaw=0.0501 left_pitch=0.2352 left_roll=-0.0425 left_gripper=0.9968 right_x=0.3087 right_y=-0.0025 right_z=0.218 right_yaw=0.0161 right_pitch=0.0434 right_roll=-0.007 right_gripper=0.9977\nstate[joint_eff]: [-0.7179, -2.0171, 1.0051, -0.0269, 0.8181, -0.8474, -0.0122, -0.3077, -1.5248, 6.8308, 1.8584, -0.1538, -0.0464, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.3331, 0.733, -0.1394, -0.7059, -0.5728, 0.9968, -0.0525, 0.8474, 0.725, -0.4286, -0.0608, -0.0605, 0.9978]\nstate[eef_state]: left_x=0.318 left_y=-0.1786 left_z=0.1421 left_yaw=0.0183 left_pitch=0.025 left_roll=-0.0166 left_gripper=0.9968 right_x=0.3062 right_y=-0.0017 right_z=0.2107 right_yaw=0.0279 right_pitch=0.0121 right_roll=-0.0124 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -5.7778, 9.3197, 1.4823, -0.442, -0.0024, -0.0122, 0.1162, -1.5521, 7.0496, 1.9951, 0.0366, 0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0a6ebc36df04b8a48bf104beb6968686cd69b605c85fee596674561e009d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f7d70425531583f5dbc241edf74a68f4c5d3be87fbf46d5c01d4375fb1e5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174c9acba159e071251c32aec6eff647572216734a69d8153adf1d7b5a1674a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQdrAPcEFW91GojZ1_PbDNiTt1xvnA55aMP6_xwylacRMaZWT51jcZHqCe-fPpLpmf_wpYmvzVHvkT3JPSuA4HXeOx5Jxr5KGtrjv8z-jdy538i1pj-ro2qbn1iaPqdLUf09zZ_jPeYcp85W6GycANneRFgEN8AyvEYn6DY_8dbCWbxZ0lt56AEEirb3H1uG5b0a8k1Sa07SVdNCuEVcmilD0dPTV7JNhb3no4G8q5ssv5703M0Urkh7Gx_0g_HWfufti5g49vA2ftBYDKbuzFShCLdPLS5-9_FmKIly6X5abelG3ollFpAZXDM7XEdLZ73kchZPpo36lG-_MXql4UXcYV3IX79AY6JXPk0j919bbUQ7vD47VqLgtAbXChLJkAepjG2fVBmXXhkq9QI9Xi8SUjVZjVrvO8UAvBKIHtzxagcfjTeZBkVgWDQJJ-nbtngABL9avKNDP7lPT5PGJ-FvPJTv8Rl1zDt82rQL5RppHOPMj67mHDo9lUE4jx8x432_V0QmN3iTXvYup7yAcTHHuuNcCHKU2DQtTmRNuTCFCNPw56aId1qubA_K7vUAgoJM7qoybNfaOdu_K8H4fJDDFBCgjMiYK4jG_3L2Hub9YPw196gzzI9Ok3HxYbOR1NoqgUg9Qwd7pFhnulF236W93fnB068gAaiQliHizFC9SAGyyNF4HvF6XqPtF_aPhCbg4O9dB6vkqJwtlLyYzBYA2mmSDJy5uGzUTapGg21zyEhtVyA2R1_vazMCBSLAc58nH3A8pzEPCnjVY_rllijGXwax8oGt5jHkdEFZsx7AOla3SZOFD4DCSLZYIOloMKRy1D4EcwikvGWP2Tjko3EfefIvtIBdUtZwOJTnKS9lKn-bD7zbAgiKaVTpIkvjuSO5NZLZ4CGaGsDo3R18dEd348vflkTUioByky0n2lRZ-bKFhQnS_tDU8MlfaBPrb2JbyndZf_GZZQHssTq5Oo37IbjFlcQYsfIhzraj2pln-ZcMb1facWAfbeLrWw-ocuGMgC8yymMAzEZIjtInPaxGdEb3LWwzXXvUojQyNmKaYRFrrkWtul27v_XhaNaFMDNWjQjols5pXOyZ4kF89PZJlMt1qvpcr-OhCqFZxh_9TSTyQ3RImBjVf3EPUU8AqoeSlxGn7WBZU_fltbSNT6xnOGVu4wCJGA0c2Pp_mKXHwagjRE3dyEgbLODW003yUJB103CiPvwkgUEuei5hWQ0MFaiAaaqopBHfiLW8fIcrCxKK3gfKmIBbjbEUnb5OoQO",
  "id": "rs_073a942ff8fb4518016ab4641bba4887d0818a09cdf6f31a82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.17,\"left_z\":0.025,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The small brown plush is now centered just ahead of the fingertips, beside the yellow pen. I’m lowering at this nearer position, away from the basket rim.\"}",
  "call_id": "call_ndpClol08MTHWj82WdTK737h",
  "id": "fc_073a942ff8fb4518016ab4641c173c87d09cb7cf7c5246a9f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndpClol08MTHWj82WdTK737h",
  "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]: [-0.7834, 1.6836, 0.5098, 0.3599, -0.6651, -0.5385, 0.9968, -0.0528, 0.8536, 0.725, -0.4343, -0.0612, -0.0639, 0.9978]\nstate[eef_state]: left_x=0.3228 left_y=-0.1626 left_z=0.0197 left_yaw=0.0296 left_pitch=-0.0466 left_roll=0.0482 left_gripper=0.9968 right_x=0.306 right_y=-0.0018 right_z=0.2077 right_yaw=0.0297 right_pitch=0.0003 right_roll=-0.0141 right_gripper=0.9978\nstate[joint_eff]: [0.3624, -6.8855, 4.5744, 1.6581, -0.3199, -0.0122, -0.0122, -0.1573, -1.9487, 6.9675, 1.8095, -0.0806, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2d4402f4051d90ef8685ab8354326fb5f8117a208971f210b95698a69053e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d9b96a0d47475baa56ed2e16142ca324d1080f7e98a36f3c69e923ce252eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ff4348c67f343ed3898d72321795b6af395a32bb3a10c5f268af61a2da3dda",
      "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 · 5.05 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.536, 0.8265, -0.0063, -0.4698, -0.3569, 0.9968, 0.3363, 1.8786, 1.2358, 0.115, 0.2676, 0.1005, 0.9971]\nstate[eef_state]: left_x=0.3874 left_y=-0.1519 left_z=0.1125 left_yaw=-0.0106 left_pitch=-0.0621 left_roll=0.0297 left_gripper=0.9968 right_x=0.5239 right_y=0.1375 right_z=0.1438 right_yaw=0.0536 right_pitch=0.0544 right_roll=-0.0384 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -6.9812, 8.8821, 1.6484, -0.2759, -0.0415, -0.0122, -0.1983, -10.3316, 7.4598, 1.7411, 0.0269, 0.0122, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.3331, 0.733, -0.1394, -0.7059, -0.5728, 0.9968, -0.0525, 0.8474, 0.725, -0.4286, -0.0608, -0.0605, 0.9978]\nstate[eef_state]: left_x=0.318 left_y=-0.1786 left_z=0.1421 left_yaw=0.0183 left_pitch=0.025 left_roll=-0.0166 left_gripper=0.9968 right_x=0.3062 right_y=-0.0017 right_z=0.2107 right_yaw=0.0279 right_pitch=0.0121 right_roll=-0.0124 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -5.7778, 9.3197, 1.4823, -0.442, -0.0024, -0.0122, 0.1162, -1.5521, 7.0496, 1.9951, 0.0366, 0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7834, 1.6836, 0.5098, 0.3599, -0.6651, -0.5385, 0.9968, -0.0528, 0.8536, 0.725, -0.4343, -0.0612, -0.0639, 0.9978]\nstate[eef_state]: left_x=0.3228 left_y=-0.1626 left_z=0.0197 left_yaw=0.0296 left_pitch=-0.0466 left_roll=0.0482 left_gripper=0.9968 right_x=0.306 right_y=-0.0018 right_z=0.2077 right_yaw=0.0297 right_pitch=0.0003 right_roll=-0.0141 right_gripper=0.9978\nstate[joint_eff]: [0.3624, -6.8855, 4.5744, 1.6581, -0.3199, -0.0122, -0.0122, -0.1573, -1.9487, 6.9675, 1.8095, -0.0806, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2d4402f4051d90ef8685ab8354326fb5f8117a208971f210b95698a69053e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d9b96a0d47475baa56ed2e16142ca324d1080f7e98a36f3c69e923ce252eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ff4348c67f343ed3898d72321795b6af395a32bb3a10c5f268af61a2da3dda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQgMN77YlZ1KhR6hRf8uUW4uCM__gN_h4FfqY6voS_UN5SLQwS0B2LrJK2Uf05fwpDVMDDlGZOKWihWVpzZjBgoALL_4Tjy0rw_kBYWvuxtpnZqB43ibIROH9v_eK6qLyb4XYnTxrE7w6H_2Fl3RULSvaVu2EH7fn-rl7iUmZxKuySo3_EslmeDyGojQExD0vUHc5mF84bhVHHe19YyVaLVupqiQCCo4CVdFJdXma54TBYvzfTLHVBEt0I69jDb2xstLiPig6hqAXBFsjNzh29CzEDRq0BYhwhNzQsCqkChuymzaZsS3sWJyJgpK2tNuDS624iYf5IfQYwy7yR9trj0ePYvrKeVI_hKZxQJ6pz9lxT31G0swBT3u0tOELomxOJQS4_mvAl-hC1eqAyXYNHXz6_goF0M00lYY5fc48DoqSenFIp7SNF2JSt1Rz-Ughft4kfrREF_CPTMRy3Gm12tuWNqnDH0Ur6bJuiNUM6-gZCI7tMpIlI7bNL-_4pUFgcc3HPvpIbdQNda5eETKz2JVBmOYmPhtMzBGku3qNTUe0qSzckN5bt8FbyBatuZOm6cMc8FtRVJkMGR0gy-nSOXSqpJLLNatxGxuSdfrM7dezwf1ckVMewgbiSy_je4CU-VNYAvOjiWCXoA1fNqd5DLm02ASVesvYCLhB1PDNT7WkRpUePTDu0ZlNm85WwljrzBSaRu_Px1gvlo7BN2bm2lJNGVzOeTRQGduQQ67pz_cw56HK2_R5Dz8gCtZ6kJWtoJwASuwyLPH6_3TCC8sZI4gwdsOqWRxZqYSlTaaSjbxVOi8Ge8tiWw7XkXXe8OKXWc-Z5cBNXGFOefdsmNiMfHge2nSpz0v_9eOf0MsKU4ITgM2OI-sHtl1gMDk6pqqY7dxa16q1IrahR-g5YWP6i8gxQRGLMh8topzG1U5yPsRl_sedCjUqpreE7NSR7SwEdGLYZjowdY35mYVo843ksS-pd9vjiRcM8P-v4M9HqwZxw246PD57zHrJj6o86INrGESGnAGzXti4l3Iy_AyKwwHwtAJ_GsO4qONgBl38xrax3ofidChbliywuT9S3rlUkHAsBOLR0Wv1zj6IGekqeb_Ib1ClLsrSqmPOnLslgwpAI8L7_xX8LADdRwbYY5sU9rG87bfIEUW9BdhO8aJtLKJbu1M-AUbJo9YkGud89H9xxAKhwvI3tO0G4FHCKZIxFdoozOVbgZmP5K1eyR_7EQkpHmEvANY22zYBdltKN2oxvRgADAcI-CrTMU-_VQiZOx",
  "id": "rs_073a942ff8fb4518016ab4641f1c5c87d08627d593ef39aa7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small plush’s body lies between the open fingers. I’m closing in place so the jaws do not push it forward during the grasp.\"}",
  "call_id": "call_LaAkJuFygPE5muwcaiBAujPK",
  "id": "fc_073a942ff8fb4518016ab4641f787087d09ac225a1b67e1c9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LaAkJuFygPE5muwcaiBAujPK",
  "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]: [-0.7811, 1.7039, 0.4999, 0.3794, -0.6586, -0.5388, 0.2159, -0.0528, 0.8539, 0.725, -0.4355, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3211 left_y=-0.161 left_z=0.0126 left_yaw=0.0279 left_pitch=-0.0574 left_roll=0.0524 left_gripper=0.2159 right_x=0.3059 right_y=-0.0018 right_z=0.2074 right_yaw=0.0299 right_pitch=-0.0012 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -7.8154, 5.2308, 1.1844, -0.3443, -0.0611, 1.033, -0.1709, -1.6068, 7.1726, 1.7607, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723ffa5f0974f296155fa0073cfc93fa6e2eebb1a3987b8aea3868da73b09e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5c4e82dbdee6269277203eee4d1348fadd8776da07093b6d62cdb0a919b3ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d243b2bc5859d2ef507e52fda4ac22d7c10efa041e37e294b726537466cfa785",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 8.378 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6193, 1.766, 0.7136, 0.6479, -0.6117, -0.3054, 0.9968, -0.0494, 0.841, 0.7258, -0.4042, -0.0521, -0.0463, 0.9977]\nstate[eef_state]: left_x=0.4211 left_y=-0.1712 left_z=0.1036 left_yaw=0.0501 left_pitch=0.2352 left_roll=-0.0425 left_gripper=0.9968 right_x=0.3087 right_y=-0.0025 right_z=0.218 right_yaw=0.0161 right_pitch=0.0434 right_roll=-0.007 right_gripper=0.9977\nstate[joint_eff]: [-0.7179, -2.0171, 1.0051, -0.0269, 0.8181, -0.8474, -0.0122, -0.3077, -1.5248, 6.8308, 1.8584, -0.1538, -0.0464, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7834, 1.6836, 0.5098, 0.3599, -0.6651, -0.5385, 0.9968, -0.0528, 0.8536, 0.725, -0.4343, -0.0612, -0.0639, 0.9978]\nstate[eef_state]: left_x=0.3228 left_y=-0.1626 left_z=0.0197 left_yaw=0.0296 left_pitch=-0.0466 left_roll=0.0482 left_gripper=0.9968 right_x=0.306 right_y=-0.0018 right_z=0.2077 right_yaw=0.0297 