adhoc

completed
2026-09-23T23:10:21.466955+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
307.5 s
total steps
461
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 stuffed animals and utensils on the table. I’ll put the stuffed animals in the left basket and the utensils in the right, starting with the gray plush.
move_to
left_x0.3200left_y-0.0750left_z0.1300left_gripper1.0000right_x0.2967right_y0.0012right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7994, 0.6136, -0.3779, -0.0231, -0.0158, 0.9995, -0.0154, 0.7986, 0.6106, -0.3737, -0.0124, -0.0223, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.002 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.7026, 9.5385, 1.7509, -0.0415, 0.0024, -0.0611, -0.841, -1.4838, 9.9077, 1.7216, -0.1001, 0.022, -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":0.32,"left_y":-0.075,"left_z":0.13,"left_gripper":1,"right_x":0.2967,"right_y":0.0012,"right_z":0.185},"note":"I see stuffed animals and utensils on the table. I’ll put the stuffed animals in the left basket and the utensils in the right, starting with the gray plush."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body, clear of the nearby yellow utensil.
move_to
left_x0.3400left_y0.0050left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4412, 1.0588, 0.5079, -0.0914, -0.3492, -0.2455, 0.9996, -0.0154, 0.8013, 0.6102, -0.3847, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.3167 left_y=-0.0787 left_z=0.1238 left_yaw=-0.0258 left_pitch=-0.0344 left_roll=0.005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0141 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.0205, -3.412, 6.2974, 1.8877, -0.2369, -0.1001, -0.0611, -0.3624, -0.9094, 7.6923, 1.7705, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.005,"left_z":0.04},"note":"The gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body, clear of the nearby yellow utensil."})
tool
executing move_to over 8 steps (0.8s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe gray plush is still just left and forward of the jaw center. I’m making a small final alignment so the fingers can close around its torso.
move_to
left_x0.3800left_y0.0450left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0139, 1.3891, 0.2951, 0.4877, -0.0017, 0.0074, 0.9995, -0.0151, 0.8051, 0.6086, -0.3855, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3408 left_y=0.0086 left_z=0.0411 left_yaw=0.0027 left_pitch=-0.043 left_roll=0.0078 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1779 right_yaw=0.0003 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1709, -3.9726, 4.4923, 1.9414, 0.1197, 0.0415, -0.0171, -0.253, -1.5248, 7.2, 1.7411, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":0.045,"left_z":0.025},"note":"The gray plush is still just left and forward of the jaw center. I’m making a small final alignment so the fingers can close around its torso."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe open fingers now straddle the lower side of the gray plush. I’ll close and check the jaw opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.152, 1.6352, 0.4015, 0.5797, 0.1005, 0.0708, 0.9995, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3677 left_y=0.042 left_z=0.0147 left_yaw=0.0201 left_pitch=-0.0867 left_roll=-0.0045 left_gripper=0.9995 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.4171, -6.0923, 5.9966, 1.8339, 0.105, 0.0806, -0.0122, -0.3487, -1.4291, 7.4325, 1.7167, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now straddle the lower side of the gray plush. I’ll close and check the jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaws closed empty, so the plush is farther forward than the first view suggested. I’m reopening and moving toward its upper body for one retry.
move_to
left_x0.4250left_y0.0500left_z0.0350left_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]: [0.1551, 1.6485, 0.4091, 0.5846, 0.1043, 0.0677, 0.0127, -0.0154, 0.8097, 0.6083, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3698 left_y=0.0428 left_z=0.0135 left_yaw=0.0215 left_pitch=-0.0871 left_roll=-0.0094 left_gripper=0.0127 right_x=0.2956 right_y=0.0011 right_z=0.1765 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.8444, 3.9179, 1.7021, 0.022, 0.0171, 0.8571, -0.3487, -1.4564, 7.0496, 1.7411, -0.0317, -0.0757, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":0.05,"left_z":0.035,"left_gripper":1},"note":"The jaws closed empty, so the plush is farther forward than the first view suggested. I’m reopening and moving toward its upper body for one retry."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gray plush sits close to the left workspace edge, with an appendage beside the inner finger. I’ll try to catch that reachable part without moving farther toward the fence.