right_pitch=0.0003 right_roll=-0.0141 right_gripper=0.9978\nstate[joint_eff]: [0.3624, -6.8855, 4.5744, 1.6581, -0.3199, -0.0122, -0.0122, -0.1573, -1.9487, 6.9675, 1.8095, -0.0806, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.7039, 0.4999, 0.3794, -0.6586, -0.5388, 0.2159, -0.0528, 0.8539, 0.725, -0.4355, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3211 left_y=-0.161 left_z=0.0126 left_yaw=0.0279 left_pitch=-0.0574 left_roll=0.0524 left_gripper=0.2159 right_x=0.3059 right_y=-0.0018 right_z=0.2074 right_yaw=0.0299 right_pitch=-0.0012 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -7.8154, 5.2308, 1.1844, -0.3443, -0.0611, 1.033, -0.1709, -1.6068, 7.1726, 1.7607, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723ffa5f0974f296155fa0073cfc93fa6e2eebb1a3987b8aea3868da73b09e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5c4e82dbdee6269277203eee4d1348fadd8776da07093b6d62cdb0a919b3ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d243b2bc5859d2ef507e52fda4ac22d7c10efa041e37e294b726537466cfa785",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGQmd6m9DWFY1M9ojPpt8bhgzANtD2yCXw8S783y-q4nAR0JuhzVbxJkc-8yGv8b0PrzPt8PHhh-8AqCLLlx2hlPDfPJQH0BI9xaa9zKm8NdfFzL-Y-W5-VbxNITPc-Aku86itd75w5yVqlaW5o_IrM5PX7afIm1H1v-EaMsBOS_DIye9768kOs7YtPRV52SauFOY79H4gEzHVPp4qKHDddSSrLq9BV6Cz4NyxjrIpYqaM_EJh3UvtcaZ3y6wCdGZGgRB12XqTEpaAataPVC_0Q5ydmWDXp-LKbbKGutDGYM6-gL3dpTEyzQytgSAo4DpSJq6EJIWDmkE67FE_V8uMJty95MCoPZcuuL6O8fdnHTlZAGgpWCpiYxxT9h8lc-Xi8Tz7viK_tQ-wvzcpgd9miYREtre-UsylMR-klIuRjaAGD10xe03paZKrkcQlRCQTx8kCrLjN6wOBbpuTqtdFEC2kZL8iuPjLYEu-vl30RLs_35wRqx7Scmh2qdtyVL84nrSVrDxUvQpkmaVW0MALWyxtYht8ach1ZMeyDdxhLb0Pgd_KEAhYpDBR9z3NRrY2dvztqvKMws9jmAe2p5Jaol9gaaNuMkyA3LI0a726ZVFFuNyeO5GhnqmnxyJp_pfl0fFk3-8MvxeLCq-xyV68Enm4de_0f6WiLp2owmQD89M9HiEzJbS-kJcgGjXyF90btsWc_f0waJM8mmabTjy-2lXVt96dNKS8kORbFifH_WUxbn4-ui5gKmSTtY_BH_ap5DHhW19Uolt0rNmbyqJmscbeWgtUigNDSjjQHyQ5NhvNiwGHILBi60htAPvxPqDmjdDmNu3oXaj5zzg7mCl03FANU42Gf5clhnLozRL0bmF4IpwGkQq7dP_FFndJSlbQbapEzTHZnwzRmbHQ6_wcf5QMEGCQraVLseVrSOI9ZFFr6SaS6nV1SMcrMD7H1TnG0PYYZxFOGy9nhAT76To2Kgl77_1v1r0guLtvkBHidxKL1NquOjDfZfGP2XfigmCnSW-MExVsQUwesqSsngYUwVVvDdz2y0dw5b1QSqmp6apH1W8g8NoFVxnz9d3ll39D9CojXcJCo9N0crvyuK_l5YDlg0ZobOpbLtlesSHuCkNxNXleDPdOlj3B5nvROkYMIQUKDz27sc3ATF0OuRaIB6IPwz1hn46ElugiakUdsVmB-K5w6Qwav1_TGmTtFttJVpmQMjlGjq1uh7VL7QmETGEaed8CHEFdEpDoMxjwnB5T8j_6lkACGeCTLZLYhKatmkZH6mZsBTqkI1J59JTI5B1M7hMeNNZBY1nWJCJVKcfCrqPgW_ED31Ppic2MyLKmxm0YuYXqAkmilfc_VEAvY38pIam_T8mGlTWR47p0M1JzlJVUkUdfEvtayjoHLYIRj1swvYoA9DOm-PxEMGiVXU4hCs0Jx3fh-StfvhGXwW161xauSOwEo6udvmRoU4daxSMW3-lBO-MzPbzN71VNyIHYmA1QvVTBe2KdMBsdxjgyE9nXm9hRVsc3oZF7278ztHHhvybn3ao_M6gMRH9Xlhls4-Haybpx0ghTg34RM2lx_8WcXAbnenJpi0Qx3vACEaQRMrem4b-Dxmk4q3732Mmm4nDNVIHiwK4jq3mnvZfWx9Wqvs3hrBBTY_ygTTBdKpRiBJpOJGsx7skQ1XAChEA9itRN5gYPqxxvEqpgGPYKlMdsOrylISVJG16gARIp2l4LQtPqLj0KXVFZKnDA7N6_1l6lFslMUdaqUi9t1S9w6FsaeMuXr0HmADr_RChsPEJbdd-haY53AW9pgrwjQDRSgP6jBxvh-ieVEJumKCUBSoE2S2sxy7EquWUiCbsK7XWCXtqeeET9YrU_08fLUJRCcJEMM4FUJBgdM-jQ7GmEPAH8WJI3o3l8b7GY06rsaoj6xUyl9cedKx3lBC9chiGDWok4oYL5kFhp8rBPdxtQKuDcRS1RWQ2nrdUAGBqyhRv-zWBFdmfjJCkva6f-7OJtDrdGv6gju40Xnzcocnbh83UnSLCf7SY6K2UYxsHtyZZH4_K47FkzCZQDwWBrYKRUzM0UKReO_oZZGXomqEsyjGm5VHfkLg6-Mbb713ym9S67HketT9x66tV5-Ia9_ZjZEHY5_h0dyg6gKOHpyvsleGDM_MzVu8dADuQyvKNamG1KG49OuhkgyTi963tHPw_Q==",
  "id": "rs_073a942ff8fb4518016ab464229d8c87d089a86307d8b8c937",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.20,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gripper has retained a roughly 2 cm opening on the small plush. I’m lifting it to verify the hold before carrying it to the plush basket.\"}",
  "call_id": "call_EZiXY0HByg65u96myJCW1tyP",
  "id": "fc_073a942ff8fb4518016ab464254e1887d088c59015655b44a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EZiXY0HByg65u96myJCW1tyP",
  "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]: [-0.7811, 1.2724, 0.8833, -0.3634, -0.6518, -0.5434, 0.2172, -0.0528, 0.8577, 0.725, -0.4362, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3234 left_y=-0.1647 left_z=0.1832 left_yaw=0.0236 left_pitch=-0.0109 left_roll=-0.0068 left_gripper=0.2172 right_x=0.3062 right_y=-0.0018 right_z=0.2061 right_yaw=0.0299 right_pitch=-0.0058 right_roll=-0.0139 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -5.9556, 9.0325, 1.2869, -0.4567, 0.0171, 0.906, -0.1162, -1.9487, 6.9812, 1.7118, -0.0757, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3193a5cb0b7c6a715569d03486ef0d8a8da2a976010da8b0989b00e07a887e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7173fa0ab80f00807477883ec4fd841c1e4ecbeb71dcd1f4940000e2daf6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137041c323743fa7074377383c66c8d649855ddf00d3d8fda4e1fa9dfa3217a7",
      "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 · 3.939 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.3331, 0.733, -0.1394, -0.7059, -0.5728, 0.9968, -0.0525, 0.8474, 0.725, -0.4286, -0.0608, -0.0605, 0.9978]\nstate[eef_state]: left_x=0.318 left_y=-0.1786 left_z=0.1421 left_yaw=0.0183 left_pitch=0.025 left_roll=-0.0166 left_gripper=0.9968 right_x=0.3062 right_y=-0.0017 right_z=0.2107 right_yaw=0.0279 right_pitch=0.0121 right_roll=-0.0124 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -5.7778, 9.3197, 1.4823, -0.442, -0.0024, -0.0122, 0.1162, -1.5521, 7.0496, 1.9951, 0.0366, 0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.7039, 0.4999, 0.3794, -0.6586, -0.5388, 0.2159, -0.0528, 0.8539, 0.725, -0.4355, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3211 left_y=-0.161 left_z=0.0126 left_yaw=0.0279 left_pitch=-0.0574 left_roll=0.0524 left_gripper=0.2159 right_x=0.3059 right_y=-0.0018 right_z=0.2074 right_yaw=0.0299 right_pitch=-0.0012 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -7.8154, 5.2308, 1.1844, -0.3443, -0.0611, 1.033, -0.1709, -1.6068, 7.1726, 1.7607, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.2724, 0.8833, -0.3634, -0.6518, -0.5434, 0.2172, -0.0528, 0.8577, 0.725, -0.4362, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3234 left_y=-0.1647 left_z=0.1832 left_yaw=0.0236 left_pitch=-0.0109 left_roll=-0.0068 left_gripper=0.2172 right_x=0.3062 right_y=-0.0018 right_z=0.2061 right_yaw=0.0299 right_pitch=-0.0058 right_roll=-0.0139 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -5.9556, 9.0325, 1.2869, -0.4567, 0.0171, 0.906, -0.1162, -1.9487, 6.9812, 1.7118, -0.0757, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3193a5cb0b7c6a715569d03486ef0d8a8da2a976010da8b0989b00e07a887e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7173fa0ab80f00807477883ec4fd841c1e4ecbeb71dcd1f4940000e2daf6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137041c323743fa7074377383c66c8d649855ddf00d3d8fda4e1fa9dfa3217a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQvrgxpfWMqv_XzJULh1qpVigtswGjefRJTU_eGpDOB6caXw4c7Cq0GiV2qkdNfQZv7kNE2e6iHbMoD-2pcldfSV5xh-KFrt2-3yC95c2fV9UII9PLqZD-nO2v4Fc3HpCQ9n3CP07gRYEtxSXvYQjlOJHRjTilaI1G-8ly0zPCXHgV1vvAuR8_nPk43xEJYGx8-rzLWGGE5Y53kHvEAMmemRXv2vswu9Z6UwoQ_9pfV0CETJimS-N_wQPuXawNTwP076fqCpMnYXA95msN08Wajzw3b6I9ak6FtvOb2bx32xRwveb9LeMu-FD93fXqhVkK5jXKk8w9CV7aVSxxtrmr_6GEWBirGzmz6nTLKI3aScUaYpKZiy6RdpU_W73-oswSSaSgsEM8zCTYfnGb2g4KPnsuVlms8yWghReQnop8U44SGBL4ymA3b3HYhLKJFAR4T8Ba899jjJoCmXCmoKtUro0VtIg7pNSa987L9XerH4j8kWxepPkwouGu0Ojp30oVQ3KML5Jyw2rLTKKmk69rgTC-IXdhxoDP4fnfQarICJTptNA3X7_2CQLqgvC_Q92wEAvXp9qVgArCjrIqDnJlfB9A2OZdu9apaIuxu4Jy51YEvaVltLHMrpK2SFK-B4gKQcS_iaCAnO-dhvy-RESYbVUDWfpOtFh2DJ5P_syx7822ARwX78Aeflq-Oxm549Q5Qn46aGiqfIRghZ7D2AkDZdzWxY8cThUdYU79KxjyDFsbEAiaPlmkJ480Z6d9emVP29xRRi1EF8A-0oMAzIfqxXhqjK30upOZtGnXEILXzsTSdN3QYC1G-hn_ekf3PUvKPIacn0K8FB3jwGF3-1YFOYz-5UQlkn1YD9faCo3dwLRluGOXk9ulFBVzehtxC2E8ZqePSWipFXKuUk4trvIks8KlbNahBu1us3SCeDjVtHlh6dwmtFTByk1q75SNiwkQWulzBYYiKK3IUbdC6BaHoSPpW3TaQusazHrpik0IJ7w_07CPJs2Tksf-7NVaVJI6nFjmHAooV3TF4xcmYU1Zp8URWLJf_qKxpIvdlelckD79eT65K4oVaaIgreb1ygwK13xHXqFF29bGVG2cN3i6_EKxf8FFBy1F2U5c30FgX6M7wZprqHwYuO6jUKPypqe_ZsfqRd8fsAkc4b21gT1EOkYJLYmJZ4_cgkLHNTylFII5eE-PFptIRJ9n4Z8gLX4UUt4LRKkI3zIa4F_xC_jleK5Rx43p5e-E0RTdw8D5LGLnFe42Z3b97OqLuwGxOiZDa6rL38p98FDvT5fln7ej5yeiCnT6NgEngybcIiaLjvcs-5s1QZ8SNbx2_OmseMyErR1LvjEzRlEr7g3-qgk2Uu10rB44Nx2AwkisEt2GQy03mOfRJEYlsg68EbbPjIbwasCY6wvvlwWHRlkh3hgC2z_fXrLRBTVXujWz0Y12i02iZ7yxjp_gc-C6rLd_Ofn93ihK3D-2IqYhvyNYF3rTYYE9QW0dmYoFyu0Ou6jDrmVwPnv2GShc-Bg3nS0I3zykoiHXh6frIohnr5TgW5Ijg-U41MAqF9TvVc_i1nVBymKnSlmgFNL_uUJ02j4wmXmuo5mJPuc2DfqfXia0MQbNGmGfdqEGbLeOA7egbtIl43Y6hRfplcTmcPHHfW_ZVAQAVXKspFM88EACxOH555N6e0CjGZMdOf-Iqwh3P71Dk7JeLiIADK3-3CjpXibUJSF4Ty6Pl66fBU9NafkjnUzmi0tt6W6zZyRJ3AOj91BVBzu4itv3aHZPgQt-H48tjmUEQXj8MXD6Mqp6T3jGjDbc8ON0-RRE7iAVwu4KADwQHXjosJ4SljcvKENSYbeOGG2aFYs7v3thSBdaji8FfWQR8ooBCpUagFxqLVu3t0pYj21h3u5Y2kjXczTQYFXsrWo6cy1gyhWm7Y884yT6vL_MMdMyoPq6tJrzaAHzN7Jh-kSP7y_vz7b8mqvUgNg2yoPlUJXS8jvMFtA0SW55tctIFNwTR7r8JjeoBTJxlpFe5ty_KzG5uCT2zjQYltmynkpi6cbM5aCDuDKSZ4kucHTpzf60zO0c3Wiclf_krWkIyZuzZ9nkDV0qYBImpQpKJcP_z_naZ35xGXcgc6j8BO28b6m31jyyOw_tbObCu1h37l0tTlFZ5ArxtpKPDgGSyWxglyKEEabwzvc8lrzVc33hUerwOs-ZdpY54xxDvf-9EDcWCD8peGdrmPgyWlbFuqgiF3ZFyqKQ_Fsg2eJHyPZduQZ9BNAkViT1HcaT-xgBpt8FvKsbqFmt8QwAFI4kO48dn0uO1Fgc757MpB6ZJCEBjmbpS2nacIdV0kMfh_MbyzKmdHKkzmIDxNicPlW5yOQnYq4X4iz8yCCsOj6WqDwsX4OhfpeojkS1T2F38Ja4Wm2bIqs91x_iCDO1BVj-hy-jpUz3hufS4-WardEuV8CQsEl_fWJPZHNdSL4EhEXoxK9TMuY3sd_l49rhD3_ISz3AZsPshPKUsSUhyISvVstKxoc5QfveD9VhK0tkTW_acWWM70cSs4Cj5g4dVKUyiYR7RIFZgToJ_dL2nqIGFHct9nbbZJH8i5UurxyIaASzqUKeMOfFnAaw6AlmkhG9VwlYM6zhyT7G12w3aSnzASoKqJTTf-y3r_oQ7RIPxY0vDcuc=",
  "id": "rs_073a942ff8fb4518016ab4642a114887d09c03bbe3eae49d4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.39,\"left_z\":0.25,\"left_pitch\":0.2,\"left_roll\":0},\"note\":\"The small plush rose with the gripper. I’m carrying it across to the near-left side of the right basket, staying above the rim and away from the parked right arm.\"}",
  "call_id": "call_y9n5EnKzt4PMjVp2qV2Jq9bW",
  "id": "fc_073a942ff8fb4518016ab4642e980887d0833e9e0623b59734",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y9n5EnKzt4PMjVp2qV2Jq9bW",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9146, 2.2555, 2.1277, -0.4667, -0.8471, -0.5156, 0.2171, -0.0528, 0.8639, 0.7242, -0.437, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4693 left_y=-0.3867 left_z=0.2402 left_yaw=0.0321 left_pitch=0.1835 left_roll=-0.0248 left_gripper=0.2171 right_x=0.3065 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -13.5863, 8.2393, 1.3016, -0.4322, 0.3004, 0.8913, -0.1436, -2.1812, 7.1043, 1.6923, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3b2c00ab896cf4be466741c977db8882bbb441a3d445f7bb00f03391fd439b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117bf10526d4e9eeba4b0914166c7250f914c0fc31274efcf169080ef8c389f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d0d1a25921c0e032b0b2e6fc1c634fa55e184979b8f1c9541e3e7f9b551376",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.154 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7834, 1.6836, 0.5098, 0.3599, -0.6651, -0.5385, 0.9968, -0.0528, 0.8536, 0.725, -0.4343, -0.0612, -0.0639, 0.9978]\nstate[eef_state]: left_x=0.3228 left_y=-0.1626 left_z=0.0197 left_yaw=0.0296 left_pitch=-0.0466 left_roll=0.0482 left_gripper=0.9968 right_x=0.306 right_y=-0.0018 right_z=0.2077 right_yaw=0.0297 right_pitch=0.0003 right_roll=-0.0141 right_gripper=0.9978\nstate[joint_eff]: [0.3624, -6.8855, 4.5744, 1.6581, -0.3199, -0.0122, -0.0122, -0.1573, -1.9487, 6.9675, 1.8095, -0.0806, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.2724, 0.8833, -0.3634, -0.6518, -0.5434, 0.2172, -0.0528, 0.8577, 0.725, -0.4362, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3234 left_y=-0.1647 left_z=0.1832 left_yaw=0.0236 left_pitch=-0.0109 left_roll=-0.0068 left_gripper=0.2172 right_x=0.3062 right_y=-0.0018 right_z=0.2061 right_yaw=0.0299 right_pitch=-0.0058 right_roll=-0.0139 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -5.9556, 9.0325, 1.2869, -0.4567, 0.0171, 0.906, -0.1162, -1.9487, 6.9812, 1.7118, -0.0757, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9146, 2.2555, 2.1277, -0.4667, -0.8471, -0.5156, 0.2171, -0.0528, 0.8639, 0.7242, -0.437, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4693 left_y=-0.3867 left_z=0.2402 left_yaw=0.0321 left_pitch=0.1835 left_roll=-0.0248 left_gripper=0.2171 right_x=0.3065 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -13.5863, 8.2393, 1.3016, -0.4322, 0.3004, 0.8913, -0.1436, -2.1812, 7.1043, 1.6923, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3b2c00ab896cf4be466741c977db8882bbb441a3d445f7bb00f03391fd439b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117bf10526d4e9eeba4b0914166c7250f914c0fc31274efcf169080ef8c389f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d0d1a25921c0e032b0b2e6fc1c634fa55e184979b8f1c9541e3e7f9b551376",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ1izrr2R-D17hfRPKHGXUjDzNLuWBKtie8BiCuhezjeITr_oaF3jYxSmPeFM4IFdX0HDmP1KnnY2UMcMzjmZ5vmBTINg-8xFHmVwXzuLtQ71Z40Xs4g7npr8wrzupm5wEwpgz_SGhCgD3tnr3J-WTm1Xpap99h7DwkIEWj-RexXILcboyc5bQ0Zg7dh_5GXctCAYLx_ggpTHXmOoj7rFirVigBdGz7UgcUrF46XY4AE1TXikCvmbi3_kd0hMhj6C3g82JWRv9DcE6qlMgK7J6Nx0bKkFt7Hj2hhPs6s-usV5ea82SqQyZ_MYOhhv64fO9kKjZzMkpp0q1vPzXC8UbU64dBWqZFyviNf9s7c9pPXnRu4mGSbfG1OemOzNoRdR45-sXYH9ogdkr_Z49oxUP1agIkEuTf95W4IU2i41FrDbUvuezWzwHNLj35j1mfVhgLvZOTs3XeignGuZ702BaE14trQbrboQYLFdMaKNn1oeBR9bbBw3yFosXxoRB5A5hfnK4iaxlpZg0Hlv4vWcbAJ6RByuhN2oDo9YCc9BZV_1MmwNgqdRNFNrfVmD2HUrOgU5uIut7kLF6uPjmn5EpEQlfn4cIv1pUwimtaiUPzo8E3N-DbIwFRAIFCY9A0lWa8XRAZqSjXH57tNsCV1hY_s4E_zfenzrkzh_LcQ2YvQLyt_Ufq13DiSIVx5LASrYDYiP6aAiAgqAKraY9U56ruoJB7LfwluhPpeCtv73PqANcJ8whjVM9Q3-H8VelaodEC5ZzMz5CKplALb1xVNtyuCjLiTcZY09ONAS8XlappmKFzyGPzurqM-b9MgfttHtK2OCwasIqmQNKkRY3i5Cs0jO0sQTQLqf9tIUK7bDYuQlKiPZhkk0vgRoT89ZE_XB8pyCpTRQVr3gZUqIUYf15spsejzs6CJ4_pfn_1hzSoW0nCpsgryLt30l0mJAizXNzKwBq_PhulQ9KIqdCSjLeFcpaJQSSwBddrwUaIkM3HfKHe9VBx4iFPtr0NHvG9Opx9ZiAW_9lIt1JwNtKYQ3OZVg1ARFpuaFV0TM0pCjoU3BqHHChUZT6TD-tlc6tdTyofPV3UsP2P1tTUHwN2ijrFyBgCLw_FNdFWCDAV3EPx15ynEYO-jGz8g4jv3gInaEzxSO-_pB483hsnozFBDem6Lq7HiDyHfGAtaDHCx-TvTn2b_tCa1esY_Hdhy4mRIgiRz5PZ78uocwWglLwK9-bfcswqNTK7yaKc5gby1SL6KOfN5a5MEgynnGjiE3CzLGAXCJWvCQdG22YCsKv9wXbVT-suuNN8JTu0JSb3jkMgTBigZxeD8MA5pZaM-Pc8jC6vmTQ3MZmPl0DQDpcBmkOMdRV7CgfoEEvOrSxdQc-pYHlq40e_dBzDQt7B4_c3rIyWk7AzcEmONruCF91jYnBPnhpCaIOxwWefHWVJaKR9nt5-S6zsHnuFqMlZRAh8Q1dKY6bMyWziOahv15jC804kVFQUPTfj5xGhGl8hkZrQSeW5J8WIJhAbvPLhChKJ7DqYhrvtmqn-U4mOdKnU9fR5jTT3-3mvfe8GXV8P-SgOm8XNyCI7iq8NECPsbw40HYV2GrrQJKC7LFc41MQW8bu6dj0CwOcIAzVi_4J6hrGXGJHYyA_xqaVvXQdj4hQeHqJ_",
  "id": "rs_073a942ff8fb4518016ab464331c1887d093d752ef6eee49cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.39,\"left_z\":0.15,\"left_pitch\":0.2,\"left_roll\":0},\"note\":\"The small plush is over the left side of the plush basket. I’m lowering it alongside the tan toy so both will be contained before I open the jaws.\"}",
  "call_id": "call_lHELsNm16dH8QvGpf5zbfdA7",
  "id": "fc_073a942ff8fb4518016ab464349b3087d0a5eaaff8bef51fbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lHELsNm16dH8QvGpf5zbfdA7",
  "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]: [-0.8886, 2.3379, 1.9259, -0.2134, -0.8417, -0.4824, 0.2173, -0.0528, 0.8642, 0.7242, -0.4366, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4859 left_y=-0.3836 left_z=0.1492 left_yaw=0.0316 left_pitch=0.1624 left_roll=0.0297 left_gripper=0.2173 right_x=0.3066 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -13.0393, 6.6393, 1.7314, -0.3541, 0.0611, 0.8962, -0.1162, -1.7299, 6.9675, 1.7265, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fb0251111c0b8c6cd93e04a5f096717726b40a83c333fe8cf78a4bcfd1fb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b585d3a1a58fc04443d0f837888718ede7aa5171bbcaee9a2a67d4a3def8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72101ab8943725e6f1ff3c489afd097c452a02e6ab1be938ea827d109ade415",
      "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 · 7.095 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.7039, 0.4999, 0.3794, -0.6586, -0.5388, 0.2159, -0.0528, 0.8539, 0.725, -0.4355, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3211 left_y=-0.161 left_z=0.0126 left_yaw=0.0279 left_pitch=-0.0574 left_roll=0.0524 left_gripper=0.2159 right_x=0.3059 right_y=-0.0018 right_z=0.2074 right_yaw=0.0299 right_pitch=-0.0012 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -7.8154, 5.2308, 1.1844, -0.3443, -0.0611, 1.033, -0.1709, -1.6068, 7.1726, 1.7607, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9146, 2.2555, 2.1277, -0.4667, -0.8471, -0.5156, 0.2171, -0.0528, 0.8639, 0.7242, -0.437, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4693 left_y=-0.3867 left_z=0.2402 left_yaw=0.0321 left_pitch=0.1835 left_roll=-0.0248 left_gripper=0.2171 right_x=0.3065 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -13.5863, 8.2393, 1.3016, -0.4322, 0.3004, 0.8913, -0.1436, -2.1812, 7.1043, 1.6923, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3379, 1.9259, -0.2134, -0.8417, -0.4824, 0.2173, -0.0528, 0.8642, 0.7242, -0.4366, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4859 left_y=-0.3836 left_z=0.1492 left_yaw=0.0316 left_pitch=0.1624 left_roll=0.0297 left_gripper=0.2173 right_x=0.3066 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -13.0393, 6.6393, 1.7314, -0.3541, 0.0611, 0.8962, -0.1162, -1.7299, 6.9675, 1.7265, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fb0251111c0b8c6cd93e04a5f096717726b40a83c333fe8cf78a4bcfd1fb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b585d3a1a58fc04443d0f837888718ede7aa5171bbcaee9a2a67d4a3def8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72101ab8943725e6f1ff3c489afd097c452a02e6ab1be938ea827d109ade415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The small plush is lowered into the right basket next to the tan plush. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_X4ZM571lDnfm2UIjOTFlK7zr",
  "id": "fc_073a942ff8fb4518016ab46437b65887d0ad4088386ea4b24d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X4ZM571lDnfm2UIjOTFlK7zr",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 2.3528, 1.9156, -0.2161, -0.8379, -0.49, 0.9954, -0.0528, 0.8642, 0.7242, -0.4366, -0.0616, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4856 left_y=-0.3821 left_z=0.1357 left_yaw=0.0314 left_pitch=0.1439 left_roll=0.0436 left_gripper=0.9954 right_x=0.3066 right_y=-0.0017 right_z=0.2039 right_yaw=0.0322 right_pitch=-0.0134 right_roll=-0.0163 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -15.2274, 7.7607, 1.4921, -0.3443, 0.0317, -0.188, -0.212, -1.5248, 7.1316, 1.6923, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd34eb6bfa708aedb2c84b24b3c8953c7f44aade4976405d66ad7faea84a20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815eca24f0c6302c709d9001129ff4613cfef0fb84fa5755581adf9a79a4912e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf0443d34e20f75ef2dec0eb723c2009f7894112d4370010823c296e1653b3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 6.144 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 112 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7811, 1.2724, 0.8833, -0.3634, -0.6518, -0.5434, 0.2172, -0.0528, 0.8577, 0.725, -0.4362, -0.0612, -0.0643, 0.9978]\nstate[eef_state]: left_x=0.3234 left_y=-0.1647 left_z=0.1832 left_yaw=0.0236 left_pitch=-0.0109 left_roll=-0.0068 left_gripper=0.2172 right_x=0.3062 right_y=-0.0018 