move_to
left_x0.4450left_y0.0500left_z0.0350left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1474, 1.7329, 0.6296, 0.4255, 0.1055, 0.0521, 0.9984, -0.0154, 0.812, 0.6083, -0.3847, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4158 left_y=0.0466 left_z=0.027 left_yaw=0.0211 left_pitch=-0.1098 left_roll=-0.0254 left_gripper=0.9984 right_x=0.2958 right_y=0.0011 right_z=0.176 right_yaw=-0.0001 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1162, -6.3658, 7.4598, 1.6337, -0.0269, 0.0806, -0.0611, -0.3897, -1.1556, 7.0222, 1.7753, -0.0366, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":0.05,"left_z":0.035,"left_gripper":0},"note":"The gray plush sits close to the left workspace edge, with an appendage beside the inner finger. I’ll try to catch that reachable part without moving farther toward the fence."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gray shape follows the left wrist and appears to be part of the arm covering, not a loose toy. The loose toys are the two brown animals in the center; I’m parking the left arm and approaching the larger one with the right.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.3700right_y0.3000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1463, 1.7927, 0.7326, 0.3592, 0.1051, 0.0444, 0.0157, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4356 left_y=0.0491 left_z=0.0268 left_yaw=0.024 left_pitch=-0.133 left_roll=-0.0341 left_gripper=0.0157 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0004 right_pitch=-0.0298 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4718, -7.3231, 7.8017, 1.6288, -0.0464, -0.0073, 0.696, -0.253, -1.5795, 7.0222, 1.7118, -0.022, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.37,"right_y":0.3,"right_z":0.15,"right_gripper":1},"note":"The gray shape follows the left wrist and appears to be part of the arm covering, not a loose toy. The loose toys are the two brown animals in the center; I’m parking the left arm and approaching the larger one with the right."})
tool
executing move_to over 25 steps (2.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe larger brown toy is visible just left of the right jaw center. I’m aligning over its torso and lowering the open fingers around it.
move_to
right_x0.4000right_y0.3250right_z0.0450right_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]: [-0.0288, 0.936, 0.7956, -0.5842, -0.0231, -0.0685, 0.9987, 0.9146, 1.813, 1.2758, -0.3222, 0.6971, 0.5976, 0.9998] state[eef_state]: left_x=0.2993 left_y=-0.001 left_z=0.1863 left_yaw=0.0192 left_pitch=-0.1611 left_roll=-0.0368 left_gripper=0.9987 right_x=0.3669 right_y=0.2965 right_z=0.139 right_yaw=0.0218 right_pitch=-0.058 right_roll=-0.0228 right_gripper=0.9998 state[joint_eff]: [-0.3077, -2.7966, 9.5385, 1.6581, -0.0269, -0.0562, -0.1441, 0.4444, -9.0462, 9.1282, 1.3211, 0.4957, 0.1929, -0.0415] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.325,"right_z":0.045,"right_pitch":0},"note":"The larger brown toy is visible just left of the right jaw center. I’m aligning over its torso and lowering the open fingers around it."})
tool
executing move_to over 7 steps (0.7s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe right fingers are positioned around the brown toy’s body. I’ll close gently through the gripper controller, then check whether the toy lifts with the jaws.
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]: [-0.0288, 0.9371, 0.7963, -0.5987, -0.0231, -0.0681, 0.9983, 0.9077, 2.0861, 1.2495, 0.0654, 0.7185, 0.5499, 0.9998] state[eef_state]: left_x=0.2971 left_y=-0.0009 left_z=0.1837 left_yaw=0.0191 left_pitch=-0.1759 left_roll=-0.0358 left_gripper=0.9983 right_x=0.3993 right_y=0.3282 right_z=0.0587 right_yaw=0.0271 right_pitch=0.0093 right_roll=-0.004 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.812, 6.9402, 1.7656, -0.0415, -0.0415, -0.0611, -0.5675, -9.4154, 5.5179, 1.6142, 0.105, 0.0171, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingers are positioned around the brown toy’s body. I’ll close gently through the gripper controller, then check whether the toy lifts with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe gripper has stopped at a substantial opening, consistent with holding the toy. I’m lifting it a short distance to verify the grasp before carrying it to the basket.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 0.9405, 0.7956, -0.6025, -0.0231, -0.0685, 0.9982, 0.9051, 2.0926, 1.2495, 0.0811, 0.7258, 0.5354, 0.3794] state[eef_state]: left_x=0.2966 left_y=-0.0008 left_z=0.1817 left_yaw=0.0198 left_pitch=-0.1839 left_roll=-0.0357 left_gripper=0.9982 right_x=0.4017 right_y=0.3275 right_z=0.0584 right_yaw=0.0269 right_pitch=0.019 right_roll=-0.0126 right_gripper=0.3794 state[joint_eff]: [-0.1026, -2.2632, 6.8991, 1.619, -0.0562, -0.022, -0.0171, -0.0068, -11.5897, 5.9009, 1.2674, 0.188, 0.1148, 0.696] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper has stopped at a substantial opening, consistent with holding the toy. I’m lifting it a short distance to verify the grasp before carrying it to the basket."})
tool
executing move_to over 6 steps (0.6s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe brown toy is secured, though the loaded arm is sagging below its target. I’ll use the right basket for toys and the left for utensils so each placement stays within reach, lifting higher as I carry.