right_z=0.2061 right_yaw=0.0299 right_pitch=-0.0058 right_roll=-0.0139 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -5.9556, 9.0325, 1.2869, -0.4567, 0.0171, 0.906, -0.1162, -1.9487, 6.9812, 1.7118, -0.0757, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3379, 1.9259, -0.2134, -0.8417, -0.4824, 0.2173, -0.0528, 0.8642, 0.7242, -0.4366, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4859 left_y=-0.3836 left_z=0.1492 left_yaw=0.0316 left_pitch=0.1624 left_roll=0.0297 left_gripper=0.2173 right_x=0.3066 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -13.0393, 6.6393, 1.7314, -0.3541, 0.0611, 0.8962, -0.1162, -1.7299, 6.9675, 1.7265, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 2.3528, 1.9156, -0.2161, -0.8379, -0.49, 0.9954, -0.0528, 0.8642, 0.7242, -0.4366, -0.0616, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4856 left_y=-0.3821 left_z=0.1357 left_yaw=0.0314 left_pitch=0.1439 left_roll=0.0436 left_gripper=0.9954 right_x=0.3066 right_y=-0.0017 right_z=0.2039 right_yaw=0.0322 right_pitch=-0.0134 right_roll=-0.0163 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -15.2274, 7.7607, 1.4921, -0.3443, 0.0317, -0.188, -0.212, -1.5248, 7.1316, 1.6923, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd34eb6bfa708aedb2c84b24b3c8953c7f44aade4976405d66ad7faea84a20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815eca24f0c6302c709d9001129ff4613cfef0fb84fa5755581adf9a79a4912e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf0443d34e20f75ef2dec0eb723c2009f7894112d4370010823c296e1653b3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRAsmZlDSrSXXFDc8tA03x9MIUMFYlGWkAEOyEnP9g_9JfV182VxVeHXVPX5NDWVTZe7gK0UBoFTxub3tJrLr3vdVe0B_20nav_lAv4BDj07OIoAK_fP6aFUqCxq8MEw2i8ajl_SVfols3eWWIwuwrjmdfhA_mx3tfugMTbl_PdUyeBrV7ZBhqWoclNnnj3DxDOaIKhSqr1-1rR80tGO_jQE9dJWC7JNUgifutbrhbrRqXFslpcPZslX8svneAewrIDslD6OSX_v0MRarTbfL83DlYWvaCZWkq6d4tEXjVQ0th5eafCz-ibLa1TIllMQa0wL50UjkjmxxJLkD_LI57imAt0Mv-STPuUKs_72cyR024CJmBjQ6RY6P2jAH1AJ6Z870lnu0nGhZmgHkE9aALVTFFcqktYTLTdse2enFOEm8ZGI_8_CXsyvdDTFFUZwkmiOLcfrb3qWxt_a1cxFNdlHmPWd6p9UyiDa4ev8AG6MvW53IVxuDwJEx4eskV1ucULNVyKL1ySJeNytlGekfUMm1Qf3eBwo61wGxPqjJ4z0PFozuTXQ4A55w7LcXZg-KZVm8fqju49M6T-AqW7QuPi_jzAwyetyh15WN7gRt7u77tmqs7qYA4SWl-HrYOcmNx4LnwWthiRcziqSYBoHqCS5T-ll3wNI3QZd30e4lyj0t4yB1mSZwVUT3HSFh8XFlXacW8QkIO6eK4l8-IWjyqnTcVAHWqznF12l4GCJKj94NwakIDAlF5Of_PgkK3MJ8MNlQ2BZw9V4xK4MAp6pWZOXjQIRh3nPKHz7VyhMqnlPYoNFnmJi87jYAMi0COXHIm8WSue-MdNylwa0-0_VRN3rNo-ySyEayH4rfoG4jLYmxg6EGF5AQhFiSItHv5sBg7gQP0jNYa8yxKPPLKmCXcm8XNCYCq2w1TTC-oMaPDelHXgurIbq-7AG_nrOj9Y-qiXPeWjxj0YzqczVAyQNGtj3ssSpPIscGI1RjdbeFS-dSVCKz34lxRkkzvBuMlaOdHngTTiVbMgIcuX4T2ijmIy5JDcdoOqhIbl_VMYAXEdgoP2AI0yBkH7pRqgSAur9BNhW4-DBpwaxFF6uPCbebkCEFdtz-FrvhmGNj8pv4SeQP8fXbXLcKc64Hja7yzJOGFd64bwbzgxFcIYrCxNeSOFV8e8c098B07EtkUhBpmb2-szIzid60ut__OWXIr1mMjjHLNXedSyXYNRG5_STL0u_HrzEopHoFo-3FM-Fzm1UCeuKJvUcWJaPHTXTVXrcXV6_W1beQyW_bIJyQX6X-RmN4ZhCl4qzyFyDd2Vn0a5lhY9AE6079T_ujIJ6vD7iRdjWcQmok6muG81hGy--WFI3P-KfLnWVHnmOkO5gsSzJjKesZJUQ_YxyBwcFHiZPrAVNur2jwRnNZM2EQRZ5K4d6yJbWrvBMPvrk114crl2fleaJXoA3oZeHPh8R-26133OmL23qbVm72IxEm77hzhja8OZjXI_VgMgxdaVOP5ZbEd7qvclkMX9ZEN12po8s3p-HD_flAGZfALfWk-kYCzf9HPU07MEs0Gz8zYER8RvbTiT5gqyfSLGaxLiCmImI13raq2MKfmfuboTlW2gYgCiGPZ9KXU4Z5vK_npX1VhaP4NGvtYil2qDHIrGwouuJJnOQn1yct-o5dVHJJLPwpBYO_wHK6DsTWqPdSv-xrAYEjTbP9Xe9siDz9k-AfyeO5accyQKITYrtX01vq1dyCzcC-PCyL1riwWZoGEuPyfHy-wAy03OVxw57bG4bAqGVYV9FThZcN6nGaoAaiPbO4IepeQTDaFJNXkAJAhShq0faiQVHo3HbQ-eSEHgoLni7yYWLJIAOzYz0CpwTVgbTC12bDyVDVfnfCgdgpnb0p7LTnWRifcH6pYRS7Ke-BfTztCDOzKlq8ep-MKXX-NmoMKCN5Fy0DMynWyxX3mj_XbQqKbtE-59EZ_T0VHlxhosZQ8N1M6Y5HtcRiX3VuUYDtqWNd-lY5EPbabLhu3uzkjFAPP0LERN72u71Zac8TEPJ0EWadOGxpVrtrx1k_sf5g-RwwwToPKhQlKwNXMp2ry7HDQp9txKne0XJuuzcGyKF_gyrhjRoeorjYHYPkW01P4ChPgrn7NNS_j7_0txh8AaTtVAWqXMxqBVgH3qEBF_WezgH1-mIRPG6XuxJNdUQs0AxUkjhWTnUawv0003989x7sB1bXwGBKj7p00Q38Sg_q4qGNg8PuUg9ASytN078N-5_Ji0639qsoX0SDEaonuvYkIUFjbJqyl0sBnYl0ws426_",
  "id": "rs_073a942ff8fb4518016ab4643aa39c87d0a7c291c4dd182b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.11,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.25,\"right_y\":0.19,\"right_z\":0.11,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both brown plush toys are in the right basket. I’m approaching the yellow pen with the left arm and the two blue pens with the right arm, keeping the arms in separate parts of the table.\"}",
  "call_id": "call_PAXm3UlML2j7RwNvIKJl3Z2s",
  "id": "fc_073a942ff8fb4518016ab4643ee81887d0a3941acbf6b0e722",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PAXm3UlML2j7RwNvIKJl3Z2s",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5827, 1.248, 0.614, -0.0219, -0.5339, -0.4015, 0.9966, 1.0393, 1.2423, 0.5564, -0.2184, 0.7704, 0.6662, 0.9978]\nstate[eef_state]: left_x=0.3398 left_y=-0.112 left_z=0.1302 left_yaw=0.056 left_pitch=0.0108 left_roll=-0.0079 left_gripper=0.9966 right_x=0.247 right_y=0.1844 right_z=0.0986 right_yaw=0.0636 right_pitch=-0.0378 right_roll=-0.0411 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -4.6017, 6.8444, 1.6239, -0.1245, 0.1245, 0.1148, 0.5812, -4.3556, 8.3897, 1.3065, 0.3736, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e17dea2813341bc5f0d6b79fbce3de0f8964a562ffd60a966da3dff8b511c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac439ee16bf05d74ef4858a37856182e44298f16d1832321e9f2b24a525c0cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6d0d89ba66faf68b27149b52eaca89b0622d38105b87017a6407bcf119aeef",
      "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 · 3.176 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 112 changed as sent

message 116 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9146, 2.2555, 2.1277, -0.4667, -0.8471, -0.5156, 0.2171, -0.0528, 0.8639, 0.7242, -0.437, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4693 left_y=-0.3867 left_z=0.2402 left_yaw=0.0321 left_pitch=0.1835 left_roll=-0.0248 left_gripper=0.2171 right_x=0.3065 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -13.5863, 8.2393, 1.3016, -0.4322, 0.3004, 0.8913, -0.1436, -2.1812, 7.1043, 1.6923, -0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 2.3528, 1.9156, -0.2161, -0.8379, -0.49, 0.9954, -0.0528, 0.8642, 0.7242, -0.4366, -0.0616, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4856 left_y=-0.3821 left_z=0.1357 left_yaw=0.0314 left_pitch=0.1439 left_roll=0.0436 left_gripper=0.9954 right_x=0.3066 right_y=-0.0017 right_z=0.2039 right_yaw=0.0322 right_pitch=-0.0134 right_roll=-0.0163 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -15.2274, 7.7607, 1.4921, -0.3443, 0.0317, -0.188, -0.212, -1.5248, 7.1316, 1.6923, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5827, 1.248, 0.614, -0.0219, -0.5339, -0.4015, 0.9966, 1.0393, 1.2423, 0.5564, -0.2184, 0.7704, 0.6662, 0.9978]\nstate[eef_state]: left_x=0.3398 left_y=-0.112 left_z=0.1302 left_yaw=0.056 left_pitch=0.0108 left_roll=-0.0079 left_gripper=0.9966 right_x=0.247 right_y=0.1844 right_z=0.0986 right_yaw=0.0636 right_pitch=-0.0378 right_roll=-0.0411 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -4.6017, 6.8444, 1.6239, -0.1245, 0.1245, 0.1148, 0.5812, -4.3556, 8.3897, 1.3065, 0.3736, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e17dea2813341bc5f0d6b79fbce3de0f8964a562ffd60a966da3dff8b511c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac439ee16bf05d74ef4858a37856182e44298f16d1832321e9f2b24a525c0cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6d0d89ba66faf68b27149b52eaca89b0622d38105b87017a6407bcf119aeef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRIhNUCZpbLHgt0tYFYyaRVE0Gr-1LOBYFFK3TUMqAJ-uCVHzbeHurcbJmW1OpVgdSdJUZPmiUfQTi_L5JYoUG-4SFHyb056rMCG8KeTS1XnC0rlsDU8qHZ6u5tvjskhdyXDXu58DRTcvhCWNnHKTO3zUsWJOOI1Cr42gXz94QCNHf9RhnTT-U_5HN5EHUr3-d9zZbQ3nAOYiZQ5OhA80ROJFoCgJHQZo2LCeR8JxaeUpPXuNlwXV7m_cXt6ygU-eBNW9PEvMEuaZlMT-j1FQ2gXNjBT1Lolmej9rapvtjA_Kp6METdfxNLRrV_W-FhCUKn-NP6aRWhNZ_Fhs72gj6Hdmu8fRSHaMoF-y32W54lHySgECg3MNDaNQon7GO11LpR-FNk3U0iI16JrfWEiT3eqdjiU37DZ9PkgbyRoB2mpGcJBsKiL_ZpyoMTzOIAZ0O9nskPbeqyWrbhevgPh-eBnVk48hFbtsDeQIegrYXAzYu0a_5s7ynqEPn2aQi4IBHJZkEgRpisD1yyfMx3fhhai4HSJaUFqCgEIDyYmLoJgBMjS-GgYts8oO192RON3BYIEZWI-J7rA_e7Fq6QV-kkKMC_72gegyRQPmsgqKDjL-rhr97PaYDOOXlSwo2UJgS71jBWSiZyFrMe4QMwXPV-C1rrHM-SyC0ZvuZV1n1bkSG03u4r7YQjzpImHaz2FFd85EZopaV9WNPJoGvwHH2lDwE_6xs8nELYeGmyoV0E6cHekE7eOdYgEQ2T3hCLBnn7nIVvbcmBawalVQ3djcJ6C7aUxEkrFLbL2d-vFb5l-1WwjIht3_KBQv_KRyRmwHbHvVp5EOP_1Db0mColQrZbtTGCMFUgl7URoSApPX9OSE3VvkSBemiwdc-J5N4xkffefAfaVEW1WYcb2nmZCMJwQPXe0MGIGCQMT3_v9LwFyf5BdLgBGEws6141fXKGKpdRacjlKZ6JiAHhx2rS679NiLIbdVWPboVgEj2RyVOnrpYPWzDShFle-uKPVdU0pPgMJTG6cwJKybvyII85demXrvtWXT-6N8YMrZq9sxuXDa-gInIarVxHorGVu26CHZ65npYNVCIsQUM1FDwclzpYgwUb_6OkX4FbMSo60JCTUvWc9IzvdiOU2jG_zoLLXU5UYasU5-4RQwccAosHSQEIP-06K2bmHDsv2h0st3TjBjmtj6Jvsii1FRreGUaFM8WhPjeCR5GfuVp6Jvw-gIFw9J65f1xUyFK76octsXpeCl-yOC2QnrNAVeW086rkONz2lRVexRbEUCI2Hh0uFVBLmnJsUduGF5hB1TPML5jB1NegToL_bYjegprmJzDddPZjdRUHNV7a2FEHPd1jWxZrk1j8snhPTjTCldlXgdaGmCL6-aZaovcev8JeG3y0qcujmRpiX8kuT5GyHH35R7a1WI3_UgbUuwoUKahQJcHRBqm_jV9zAekfat52uXMMdW8yfuVKm8YqpZ4HZZy_i5T0H9y7y4wJqHWKbmMNH65NuNUtIFGqk5MVlryQ2wrpAVJ8sfOkiaWM_D_1WuvU-WawcL688oaLt5lkG_3MGvGLRBWZCMseWjDxqq8gmyhoSWP2lF-Hdanf6aTszLk6QZK3KIG7YN35ch6KBoATavOPoEMObyRPGROTVKAbHyK4TudhSb1ltLof563A7_Te306N1pLOlZt8AehTQMSKR8yI_BCgf7vuDtp5iRLb1A6ymrwICcHKutGZCKyojJxwKAkMUMlhLajelO8noUzaU9qnyrTfri44DiH1jQBK5bBqjXciOuRRNRLSVxnDVK8Pkspoh8N_7vE8oJms8QLP6qcjA5Zpj7r9zHjxCy5b2Du9pc3Sy0wphCdr0QK0M0i10tShRoHTTECZYvaFQ8d_evrhj-5PUQoJD1mJ762pxb1Ue9C_jca1odrE-nlhjUYN5cnP8nRlVKjoanY5Wj6YdEXEzkB4tDv13MN70HR70aMsS84oviT2wwdwhggNIeESKKIhjphwE96CGHrUOvGXeInn-tCu63LdBYLKoJOF9AwBg2RZ",