move_to
right_x0.5400right_y0.1500right_z0.2400right_pitch0.3000
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]: [-0.0284, 0.9424, 0.7956, -0.6067, -0.0231, -0.0685, 0.9982, 0.9047, 2.0048, 1.3773, -0.2176, 0.7036, 0.5312, 0.381] state[eef_state]: left_x=0.296 left_y=-0.0007 left_z=0.1804 left_yaw=0.0198 left_pitch=-0.19 left_roll=-0.0354 left_gripper=0.9982 right_x=0.3963 right_y=0.3251 right_z=0.1032 right_yaw=0.0434 right_pitch=-0.0469 right_roll=-0.0694 right_gripper=0.381 state[joint_eff]: [-0.0615, -2.2632, 6.8308, 1.5751, -0.0855, -0.0464, -0.0122, -0.1983, -14.7897, 8.7043, 1.4335, 0.486, 0.0073, 0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.15,"right_z":0.24,"right_pitch":0.3},"note":"The brown toy is secured, though the loaded arm is sagging below its target. I’ll use the right basket for toys and the left for utensils so each placement stays within reach, lifting higher as I carry."})
tool
executing move_to over 15 steps (1.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe toy hangs to the left of the right basket’s opening, and the basket has shifted slightly. I’m moving forward and right to bring the hanging body over the opening before release.
move_to
right_x0.5900right_y0.0750right_z0.2100right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6128, -0.0231, -0.0685, 0.9982, 0.3939, 1.8648, 1.277, 0.1432, 0.3763, 0.0395, 0.3826] state[eef_state]: left_x=0.295 left_y=-0.0007 left_z=0.1793 left_yaw=0.0199 left_pitch=-0.1961 left_roll=-0.0351 left_gripper=0.9982 right_x=0.5272 right_y=0.1527 right_z=0.1781 right_yaw=0.0462 right_pitch=0.1466 right_roll=-0.1106 right_gripper=0.3826 state[joint_eff]: [-0.1026, -2.1265, 6.8991, 1.6093, -0.0562, -0.0659, -0.0171, -0.4171, -13.3812, 10.947, 2.4347, 0.1734, -0.0806, 0.1538] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.075,"right_z":0.21,"right_pitch":0.5},"note":"The toy hangs to the left of the right basket’s opening, and the basket has shifted slightly. I’m moving forward and right to bring the hanging body over the opening before release."})
tool
executing move_to over 12 steps (1.2s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe toy is still brushing the basket’s left rim rather than clearing it. I’m raising it above the rim and shifting right before attempting to lower it inside.
move_to
right_x0.5600right_y0.0150right_z0.3100right_pitch0.3000left_z0.2000left_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]: [-0.0284, 0.947, 0.7956, -0.6151, -0.0231, -0.0685, 0.9982, 0.2092, 1.9915, 1.2198, 0.6209, 0.1776, -0.0757, 0.3841] state[eef_state]: left_x=0.2949 left_y=-0.0007 left_z=0.1777 left_yaw=0.02 left_pitch=-0.203 left_roll=-0.0348 left_gripper=0.9982 right_x=0.5796 right_y=0.0949 right_z=0.1887 right_yaw=0.0816 right_pitch=0.4109 right_roll=-0.0954 right_gripper=0.3841 state[joint_eff]: [-0.1573, -2.3316, 7.1316, 1.5311, -0.0415, -0.0366, -0.0122, -2.4, -9.5248, 8.5402, 2.3126, 0.3394, -0.2955, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.015,"right_z":0.31,"right_pitch":0.3,"left_z":0.2,"left_pitch":0},"note":"The toy is still brushing the basket’s left rim rather than clearing it. I’m raising it above the rim and shifting right before attempting to lower it inside."})
tool
executing move_to over 8 steps (0.8s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe toy is now above the right basket’s opening. I’m lowering slightly and opening the jaws to let it settle into the basket.