  "id": "rs_073a942ff8fb4518016ab464442c6c87d0b8bb6d5880d837b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.11,\"left_z\":-0.01,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0.21,\"right_z\":-0.01,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow pen is centered ahead of the left jaws, and the two blue pens lie side by side ahead of the right jaws. I’m lowering both open grippers to table level for the thin objects.\"}",
  "call_id": "call_d8d18XzxhNuvTBWuzcZb3mt7",
  "id": "fc_073a942ff8fb4518016ab4644766dc87d0b6edb42a6d3fe5ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d8d18XzxhNuvTBWuzcZb3mt7",
  "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]: [-0.5541, 1.8126, 0.3985, 0.7544, -0.5365, -0.3847, 0.9969, 0.9596, 1.8294, 0.4698, 0.6224, 0.8062, 0.5381, 0.9979]\nstate[eef_state]: left_x=0.3523 left_y=-0.1076 left_z=-0.0002 left_yaw=0.0778 left_pitch=0.0085 left_roll=0.01 left_gripper=0.9969 right_x=0.2966 right_y=0.2074 right_z=0.0111 right_yaw=0.0254 right_pitch=0.0778 right_roll=-0.0297 right_gripper=0.9979\nstate[joint_eff]: [0.0889, -4.8889, 2.5368, 0.5201, 0.5641, -0.1245, 0.0024, -1.2786, -6.9402, 3.8769, -0.6178, -0.7546, -0.5739, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6605a6614cca77ab4dda6cbfeb792806a2f95ef0f921573ab1aef9b37f94e259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624ee6a757025b337f17659a86f570d8ca9867878a3145454e796310308f31ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26f6ed8451e83c72e3fa016992147347ea3a571b9d77e228471a63cef997b19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.2 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 116 changed as sent

message 120 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3379, 1.9259, -0.2134, -0.8417, -0.4824, 0.2173, -0.0528, 0.8642, 0.7242, -0.4366, -0.0612, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4859 left_y=-0.3836 left_z=0.1492 left_yaw=0.0316 left_pitch=0.1624 left_roll=0.0297 left_gripper=0.2173 right_x=0.3066 right_y=-0.0018 right_z=0.2039 right_yaw=0.0319 right_pitch=-0.0134 right_roll=-0.0165 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -13.0393, 6.6393, 1.7314, -0.3541, 0.0611, 0.8962, -0.1162, -1.7299, 6.9675, 1.7265, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5827, 1.248, 0.614, -0.0219, -0.5339, -0.4015, 0.9966, 1.0393, 1.2423, 0.5564, -0.2184, 0.7704, 0.6662, 0.9978]\nstate[eef_state]: left_x=0.3398 left_y=-0.112 left_z=0.1302 left_yaw=0.056 left_pitch=0.0108 left_roll=-0.0079 left_gripper=0.9966 right_x=0.247 right_y=0.1844 right_z=0.0986 right_yaw=0.0636 right_pitch=-0.0378 right_roll=-0.0411 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -4.6017, 6.8444, 1.6239, -0.1245, 0.1245, 0.1148, 0.5812, -4.3556, 8.3897, 1.3065, 0.3736, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5541, 1.8126, 0.3985, 0.7544, -0.5365, -0.3847, 0.9969, 0.9596, 1.8294, 0.4698, 0.6224, 0.8062, 0.5381, 0.9979]\nstate[eef_state]: left_x=0.3523 left_y=-0.1076 left_z=-0.0002 left_yaw=0.0778 left_pitch=0.0085 left_roll=0.01 left_gripper=0.9969 right_x=0.2966 right_y=0.2074 right_z=0.0111 right_yaw=0.0254 right_pitch=0.0778 right_roll=-0.0297 right_gripper=0.9979\nstate[joint_eff]: [0.0889, -4.8889, 2.5368, 0.5201, 0.5641, -0.1245, 0.0024, -1.2786, -6.9402, 3.8769, -0.6178, -0.7546, -0.5739, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6605a6614cca77ab4dda6cbfeb792806a2f95ef0f921573ab1aef9b37f94e259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624ee6a757025b337f17659a86f570d8ca9867878a3145454e796310308f31ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26f6ed8451e83c72e3fa016992147347ea3a571b9d77e228471a63cef997b19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRMCFjbKUOJPhPS8woedI9PDlF_25gbgz7m3jRBb0YJ1e3Ao0-JBuHv-xgQ9yCKsHBDfrkTrGxllCX6aJ8xpmW98rkAeQdy_Liec23mTnswRH2QBkn6UBVUmJSvuZoNlLahJYB5IpbHHPFruwPBZraUP1YrtoqEoWV12RS-cKzDM_D17vCQvCeyTmin-JdtTxU7uvkWw-C9OwNZ_sCkhU0HOCG34_zx4cuFo-WZk2842VONkAUMQM3_pE2JFVdM9Lh2yxTY4ziFwejP8_V1LJ7xUYoKdZYAzenQf8R1_K99mwnnxSnukeR1fGIBNDycGZc73K8qsgo7xlXT3092YRp5y-jBC8HxdyGvsUHh6z2HpVfrtRThaOjF--c-1uCsUCPnuy4cP8PV8LQj2Qjqa9c3JHMTVAw8r9JjszL86X0AsO0fkb4fw4G8h2pcDggyfT2ObamXyWP6UF_rxotjnjnEaAicqpXFZtZv3zUrU7K-Ry5JfDENVx1I2riw_JLHQQ69-nZxry8LkLGEAVkxSEPw-U5InwpU1vDWmncuqyT4xKPGQQaiwFG_ryE-zHuFpeI6YH9SRc5CKmNWRRPYkA2OtvH8Ob2Fky5NWUcmjDp_jrZ4HNm2QgjBpWi_gIwBsEntoZdaZq91vRN6nawvtqWJJv8N7cLHKYOh10ss--ARRekVFQ9N4lPuX-cJ-jLpzS8LvocEbF_EdyWINLTZ7b1Wp_is-AEq1DBoylzwDZHnBggTZ3fNHw4V7rPgvAuDmaryjT-Scli0KRO3QnLDt6wIJ3-HT98_44Yxwo6sRvZpjzR5b7ouD8-A-0aVLcpsY27xj5sARwq_rTBeWjFoN5igpV1TAhrKRNs1vtTwgcv4KohVTC3gBuiPr3b-J7buVJy456_agqcT6VkQMEj6coX9MskRcTgRhyvqkGF9CUdSuiYI4wPVxIVr2XE4uhJydwpB2MTCnId_rt2WFpwUxCbNzT5mNRbFxHpB-7E6xXHwangXX4YxFaQNWN2O5UpgAL0R8GwzdhUw-Il7LjTlIt6D-R2CHZyeXs_jJaXJqK-hqOZdgm0pIfvSqlG-ZtqjyisapANvsYJLM8uYHyNv_KROakEx8JRzBIHDWlyyiWFmSTki1PsHHv0mhtJS5DDc_BEfXwixjAffeBHmtjSW5D6ya9WBPCqy2uwtyjUdrAPdVJ5nNFTqnOl7V8-Z8xB2KkMuTG-sHxT6fE4lOtPQ-8Mfz9v1-LMR4kdnxLKA61D3llWzM8SPEPwG_e3LRb8XMb1QB9pWc9gNORvv8t1cmxN82wSK_KsEUhAgiWSLfAB2sWPlhJK-W2uCM-R_rwxZ7HVkznVU4dhdcX5IOnze8UOFgQAM43x03rQM_Cen05tot0g=",
  "id": "rs_073a942ff8fb4518016ab4644b3bb487d0925e684bbc73980c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both grippers have reached the tabletop near the pens; the right basket shifted slightly from wrist contact. I’m closing in place, then will lift straight up to clear the basket.\"}",
  "call_id": "call_bUbCFtNKTIap4Ke0QVNtF3hB",
  "id": "fc_073a942ff8fb4518016ab4644be2ec87d096570606ac3d368c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bUbCFtNKTIap4Ke0QVNtF3hB",
  "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]: [-0.5529, 1.8248, 0.3962, 0.7887, -0.5457, -0.3847, 0.1631, 0.9554, 1.8347, 0.4702, 0.6407, 0.7948, 0.5354, 0.0782]\nstate[eef_state]: left_x=0.3546 left_y=-0.1069 left_z=0.0017 left_yaw=0.0863 left_pitch=0.0278 left_roll=0.0027 left_gripper=0.1631 right_x=0.2981 right_y=0.2094 right_z=0.0111 right_yaw=0.0299 right_pitch=0.0796 right_roll=-0.0168 right_gripper=0.0782\nstate[joint_eff]: [-0.4034, -7.4598, 3.9179, 1.2821, -0.1294, -0.0464, 1.1306, 0.2803, -7.2821, 4.3145, 1.2674, 0.4127, -0.0415, 1.3162]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429f2a651449b61a5586cb4c780b9ea9ed076f25db87655b689753acfb24e597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665e22769a38e5ce61eafda8df546f6e704c02e73bc1c00d8ee730d59192a813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676c453c4d894f41ea72ce156710719af215e652d21bd275435638db5509f91e",
      "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 · 6.707 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 2.3528, 1.9156, -0.2161, -0.8379, -0.49, 0.9954, -0.0528, 0.8642, 0.7242, -0.4366, -0.0616, -0.0681, 0.9978]\nstate[eef_state]: left_x=0.4856 left_y=-0.3821 left_z=0.1357 left_yaw=0.0314 left_pitch=0.1439 left_roll=0.0436 left_gripper=0.9954 right_x=0.3066 right_y=-0.0017 right_z=0.2039 right_yaw=0.0322 right_pitch=-0.0134 right_roll=-0.0163 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -15.2274, 7.7607, 1.4921, -0.3443, 0.0317, -0.188, -0.212, -1.5248, 7.1316, 1.6923, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5541, 1.8126, 0.3985, 0.7544, -0.5365, -0.3847, 0.9969, 0.9596, 1.8294, 0.4698, 0.6224, 0.8062, 0.5381, 0.9979]\nstate[eef_state]: left_x=0.3523 left_y=-0.1076 left_z=-0.0002 left_yaw=0.0778 left_pitch=0.0085 left_roll=0.01 left_gripper=0.9969 right_x=0.2966 right_y=0.2074 right_z=0.0111 right_yaw=0.0254 right_pitch=0.0778 right_roll=-0.0297 right_gripper=0.9979\nstate[joint_eff]: [0.0889, -4.8889, 2.5368, 0.5201, 0.5641, -0.1245, 0.0024, -1.2786, -6.9402, 3.8769, -0.6178, -0.7546, -0.5739, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.8248, 0.3962, 0.7887, -0.5457, -0.3847, 0.1631, 0.9554, 1.8347, 0.4702, 0.6407, 0.7948, 0.5354, 0.0782]\nstate[eef_state]: left_x=0.3546 left_y=-0.1069 left_z=0.0017 left_yaw=0.0863 left_pitch=0.0278 left_roll=0.0027 left_gripper=0.1631 right_x=0.2981 right_y=0.2094 right_z=0.0111 right_yaw=0.0299 right_pitch=0.0796 right_roll=-0.0168 right_gripper=0.0782\nstate[joint_eff]: [-0.4034, -7.4598, 3.9179, 1.2821, -0.1294, -0.0464, 1.1306, 0.2803, -7.2821, 4.3145, 1.2674, 0.4127, -0.0415, 1.3162]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429f2a651449b61a5586cb4c780b9ea9ed076f25db87655b689753acfb24e597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665e22769a38e5ce61eafda8df546f6e704c02e73bc1c00d8ee730d59192a813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676c453c4d894f41ea72ce156710719af215e652d21bd275435638db5509f91e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRRgTmA7MGdVWhhB_iw6uXa0ePi2l_NMQ_03PxNnYV9K_Oq84SnqCkgFPltLD4V9niGUUmV3yBbWHdhnIv9fplppi8C3QOgJTv7RUuboY5qhq2O-JkLcgFV1Yjw_F54tGAGKVah3XGmbQIiWhz0ymFettsL5V0qBJSTVyeeVQT4pLtHlhuX5cT9eQgjGJdsylPa5EetdYfqH3g24Gbm6kfVbkC0hDECoq1Gaqq1zV_I-Z6EhLneTpq7jk23j3WFK72gAIwusadpWs2X46ABOi3Ih123k9sQM4EcabUqa4QgCmGyS5yQA3oDmCUc7a0vpdK5V92Q_yRYba3A8fJF39ybJdBix6ZkaJTuqGPJZfuTyH0CFfCJ_wKBD_4QK112QTuij6wfcG8l-fqOjRwq4STMLMqhyo-T0EzJyJhZ_GuD0Nw9pSt1n8bSLHz5kauOBcV3bSt0WSUlQYsVfDIrRwnF3GGXUEhUQQcsJC3S5467jHZ-1yU6w21saswip_VRhCtnzoJH6Up6rfCCqT2NdohV5A26FdkKgpAJM6-ofNNKqwHUYCh2Q2tQp5j5RqjobPGAhVRTI_LgLMPW-7nVbiRqipYBNas5L6rC4d9TWsHo1bWcTPtkTtXDK7U2do80vwss3cmXbhh0mmuDKqfe1X8NRdVh4v-roE728d7Ki8XFtSzGd5-07Oztw7O-KaDzBEbS-mQK_aGQo03mLX6NKM2rv5mCSyFm1KzHYkRo2VnjX2dkmXhZPUHa72uweO3WTAhHz5g3o_W8efCAawi2dCVLxAK3j7ASQZjoUa5fANG13RFfFPdRoPfOYRABXZ4SAAJCXeJQwyf3YSDL7qp-3ib4ZBj3yZiZlLxXjA4zjYzGKWzs5yasPUFNx50-TyiEgMRb8tDLoWakrNAWBEHgMJu_pmzaF6Xq7oVxjghCI7LaxwdhhqlFnsyrLp2GX7ZRKyd9Ay1sBLGxCeqQfy2iaUlg-4pfZz67Pjh6qAjyQiRXKqJ0hPNjIi9-2Ohr9O7Q6qKGcagyi2NYAFuoU5xxmxSQ-c5bQZ0GxU__rS_uNoHfdy-gXXK5jXup0DmSF3AwxsD2DP9WZFthT0PTzE5tY1ptnCsEhvgqmsZLwqa-sQdr-sUGq4jvfJ8wz1FmAgGwE5yicqziV0B-BO_Urao3SxG_-6zntkqX-KlQbxty0Dlrgx4qL5Rfu5kBjlZmV4yXRbg1e2yIaYMsaJQGqLABM3WGs2kdVHwKKiKEz-535CH9HNdcohkzFoKnaTwFo60AMEfy",
  "id": "rs_073a942ff8fb4518016ab4644f5e2c87d09cab1e8610f76894",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper holds a pen-sized thickness, and the right also stopped short of empty. I’m lifting both to check which pens were secured.\"}",
  "call_id": "call_IBGOgSUieQTc1V98JMTdprNm",
  "id": "fc_073a942ff8fb4518016ab4644fead087d0804de711f7bd5ab2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IBGOgSUieQTc1V98JMTdprNm",
  "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]: [-0.5484, 1.2549, 0.8547, -0.2554, -0.5377, -0.4007, 0.1638, 0.9379, 1.3403, 0.9302, -0.3786, 0.7204, 0.5636, 0.0804]\nstate[eef_state]: left_x=0.3588 left_y=-0.1089 left_z=0.1877 left_yaw=0.093 left_pitch=0.0124 left_roll=-0.0056 left_gripper=0.1638 right_x=0.2989 right_y=0.2165 right_z=0.1826 right_yaw=0.0522 right_pitch=-0.0003 right_roll=-0.0118 right_gripper=0.0804\nstate[joint_eff]: [-0.1162, -6.065, 8.7863, 1.4969, -0.105, 0.022, 1.0281, -0.7863, -7.1863, 9.0462, 1.326, 0.2955, 0.1538, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5111f05482ed15e9a33fa67ee7aab9c32e6106ebee043d14ba70ebbf6fc239df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f96031fadf3f9bec7220581553c338b3733bf433efe0b5963a9be220237c2a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dee8027e2846f0e31d21d5840f0e769f9f261584c34028f33ed192b61407f7a",
      "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 · 2.682 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5827, 1.248, 0.614, -0.0219, -0.5339, -0.4015, 0.9966, 1.0393, 1.2423, 0.5564, -0.2184, 0.7704, 0.6662, 0.9978]\nstate[eef_state]: left_x=0.3398 left_y=-0.112 left_z=0.1302 left_yaw=0.056 left_pitch=0.0108 left_roll=-0.0079 left_gripper=0.9966 right_x=0.247 right_y=0.1844 right_z=0.0986 right_yaw=0.0636 right_pitch=-0.0378 right_roll=-0.0411 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -4.6017, 6.8444, 1.6239, -0.1245, 0.1245, 0.1148, 0.5812, -4.3556, 8.3897, 1.3065, 0.3736, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.8248, 0.3962, 0.7887, -0.5457, -0.3847, 0.1631, 0.9554, 1.8347, 0.4702, 0.6407, 0.7948, 0.5354, 0.0782]\nstate[eef_state]: left_x=0.3546 left_y=-0.1069 left_z=0.0017 left_yaw=0.0863 left_pitch=0.0278 left_roll=0.0027 left_gripper=0.1631 right_x=0.2981 right_y=0.2094 right_z=0.0111 right_yaw=0.0299 right_pitch=0.0796 right_roll=-0.0168 right_gripper=0.0782\nstate[joint_eff]: [-0.4034, -7.4598, 3.9179, 1.2821, -0.1294, -0.0464, 1.1306, 0.2803, -7.2821, 4.3145, 1.2674, 0.4127, -0.0415, 1.3162]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5484, 1.2549, 0.8547, -0.2554, -0.5377, -0.4007, 0.1638, 0.9379, 1.3403, 0.9302, -0.3786, 0.7204, 0.5636, 0.0804]\nstate[eef_state]: left_x=0.3588 left_y=-0.1089 left_z=0.1877 left_yaw=0.093 left_pitch=0.0124 left_roll=-0.0056 left_gripper=0.1638 right_x=0.2989 right_y=0.2165 right_z=0.1826 right_yaw=0.0522 right_pitch=-0.0003 right_roll=-0.0118 right_gripper=0.0804\nstate[joint_eff]: [-0.1162, -6.065, 8.7863, 1.4969, -0.105, 0.022, 1.0281, -0.7863, -7.1863, 9.0462, 1.326, 0.2955, 0.1538, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5111f05482ed15e9a33fa67ee7aab9c32e6106ebee043d14ba70ebbf6fc239df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f96031fadf3f9bec7220581553c338b3733bf433efe0b5963a9be220237c2a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dee8027e2846f0e31d21d5840f0e769f9f261584c34028f33ed192b61407f7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRZGhhMJaCG29qH3SEjmFbwQQ8xK6uQKkxT-Cg4q8WBeVGsOJcfVDOyY7pgXGMum1RNkbFl89sjVCDRAsmKZU1reGVjCYIr17NsxDm7M305JJd-KGCfkIRTLjs9U69QPJ27BbYbADooJcD3QfhQix0Kg_ER6oV7geCrbXOuQJEk6zDrddPr_CbR3BcAw7XiyjAoWbrFBisLgFTyevSW4aevpCJ0gQpechQ0VRk7zedtTNnle3AaT9ECJ0yYmI0mgjVnX9yupLtn6tW1pW9oW_9QW0S7dK9KIoKiqBHVQS-p8VIJiYFPHmJ5ivURPsoh3m7OK6I2ooDtu68wbmx9fLeojWhMDodQ85SGIycQpxh-CeeRDOJiZLkSSUcMAVEMvOPskDKRkS8aKFPsnoYRBsdwGkSoy2D3MzZ25iu-1Yx1UuqHZYw5g2a01zT5Nn-my9G2I29LV3PKFcP5KexguWqUPgBuEWK73RGgtBYJ604kqguKrhaX1DgA1oNIVtaIj3vdrXMkOQ-h--axQ0f2HFz-cB8HPB4jL9jLfV1s6XUuaM81Zs3M6ZiVb2_bV9do-FAHHsmbJTyM9ZaBzf8beudOOvHmmKIaVd0fTnC_AhM8F7X0jEHJE_9pNk-OBibNWWMLnHnBvrRsV3ALwtQlo7UiCCwTVzcRdeH8JQO-1sYFkFbeejv2IEbOEEtrazqHKMet4MUN7E5N4SRHfA2II2cKJNhBNPgeOcgYY8gZ670zOIoiCmkTKBGzwcNTyNVSU26FSsd1vIk9ZQPBAP2apiFAzdaCkQsb3bOgc8n_ccF8Sf7nEUEtxg7hyAz2Fgc5ZrnpHR3AMEsRVjXfjwPFIgjAipQNAPzqiSR_FiTvafu5J9yvcFZz-7sNG8HjM_KvyfznFbpJuMQVmi8nFgEptoVJCtL-9ivr-cZ7i8SRkjdfUf63tXxXEhot3JlrV8UIf3uoz5YxjzKg23SscTkMOSR8QJ55qmyNxg0ZkVsSjtLGYOIrenW0GtaZUUoQFSvNOCwI6xOHYF4fmmr9rH7qJjXqYZZ5UKZ6eF2Z5pSZkETAlvE10dNT0CWM8xcLeHTw-LwdetcQ4tifkOcDJYA_TOO0gDT5xaqfTZOtTNG7i3ulsua7PVAwR16lwhbG5TmChuPKjxEW7IbYSSsxT0sIeBQn6DDXzNdzf6OM99wNdxJzbduYfyvwJd7utOTnMKzO1LKDMYu_alJXXOOY-xAAajtAKVFmVYw1BKyGDYbd6EP86UFp3XmOYPw4TE4KxYVPDP_NU0ldDQ_Znp3QaaXjEhvUpJmVoJB9BqsiZQxuDaSLml5OLi64F8dBJRgh1hld8IEaIZD5cDDBp7Wknraikp7pyKoGeMFOpQD2o6Qf15L9N3lYrwDZg4TgE8BMckzaKzvBExS1ODSeJAnOLEMdw84LJQiToooPne95RwRqOZ1ij0UJVOIwkmUWLQC6WpK8O3YMPLeCwfGcARNuJ0R-yLppOhoqNCuphfmZAb6GWCD9W09vLceFmS-upNTc7Mk1EjM69WaQIjGFQoG7kkev0qUlz_yAdh2dopy8iDhccGeNNsjTFQOvl06H1-UZTGEX6mh0h4_IQ76djiyv2wh9rUKA-1Q0lpoZOcOTT8gX8lcETogDqzb7WNn6MK7POGFoIx8xP3PsqWShJiKQKfa6_AQy6fSvFN8RB69xbGexhMKsGjryBH39V3Wr25CnLmkXIaT_6YNurmCJIm2uhMbBPqJ_VpMKwbpUpaZO6d1f1Fc7WC0VxDxFBxlSK7H009KOAexnsqvsSUlv-w77yyP1z72U5JchelR9IcufsVojANjgxQKPy3EH1_iP8F8cM_-J45SiBxrcpYnVJsB82eMGSa7mWI0caYs_kEYAkbcA9Ga_m0-w1Iy1adioHRl9soBNbE8Iy0xKWSqBzQaereWGR1-xr05n3jcT-Gd0Rj4Dss6HfhSj3WJCSIJdP0MJqnkw_EK3VpIBZw6cL99FJNSpeF_OT6iKFK7txKoB6n_kErsck3LaUV9MmXLa59rqNouJvhO0HqXTy9CBXIGwrP58378wnRW1N5GiB3eX3zOngBznep7uLtOp9mgxi_YqUfgHBP6aa0Z57BU_sre97nBYVJpyrHRIejF_eafVtH6b5Mva55vP4jsfYqaUpZx8TplbcaMTCTkOZfJX6nvFpL5RsaRpte-sI7nsccdpEstNMcXJLSM44nLqrxnVwahuOV8Ic9k3zhDNPsWWkCSPw_Zmu6kpa6iT39tc6SFUzy9KKKjMRbh8Tiqdu8tej24IijZDvwxn-2JBs6FPxPwuNcrQvRL5sLVXqAuY2AmGsbx0bUBXhko=",
  "id": "rs_073a942ff8fb4518016ab46453a9cc87d08141928f0705b855",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.12,\"left_z\":0.22,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The yellow pen lifted with the left gripper, and the right gripper is holding a thin blue pen. I’m moving the yellow pen over the left basket first, keeping the arms separated.\"}",
  "call_id": "call_uvQIvqKxdjorOm7rND7v6CYy",
  "id": "fc_073a942ff8fb4518016ab46457bcc087d09ce993356a676f38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uvQIvqKxdjorOm7rND7v6CYy",
  "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]: [-0.3851, 1.7264, 1.2537, -0.0547, -0.4587, -0.2573, 0.1638, 0.9363, 1.343, 0.9279, -0.3882, 0.7052, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4978 left_y=-0.1135 left_z=0.1999 left_yaw=0.1194 left_pitch=0.0952 left_roll=0.0132 left_gripper=0.1638 right_x=0.2973 right_y=0.2169 right_z=0.1782 right_yaw=0.0626 right_pitch=-0.018 right_roll=-0.0179 right_gripper=0.0804\nstate[joint_eff]: [0.212, -9.0598, 9.1829, 1.8877, -0.0415, 0.1636, 1.0281, -0.1436, -5.4769, 7.1043, 1.4823, 0.4225, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054444a33dfcf3a048059544d512a18c5efac1ff3f723295d8db39cd6e0d7af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50c565f67af916eec137db1ee2a33d3dd1586689446a920083df00c10877973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9384f5a23fc44656d03b915b93b5573e5ac3051bbe7f246ad42e83ccad62548",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 8 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5541, 1.8126, 0.3985, 0.7544, -0.5365, -0.3847, 0.9969, 0.9596, 1.8294, 0.4698, 0.6224, 0.8062, 0.5381, 0.9979]\nstate[eef_state]: left_x=0.3523 left_y=-0.1076 left_z=-0.0002 left_yaw=0.0778 left_pitch=0.0085 left_roll=0.01 left_gripper=0.9969 right_x=0.2966 right_y=0.2074 right_z=0.0111 right_yaw=0.0254 right_pitch=0.0778 right_roll=-0.0297 right_gripper=0.9979\nstate[joint_eff]: [0.0889, -4.8889, 2.5368, 0.5201, 0.5641, -0.1245, 0.0024, -1.2786, -6.9402, 3.8769, -0.6178, -0.7546, -0.5739, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5484, 1.2549, 0.8547, -0.2554, -0.5377, -0.4007, 0.1638, 0.9379, 1.3403, 0.9302, -0.3786, 0.7204, 0.5636, 0.0804]\nstate[eef_state]: left_x=0.3588 left_y=-0.1089 left_z=0.1877 left_yaw=0.093 left_pitch=0.0124 left_roll=-0.0056 left_gripper=0.1638 right_x=0.2989 right_y=0.2165 right_z=0.1826 right_yaw=0.0522 right_pitch=-0.0003 right_roll=-0.0118 right_gripper=0.0804\nstate[joint_eff]: [-0.1162, -6.065, 8.7863, 1.4969, -0.105, 0.022, 1.0281, -0.7863, -7.1863, 9.0462, 1.326, 0.2955, 0.1538, 1.0379]\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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3851, 1.7264, 1.2537, -0.0547, -0.4587, -0.2573, 0.1638, 0.9363, 1.343, 0.9279, -0.3882, 0.7052, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4978 left_y=-0.1135 left_z=0.1999 left_yaw=0.1194 left_pitch=0.0952 left_roll=0.0132 left_gripper=0.1638 right_x=0.2973 right_y=0.2169 right_z=0.1782 right_yaw=0.0626 right_pitch=-0.018 right_roll=-0.0179 right_gripper=0.0804\nstate[joint_eff]: [0.212, -9.0598, 9.1829, 1.8877, -0.0415, 0.1636, 1.0281, -0.1436, -5.4769, 7.1043, 1.4823, 0.4225, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054444a33dfcf3a048059544d512a18c5efac1ff3f723295d8db39cd6e0d7af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50c565f67af916eec137db1ee2a33d3dd1586689446a920083df00c10877973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9384f5a23fc44656d03b915b93b5573e5ac3051bbe7f246ad42e83ccad62548",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRcG_9pOkfJBKMpuf00xa6jeREsXKQ17vSxI6HzvoK1jKREu1b2MZ5PBe2AKU6X25e-R3EVUGSmf9vmpVPbqIFKjrMDIvyhU3H3_UbtqdS_3eey46rPfcYCXJHebCiBJjG10dUkRSFmjb03KfYKxRiRsmlXG4v8LT_Ds1iJYkHJj3TGaYWqOW59Onuky-5yb2lrfE5NZu82hSuQ_Z6S2-PR5Et9YNNFGH3Okbfipl8flkDPCyJWdD_lEH7l6uS7Tr62_cAfBLDzgJ39Nw9ViFE6g4OelvqyajiCVhm56rJ0Bu2izwWctRr-uCR0-YuOq2CLkQFnQURtKPgstG9w8ZUZRLnZtVD8FVzfwokfIZkcIllojTxQahzTwGGMMgbdjYFAGIBpVzkdB_tr3lHhrH1RNbSkac3tMpgFssKrNrGD-mnbCFc7UMpXv-1ihNZBx-wNm79YdOasK3BnFT1E5dMY3571_2gOG15l3L1wBpCVsRrekSjBX5A-Vd8D6OPCJHG69LfgW1rhBbqe5Z8OpW1qLH1GRK5Ii-SNMUDOubaaNhk-4bL-cZ_6gnNSO92oak2atciLhh9a-a-QQWvrcSq8s-OrDSKkcJT-pOExf7WK3Ho17AgzX3e8w3Lv7JdLhvQPpCLX_rcvhZMEYX1CHaJKcXnB59W00pdk2NWjgxCDMKhqhIeMDeg9FmMnZwhvyfoiI2FuQC57nx3k9wsutQnqVUuYnl9rGUhXCMgVqcq1DyniMXhAxeZe1r1cou8_sSP0UeLojAJc6bqARlz7S49Y7O8-f1M2JUnV7vJgm1j5D5OoJ7YgFxpHXnzNXlTnwMiZ62_L3DjqLLTQPBVq90F4xW2yr39MavEKqSLE1I_Hvq82jHqberEIPjdJeC93Rl1We0c7_OtAq056esu0fgc9aTCaMH5fxuwrlk1S0XObw--9Fwjq_nVz6Ajx-x7fT4mFWk4z6NetiW7TSEmxpIDBeTL65-OnmMsxDAVuCXzNU7iU7QFR4Jb2EBbk_QyJP2B-eAb6SHkm2k7aG6jzjjKZtnf4XvlZp17YJfo2XPBw4ZwSx07BlfMc6_85fht2nIGdbabz7ZtflvRbW0nfQkfbTRjIzL28A9vniZ5vMzSfp5muSFxVZ6EKz8r65_xp5DCUfkUm_ntgczw4oF3kWIfCpKz4d75nmEWXhUjzFFSX_35R1TsMmmO_6UMIrZ7QOsNNyeprrByC2TRKyaPhFKid7D7b2xpaC3xeQKynlKxOQdi4sm5HAMJRum-uuyiBJxArJPHWaJ-qjEJKNpmqDqhfMQ==",