move_to
right_z0.2300right_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]: [-0.0307, 0.8135, 0.6888, -0.487, -0.0273, -0.0681, 0.9982, 0.0334, 1.808, 1.4647, 0.0517, 0.0036, -0.1028, 0.3849] state[eef_state]: left_x=0.2914 left_y=-0.0005 left_z=0.1914 left_yaw=0.0201 left_pitch=-0.0482 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5691 right_y=0.0219 right_z=0.2719 right_yaw=0.0797 right_pitch=0.2679 right_roll=-0.089 right_gripper=0.3849 state[joint_eff]: [-0.5949, -1.7026, 6.8991, 2.0049, -0.1587, 0.0024, -0.0122, -0.6222, -13.9145, 10.2906, 2.0488, -0.0757, -0.0708, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23,"right_gripper":1},"note":"The toy is now above the right basket’s opening. I’m lowering slightly and opening the jaws to let it settle into the basket."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe larger toy has settled in the right basket. I’m moving clear and approaching the small brown toy with the left arm; the utensils will go in the empty left basket.
move_to
right_x0.3900right_y0.1600right_z0.1500right_pitch0.0000left_x0.3900left_y-0.1500left_z0.0900left_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]: [-0.0303, 0.8181, 0.6769, -0.4847, -0.0265, -0.0685, 0.9982, 0.0349, 1.8275, 1.3388, 0.16, -0.0013, -0.1085, 0.9959] state[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1853 left_yaw=0.0201 left_pitch=-0.0623 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5648 right_y=0.0235 right_z=0.2259 right_yaw=0.0883 right_pitch=0.2307 right_roll=-0.0911 right_gripper=0.9959 state[joint_eff]: [-0.253, -1.6752, 7.9111, 1.6777, -0.0659, -0.0659, -0.0122, -0.2803, -9.388, 6.8991, 2.3126, 0.0073, -0.0073, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.16,"right_z":0.15,"right_pitch":0,"left_x":0.39,"left_y":-0.15,"left_z":0.09,"left_gripper":1},"note":"The larger toy has settled in the right basket. I’m moving clear and approaching the small brown toy with the left arm; the utensils will go in the empty left basket."})
tool
executing move_to over 14 steps (1.4s)
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 small toy is directly beneath the left jaw center, so I’m lowering and closing around it. I’m also lifting the open right gripper away to check that the larger toy is fully released.
move_to
left_x0.3800left_y-0.1500left_z0.0250left_gripper0.0000right_x0.3200right_y0.0000right_z0.2800right_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]: [-0.5529, 1.5711, 0.7361, 0.0589, -0.421, -0.3904, 0.9988, 0.5369, 1.4815, 0.8898, 0.0704, 0.4129, 0.1444, 0.9969] state[eef_state]: left_x=0.3752 left_y=-0.1425 left_z=0.0728 left_yaw=0.0034 left_pitch=-0.1302 left_roll=-0.007 left_gripper=0.9988 right_x=0.4078 right_y=0.1644 right_z=0.1728 right_yaw=0.106 right_pitch=0.0869 right_roll=-0.0604 right_gripper=0.9969 state[joint_eff]: [-0.253, -7.5556, 8.253, 1.5849, -0.4322, -0.0269, -0.1441, 0.335, -7.3094, 5.2171, 1.033, 0.0952, 0.022, 0.0855] 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":{"left_x":0.38,"left_y":-0.15,"left_z":0.025,"left_gripper":0,"right_x":0.32,"right_y":0,"right_z":0.28,"right_gripper":1},"note":"The small toy is directly beneath the left jaw center, so I’m lowering and closing around it. I’m also lifting the open right gripper away to check that the larger toy is fully released."})
tool
executing move_to over 14 steps (1.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe larger toy is clearly inside the right basket. The left close was empty; I’m reopening and backing up slightly to expose the small toy and correct its position.