  "id": "rs_073a942ff8fb4518016ab4645bd34487d08e7689a727f39d53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is directly above the inside of the left basket. I’m releasing it into that basket.\"}",
  "call_id": "call_ASRJUeBwOABjNZNqDC5eq16X",
  "id": "fc_073a942ff8fb4518016ab4645c222c87d0bf92052dd36b1ff7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ASRJUeBwOABjNZNqDC5eq16X",
  "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]: [-0.3828, 1.7416, 1.261, -0.062, -0.4484, -0.2619, 0.9954, 0.9363, 1.343, 0.9276, -0.3882, 0.6941, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4996 left_y=-0.1148 left_z=0.1939 left_yaw=0.1151 left_pitch=0.0793 left_roll=0.0119 left_gripper=0.9954 right_x=0.2966 right_y=0.2184 right_z=0.1772 right_yaw=0.0703 right_pitch=-0.0243 right_roll=-0.0131 right_gripper=0.0804\nstate[joint_eff]: [-0.3897, -10.4274, 6.4752, 1.8144, -0.3346, -0.0122, -0.1294, -0.0342, -5.2855, 6.9128, 1.4139, 0.3443, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2108ffca1c96ef2f213dddc671f2b60b418a96825a00875b96f7f00e25bccf2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450182e756fe8aeaa78025994c319f719e902d90d6d55c1f808487b4629f4249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e5023851270cfdea425f1d35b347b234e48c56fefe64bc9783ed886b698a72",
      "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 · 15.49 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.8248, 0.3962, 0.7887, -0.5457, -0.3847, 0.1631, 0.9554, 1.8347, 0.4702, 0.6407, 0.7948, 0.5354, 0.0782]\nstate[eef_state]: left_x=0.3546 left_y=-0.1069 left_z=0.0017 left_yaw=0.0863 left_pitch=0.0278 left_roll=0.0027 left_gripper=0.1631 right_x=0.2981 right_y=0.2094 right_z=0.0111 right_yaw=0.0299 right_pitch=0.0796 right_roll=-0.0168 right_gripper=0.0782\nstate[joint_eff]: [-0.4034, -7.4598, 3.9179, 1.2821, -0.1294, -0.0464, 1.1306, 0.2803, -7.2821, 4.3145, 1.2674, 0.4127, -0.0415, 1.3162]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3851, 1.7264, 1.2537, -0.0547, -0.4587, -0.2573, 0.1638, 0.9363, 1.343, 0.9279, -0.3882, 0.7052, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4978 left_y=-0.1135 left_z=0.1999 left_yaw=0.1194 left_pitch=0.0952 left_roll=0.0132 left_gripper=0.1638 right_x=0.2973 right_y=0.2169 right_z=0.1782 right_yaw=0.0626 right_pitch=-0.018 right_roll=-0.0179 right_gripper=0.0804\nstate[joint_eff]: [0.212, -9.0598, 9.1829, 1.8877, -0.0415, 0.1636, 1.0281, -0.1436, -5.4769, 7.1043, 1.4823, 0.4225, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7416, 1.261, -0.062, -0.4484, -0.2619, 0.9954, 0.9363, 1.343, 0.9276, -0.3882, 0.6941, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4996 left_y=-0.1148 left_z=0.1939 left_yaw=0.1151 left_pitch=0.0793 left_roll=0.0119 left_gripper=0.9954 right_x=0.2966 right_y=0.2184 right_z=0.1772 right_yaw=0.0703 right_pitch=-0.0243 right_roll=-0.0131 right_gripper=0.0804\nstate[joint_eff]: [-0.3897, -10.4274, 6.4752, 1.8144, -0.3346, -0.0122, -0.1294, -0.0342, -5.2855, 6.9128, 1.4139, 0.3443, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2108ffca1c96ef2f213dddc671f2b60b418a96825a00875b96f7f00e25bccf2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450182e756fe8aeaa78025994c319f719e902d90d6d55c1f808487b4629f4249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e5023851270cfdea425f1d35b347b234e48c56fefe64bc9783ed886b698a72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_073a942ff8fb4518016ab4645f089087d09c8cfccda96189db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2966,\"left_y\":0.0018,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.51,\"right_y\":0.4,\"right_z\":0.24,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The yellow pen has been released into the left basket. I’m clearing the left arm and bringing the blue pen to the basket’s reachable right side.\"}",
  "call_id": "call_aItHmd0XUsA5c09sgQrZpxEB",
  "id": "fc_073a942ff8fb4518016ab4646463d487d0a8a8853d934ed50d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aItHmd0XUsA5c09sgQrZpxEB",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1452, 0.8551, 0.7818, -0.4683, -0.2489, -0.1852, 0.9966, 0.8486, 2.3089, 2.0991, -0.2485, 0.7036, 0.2935, 0.0818]\nstate[eef_state]: left_x=0.3061 left_y=0.0029 left_z=0.2289 left_yaw=0.1463 left_pitch=0.0404 left_roll=-0.0164 left_gripper=0.9966 right_x=0.5019 right_y=0.4022 right_z=0.2245 right_yaw=0.0958 right_pitch=0.2179 right_roll=-0.0068 right_gripper=0.0818\nstate[joint_eff]: [0.1709, -1.306, 6.3248, 1.7851, 0.0073, 0.0952, 0.1294, -0.8821, -14.4889, 8.7316, 1.5214, 0.4713, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce99a8b9db06347deb3a4c438b35f52f8253a254bf1ec67be43c949e8aee85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bb8c53e64c04251cb454fa1fcd084ea35e123b707843085a4ed244f02b1cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0708a1f17a494229919a2b7a41ce678cca396b3e3f97b88bc2b24e84b2afe74b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 5.601 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5484, 1.2549, 0.8547, -0.2554, -0.5377, -0.4007, 0.1638, 0.9379, 1.3403, 0.9302, -0.3786, 0.7204, 0.5636, 0.0804]\nstate[eef_state]: left_x=0.3588 left_y=-0.1089 left_z=0.1877 left_yaw=0.093 left_pitch=0.0124 left_roll=-0.0056 left_gripper=0.1638 right_x=0.2989 right_y=0.2165 right_z=0.1826 right_yaw=0.0522 right_pitch=-0.0003 right_roll=-0.0118 right_gripper=0.0804\nstate[joint_eff]: [-0.1162, -6.065, 8.7863, 1.4969, -0.105, 0.022, 1.0281, -0.7863, -7.1863, 9.0462, 1.326, 0.2955, 0.1538, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7416, 1.261, -0.062, -0.4484, -0.2619, 0.9954, 0.9363, 1.343, 0.9276, -0.3882, 0.6941, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4996 left_y=-0.1148 left_z=0.1939 left_yaw=0.1151 left_pitch=0.0793 left_roll=0.0119 left_gripper=0.9954 right_x=0.2966 right_y=0.2184 right_z=0.1772 right_yaw=0.0703 right_pitch=-0.0243 right_roll=-0.0131 right_gripper=0.0804\nstate[joint_eff]: [-0.3897, -10.4274, 6.4752, 1.8144, -0.3346, -0.0122, -0.1294, -0.0342, -5.2855, 6.9128, 1.4139, 0.3443, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1452, 0.8551, 0.7818, -0.4683, -0.2489, -0.1852, 0.9966, 0.8486, 2.3089, 2.0991, -0.2485, 0.7036, 0.2935, 0.0818]\nstate[eef_state]: left_x=0.3061 left_y=0.0029 left_z=0.2289 left_yaw=0.1463 left_pitch=0.0404 left_roll=-0.0164 left_gripper=0.9966 right_x=0.5019 right_y=0.4022 right_z=0.2245 right_yaw=0.0958 right_pitch=0.2179 right_roll=-0.0068 right_gripper=0.0818\nstate[joint_eff]: [0.1709, -1.306, 6.3248, 1.7851, 0.0073, 0.0952, 0.1294, -0.8821, -14.4889, 8.7316, 1.5214, 0.4713, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce99a8b9db06347deb3a4c438b35f52f8253a254bf1ec67be43c949e8aee85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bb8c53e64c04251cb454fa1fcd084ea35e123b707843085a4ed244f02b1cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0708a1f17a494229919a2b7a41ce678cca396b3e3f97b88bc2b24e84b2afe74b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGR2zKC1hXfpEUjip4ILM5vhsyB-shVe7P8ZVWY_FgVyn0Q0NRnIljcVek09BKirlyduLVI6iTB4m-zDS2hWueZILQa1yqwsKSDM_GfVbqKx56xRlfNQ3mg6KYz-geExWqZ-SR9dFlfymYvwZEF9Li7t1mFTTyfHitPVidxCdRnoEuviAyNHpjaPX79lFd-0EHngBozVAu-WQ-miZh04X1pywaeC70tinUWxf8hVAE0rvVIwyWoAlgd954uv75Hbjw9GAmCpGmXBE3cBaK2SUY4ubiBH49uualX-Gci3rWryfIr5j2XzfaZ98Wc_l4AILKgnE78egh7tNEs4PUTSSnQzkH_oBmamJrfjmKJTdKAK_-uZr14641TC3NkBAy8QNK7zWzFhI2Kmxo-X94wh8ASP7hHJjMj8p1-G4xFEIBC84UhAFauQy73bD9cKiazX7bfsoGqVSgbK8joibF_qhX9lZgGoYVwhSu-VXnU84S4aO8s7oQASVGfq2IGEC2t0lIb8EqCzdr1yekFBgpnfXlFj2ypYKg_X_vGdmTj7IAk7K0kh07tWb-1oYZMXxJjNzf2l0j_HUS1u-OAUxLWYzfh98pu1JINQpNtGJb_vK9BkgS8ayzSJyAbkpSx6sxY-mDvMJ4jR0TgCD8nU94dQ-cZh3msaU8KJDEKI_Gv7GHMsz0J4nCm-q9V2WBEXiYS59e4eaUV8xZjUSM3jpr_2XEE9oyvJiflq12SYRKAQflkqE-oOHkMX2m-cDc1av0v9Vs9K4XV4ZqcGn2S-bacaascotLHJCInDtxzMP7gYU3jDh1B-DKNK-sWeEwsiZm8KJg9X_5EIgD3ecspLcBBjQ0Bt5ZNKsyLdxwE3eI_3O8OmnK_z1qO6d1cf8184sTZVqqGuWJqWuIbfMY1yxGiGBBH5LyrtqsMrl4uUmhddluhWRoft2f-dagOSvk1ZnFwE-f0F0zOrRVw412MdLzgVhuCelnEHH_UNGK-Hu-DxX-S9FodD8I-wQdqLyy4fz6UYFjTbLodP-4YfUjp0Ql6Q-4Btr9_yvAyuOSuWYvt0tNKGuV16mjmWSh4Vi-2rtyOelphotXOREdOhfqG_vO2yHesOgOECHJJKSPZxAv0RixUzkMPxO7ULlN6b26ehQ7loftZlLI2cDdenvE5vVoTTF7AasOD1YfPw179LmC1PzdeNKTINppEa6ADWg1sK1uPpqpOHq19sIUNKJ6G8Cokm3h8e-R3fgbmbkLe6eckBioj3yUB3WOvLg82giHTPycHJcn8KHjTsI7tl4MfLjKP4k9BgRj4NdA5lkErgLZMxSGQx-HaXBdVN979K0uBJtLgSWlyU0Fe6QcttOT8pAafWbxTt7TPvSKzScHDRZEiLFQ2j9ldMWSscprsTadhXIBl8auwSJLInvQDi5aHjOynjn3MbrMCK8xOQ3FDGzWIThgxCb-NmoarlbgTnlKMFyJmFeZ7RrLh8ipbx6O_K04KFIJSatS8avBTGng2keTIVDyQvvTEPsAjd8bS37TKCwC47N_Yy4woszycMmZ-MYObXRcUvpz5-3MeGOHGkQlUeox_nVPLgUUi7T49uIIUFAI6cggstoVReOAvVCMV5jWVu0YOeMO9NLUyu77M47L1FHZQqSf629TF21cgtWSIck1580rPlErG5FeLJFuHSx48DxEKOqXNUW_RN9xVfXtxc3gy5Q0MusGAHJIp_wUcrSOoh6DRwYe5XtmSt0HEyyQ65PTmgaRXh6EfHLPK1or_kIAUJdKAjdwKgthbSYWD8LJl1IqjbZQuGk2oIu6KAO8dIjTLo1f2j-IplsJ9Hao8bieYv1BRiEqNacVuRv2x9667KnlBgAVmWyZxe0Z3_7Tkr6gTjfNtgSz6mnsTPJFkkUrlmvX4amz7tC-XYehyOSK8BXDT49PpaCGRvyUGV4woEmwR4keTMqOzBQbCtb-6xrShQeUNXPB9sYHHrPrKv7FSvS8tvfIJarSu7NEeMJsZhz86xGoooQLdopUQiy4JVYGWJ1nYRD2c5bzt5eI8oj1FPfmyhljZ30guV7j1FZ1JsdrHypn7ELD6vnfyoiwwx9KgZ7J6uPD5hJiRNjtiJhZEKqp6SaesjA-2UdCV2bsA8b5ZLqE8-sbrCevP8N0VpascWJyNIMbYmxfC87jIWf1XlsIFicJhJHJa-_0oLK1oksy4xhIxc-y3is3DT2oz5X9IWEv7eKvIaYNs2EUsuknTqBbnb1VoGS3FCNO8Lyeq9TvZVumiasq4rF-g7iX4WRDnDg-vIycPe3TxyRyIU9HfpZbkGRDzz2G_r2D9F2AGegLGJ0XyBXTZwQ2UuaO9hbLGiAxgvqr636wm23xlqB8FUqIskBo5Xa0b-flwDNpv3AYGeIZ_OvdThgm_0EWSgxjq4kF7J2bi-RHrntBXSNnCPszalnXbRNDPppCq0ZXUxfNFMU-2Sqa2ztkmLOUp7LyO_0DRsZjiByyw7g-rnuLVThtSh4hwLJWr5245XQfex-kdSuSlLqUKTtz0tMZOoNh9MVc6XZxr7omkqbeJnQ8tTinTH7KRb5ZEmPRIdUDN2GdTUHcqAOl9egu-lyr5f3HoBWNZ5EUjo2X9P5jrsGwbKpP5IYAP-jIkVJGcoF5oYqNX_CrnBUrrs_N3IP4nZIxtupSPAi6TbY9My66jpzl-JmSFu5OET63JW6K7Lds7px0itTJUHn_le0Rkn0vJ8Gy-ZflZ3mEwnXc9TB1lCtvD_s6WP9zWZuFt7QLOz4vsCjUWfKw4j2neCQKfnQjvCn3EwhnzoZjPT6wIpo35I9SZBzZ3QyEashnVkY-J9sTj3fX5G75XKMRoCilzO06QL1kCzAJFolw-infaOvCYj2wA1GqOqFW2f2glnAixs43TYBjTOiyi8F9hVNaSRbArwDQyuohGGgMvd8KDAw07AXPdbTPO0cPuxTJP5m9j4rseC8tT5gKq_mBSxFSyFSQ2bgjKLpPjuyY5PnslU9RsoMZKI0jzktevygcPt-E-zt0PLyuEy0BJZSaAunn90pp3YELVFeS0g2LSXvU21_5e3tTnA4RR3aveBXCfM04qmzRrbZVHSPVRIfxKiiWIMnOnUNrl7vSvthrVrdWxp2wqg4lyfAl1wB3VdNH_GHpAZj_9ZNHjS11v9JfBPyXD1UgdYYWCbKDb2f7Eqq6paKnsQPkw6yT2InFquvrIe1EIXuaMdpwPEmtjCUxNP9FmBYqSeUHn8SX_gIOxbW_pRim6Hwo6zcjfstQT731OMKEqbrSWrq-7WhHXCufz4u2IaBzDm1DiOy-5PLq7STWWAYOOFSppvOq1XIYFmnx44W4UDBdaT3ophRZHbnGIFnVTLV3_TJLHhs7iCAE19TMRcmQ6ErPmcsHJt5a-iV_ByhV3jdy-JkWf9dNXuyzUEXbJDIcKH7aSXUvMJEbDVoHsuszcb97rXI23-tpNST9Xh0btQMSDKBhb8YPvHFS1v9CT0SZjSYQCx-9ciDfjH0R04yZkvpfSrsGFTOcUYPSMUSA6h-Moid1s5o1ah_deu2uxgp-HTOP3t3mrlkiMNEwNeda2DrcnA7W2S6Sv3eR0GOJCjM3iQBlkjNA92RUYmXDqoYve_RgD-iUHhprutPbCiJyC-eHvkSo-WEkSqgTtkHBAIJG4frIuqN9V2OUfkTua1gDeEUbj_0hNd1c_IzPhkB2FAvyaqy57KeZ3qG9-J5a5i6yYoLOCp3r-mdApYZuX87-YFWW_bcteQRMxUuu1BBf233X6a73ZwfCYFB3pqMBw-BnQSKNdOqGQhfWgmgI4BwFLjBOvZn0WjPwjNlnB10plcDSqi0i-AxmC2pu3vX47CSdK6dliVvBefyfEdqY8kHDu0vH0RK5G_F1Ab-JhibAGpW75dBs4ACJoVv5SEdTWVRq4sZuS1TW8IUxUVr2DgKon8wwFzoPrWmHJsB1Nv3McIYfkNXLOaNz_yyGOrrVvabXd5Abaj7JcG-gPrTzM_15C7w8jhqac=",
  "id": "rs_073a942ff8fb4518016ab4646bcc9087d090bfba7ae893b361",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.4,\"right_z\":0.17,\"right_yaw\":1.2,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The right gripper is close to the left basket’s right rim. I’m turning the long pen inward and lowering slightly so it will fall into the basket rather than onto the table.\"}",
  "call_id": "call_9bsFl2bO3zqlYQsQF6SvvSlb",
  "id": "fc_073a942ff8fb4518016ab46475509887d085c7f2c0558f4b87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9bsFl2bO3zqlYQsQF6SvvSlb",
  "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]: [-0.1463, 0.8612, 0.77, -0.4931, -0.2398, -0.1883, 0.9968, 0.4892, 2.3783, 1.9781, 0.0242, -0.4789, -0.1928, 0.0829]\nstate[eef_state]: left_x=0.3026 left_y=0.0014 left_z=0.2166 left_yaw=0.1389 left_pitch=-0.0019 left_roll=-0.0115 left_gripper=0.9968 right_x=0.5523 right_y=0.3904 right_z=0.1712 right_yaw=1.002 right_pitch=0.2301 right_roll=-0.0044 right_gripper=0.0829\nstate[joint_eff]: [-0.0205, -1.7983, 7.8701, 1.9756, -0.2222, -0.0269, 0.0024, -1.0462, -14.0786, 8.1026, 1.4237, -0.3736, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2b6677a605db8124f003bc5082d2d1cee6f40e8efcecb82558ccafbc867f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4abc9e1fe15f43d4d22628829b5c0ddf8f6980676dc8355950e87ab2827fb653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8748d2edd62c9e161fd5adf62035300dd17cf76c93ab1703261c76cd118f8b7",
      "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 · 7.154 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3851, 1.7264, 1.2537, -0.0547, -0.4587, -0.2573, 0.1638, 0.9363, 1.343, 0.9279, -0.3882, 0.7052, 0.5613, 0.0804]\nstate[eef_state]: left_x=0.4978 left_y=-0.1135 left_z=0.1999 left_yaw=0.1194 left_pitch=0.0952 left_roll=0.0132 left_gripper=0.1638 right_x=0.2973 right_y=0.2169 right_z=0.1782 right_yaw=0.0626 right_pitch=-0.018 right_roll=-0.0179 right_gripper=0.0804\nstate[joint_eff]: [0.212, -9.0598, 9.1829, 1.8877, -0.0415, 0.1636, 1.0281, -0.1436, -5.4769, 7.1043, 1.4823, 0.4225, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1452, 0.8551, 0.7818, -0.4683, -0.2489, -0.1852, 0.9966, 0.8486, 2.3089, 2.0991, -0.2485, 0.7036, 0.2935, 0.0818]\nstate[eef_state]: left_x=0.3061 left_y=0.0029 left_z=0.2289 left_yaw=0.1463 left_pitch=0.0404 left_roll=-0.0164 left_gripper=0.9966 right_x=0.5019 right_y=0.4022 right_z=0.2245 right_yaw=0.0958 right_pitch=0.2179 right_roll=-0.0068 right_gripper=0.0818\nstate[joint_eff]: [0.1709, -1.306, 6.3248, 1.7851, 0.0073, 0.0952, 0.1294, -0.8821, -14.4889, 8.7316, 1.5214, 0.4713, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8612, 0.77, -0.4931, -0.2398, -0.1883, 0.9968, 0.4892, 2.3783, 1.9781, 0.0242, -0.4789, -0.1928, 0.0829]\nstate[eef_state]: left_x=0.3026 left_y=0.0014 left_z=0.2166 left_yaw=0.1389 left_pitch=-0.0019 left_roll=-0.0115 left_gripper=0.9968 right_x=0.5523 right_y=0.3904 right_z=0.1712 right_yaw=1.002 right_pitch=0.2301 right_roll=-0.0044 right_gripper=0.0829\nstate[joint_eff]: [-0.0205, -1.7983, 7.8701, 1.9756, -0.2222, -0.0269, 0.0024, -1.0462, -14.0786, 8.1026, 1.4237, -0.3736, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2b6677a605db8124f003bc5082d2d1cee6f40e8efcecb82558ccafbc867f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4abc9e1fe15f43d4d22628829b5c0ddf8f6980676dc8355950e87ab2827fb653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8748d2edd62c9e161fd5adf62035300dd17cf76c93ab1703261c76cd118f8b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGR939nS_jNqVW6_QCifBQ9Vrfbvy1BL8DS9c1j8sNDhIfnE4AoE16AKJpipicnyIcxnwbpRUZPAumPY_2kCby4qCGg3yuG_eWEQ_8NBET2HakLdY0BJEmJtXzMBcIosn7HBf7U__vl6RlS86YrBqILNWs_MLQQ-RcW39zc8yZw2XogIwIQEx5hERaHLpuDVTN_rC662rXZpTWlh6qgK3nfQvK3uRGQeuOLSgYOO3jLzch-ZsYaQEJBawrihj8pAFowZ6uNeJHAaM9hSeGbCyJCNxATf2St-atTW7avBD3HnWfV2PjIR8QWkCamAeq0bS-XpcRox-sJUIVfmoelP3wJfbp0P7q6IMI9n-xrxkTAS2aeUv-cppvgZhHTpmEzXyW7SC99-2HPjyrEi73DT6j75t8hnmSrc1zlxpZ8A-tDEHFUz2fLOTesKR32f7UYq0uuNg-j3RmuhaXcOp8Uth3HxcgQ3XKagnb3uCGDAN5Tj4ClMeBrAXnaErTzJbLRIcU1ldFhifVZLmmciRe_eYF9zQ9vzSyVjtNUh5X0Woi0s1OigHoc6ePMoBTi6YKNP4b43DeeAjQZFyi-WcCWMhla6N6oG6VtQ8a0EhljbczF-6C9nFsElbpCqqvuBiCw1Ql68TnyLaThd3Na8TYnoKEX5uwAFUWInygIuamxiH7G7N7spruJ1p9ulttHAlqHsfHhB3QufM4UMt2f2OJisOWaJZVK90LxTPHWLVrmnKMbakS1qdfqzsfdAGPXfv8x6M7kU_Yd3RayFXeBhqZsY74pGXp_1AonbLqVagyIhcX-U63suU4hgh_udvQH-fG1kLEErUxJFDrxzt8vGR2Zd20QMZDt_UUqdQMAj5FC5LHoIuysBB88ZDe50JxTlH6uBsBNEasoccwBkbfwhEbICom9ORcj5dYD47e9W5215tLDCUGADiGbv0edJjwzLjxb_io1sacKrdN0GxTmxzAnCT99lLPXkIuszlCavedk90RT2CeHitRDJHTzUtNT4azDDaA_WiaNaXumxFcSdiEA8ofzOZ5KIKSNhOh3R7NudGnahDOyg2t2o0BSihUWhsBrpw4bMkWmeq55CVR3QoSWTL66Z46lcAbBdtrJ9qPL1rGscr8tubLqxtZGiiho3PR-kFIl9Fg0tfwwXHQDueuFQV1rgvZCfoeFkjf1l1H8P3zLXzW31tXpp2WNb5Gx0tBQuH5_2CffMGzOrhGjtTmhWBMB7rViRZ8SBF4BGiupGNgxFOY5tGWp46WrrjRpssCvvOVAVgBw9oYQImKdyr16AwGzlxkF6bZDJBR5IIq1vz8CeTmTKOIjqABSqlc8U_En7qXwIEHlnfHKRW49XJ16z7pjagPSf7KJzhFTq9P3B7Aehxvin-b41RnLhVQuUtYgqF55nbVLv-LTec--JPmFmy47K_H6IqgCGrfT2VEaJl__ZRTDVPwXBmM6CkYy-a-JYNOriTq5FibA3SuuXvNMgGc6RWToPWCz5UzIZkckiGK-ENPlHQ4RAOOBhARMwNyK-4toDZ9GB5mtESlQxowHp6PL1OlFiYWevYzVifl1Qv5A6DuxWKKMK5ksuIDfqAxrR3eph1S5njaPcQgoDldsycVUNxjDxmuUa_s9Wpz1eXWL0XfRgNzsftnLTEvYU5r_PJWjMyVU_AIAd5oAoEYbhN00Gm29323QKVLjiRs7HBcebwl5g6-nXx2E_EZTOBIJZXoBPCQHYpWTTd-cml5B0SWV_XwlpKdd_Ksu2L1jhzMjDVzEWRlRZJ0IHswV3hKb5mxqBq369B9vdO7EZ741T-3E0rAp1UNZcVYQjS9szh6cZ8NhtEyy_k_7tjP2W1FP45UpakQYGF88GyF2LV1Fnp1w6Tqag42s2qgWyjhRMYV0w51s=",
  "id": "rs_073a942ff8fb4518016ab464792d3887d091874316126adcf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is turned across the basket’s inner edge. I’m releasing it; the gray plush and at least one displaced brown plush still remain outside the baskets, so the sorting is not complete.\"}",
  "call_id": "call_WGVtBM0BEpMBHlSptuSFhXIv",
  "id": "fc_073a942ff8fb4518016ab4647be0bc87d0b7c4ff4a9f8a6e40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WGVtBM0BEpMBHlSptuSFhXIv",
  "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]: [-0.1463, 0.8623, 0.77, -0.4858, -0.239, -0.1913, 0.9968, 0.49, 2.4237, 1.9789, 0.0051, -0.4808, -0.202, 0.9954]\nstate[eef_state]: left_x=0.3037 left_y=0.0011 left_z=0.2177 left_yaw=0.1399 left_pitch=0.0038 left_roll=-0.0162 left_gripper=0.9968 right_x=0.552 right_y=0.3911 right_z=0.1381 right_yaw=1.003 right_pitch=0.175 right_roll=0.0194 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.4564, 6.9265, 1.6484, -0.1392, 0.0024, -0.0122, -0.1162, -18.2906, 7.2684, 2.0049, -0.1245, 0.0562, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06daebbad1ffa1bb4136762f22f07e29a86546cb3bccfded07dfa4e8f844112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa6e61b753b4940d75fdd0d10806bcb772b28121265df28d29236913bf1cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1143e418380b10fd8fea79739529ccc340e6127b2611b126dcd9830e510a88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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