move_to
left_x0.3400left_y-0.1500left_z0.0700left_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]: [-0.5621, 1.726, 0.6933, 0.2733, -0.4309, -0.4026, 0.0124, -0.0639, 0.9325, 0.918, -0.4789, -0.07, -0.1219, 0.9986] state[eef_state]: left_x=0.3841 left_y=-0.1505 left_z=0.0346 left_yaw=0.0076 left_pitch=-0.1123 left_roll=-0.0197 left_gripper=0.0124 right_x=0.326 right_y=-0.0049 right_z=0.264 right_yaw=0.0536 right_pitch=0.0684 right_roll=-0.0617 right_gripper=0.9986 state[joint_eff]: [-0.6769, -5.9829, 4.3966, 1.3309, -0.188, -0.0171, 0.6032, -0.1983, -2.8103, 9.9624, 1.7851, -0.1392, -0.0562, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.15,"left_z":0.07,"left_gripper":1},"note":"The larger toy is clearly inside the right basket. The left close was empty; I’m reopening and backing up slightly to expose the small toy and correct its position."})
tool
executing move_to over 10 steps (1.0s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe small toy’s face is now visible at the bottom of the wrist image, with its body closer to the base. I’m moving back over the body and lowering with the jaws open.
move_to
left_x0.3050left_y-0.1500left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6498, 1.5101, 0.6388, 0.0895, -0.477, -0.4679, 0.9956, -0.0658, 0.9386, 0.9154, -0.5034, -0.0792, -0.1349, 0.9985] state[eef_state]: left_x=0.3449 left_y=-0.1557 left_z=0.0669 left_yaw=-0.0075 left_pitch=-0.1129 left_roll=-0.0314 left_gripper=0.9956 right_x=0.3238 right_y=-0.0037 right_z=0.2557 right_yaw=0.0661 right_pitch=0.0355 right_roll=-0.0644 right_gripper=0.9985 state[joint_eff]: [-0.1983, -7.5419, 4.9983, 1.4335, -0.4371, -0.0073, -0.1685, -0.2256, -2.3043, 7.1179, 2.0342, 0.0415, 0.105, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.15,"left_z":0.025},"note":"The small toy’s face is now visible at the bottom of the wrist image, with its body closer to the base. I’m moving back over the body and lowering with the jaws open."})
tool
executing move_to over 4 steps (0.4s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe small plush’s torso is centered between the open fingers. I’ll close here and check 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]: [-0.7303, 1.5173, 0.45, 0.2073, -0.514, -0.5171, 0.9967, -0.0658, 0.939, 0.915, -0.5041, -0.0799, -0.1356, 0.9985] state[eef_state]: left_x=0.3008 left_y=-0.1479 left_z=0.0204 left_yaw=-0.0267 left_pitch=-0.1573 left_roll=0.0011 left_gripper=0.9967 right_x=0.3237 right_y=-0.0036 right_z=0.2553 right_yaw=0.0672 right_pitch=0.0341 right_roll=-0.0645 right_gripper=0.9985 state[joint_eff]: [-0.1573, -4.5197, 5.9009, 1.9023, -0.2857, -0.0757, 0.1001, -0.2256, -1.9487, 7.0222, 1.8242, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The small plush’s torso is centered between the open fingers. I’ll close here and check the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe fingers are holding a roughly two-centimeter-thick part of the plush. I’m lifting to verify that the toy moves with the left gripper.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7364, 1.5261, 0.4332, 0.2642, -0.5327, -0.5396, 0.2078, -0.0658, 0.9409, 0.915, -0.5045, -0.0803, -0.1356, 0.9985] state[eef_state]: left_x=0.303 left_y=-0.1488 left_z=0.0221 left_yaw=-0.0097 left_pitch=-0.1245 left_roll=-0.0263 left_gripper=0.2078 right_x=0.3239 right_y=-0.0036 right_z=0.2546 right_yaw=0.0675 right_pitch=0.0318 right_roll=-0.064 right_gripper=0.9985 state[joint_eff]: [-0.335, -5.3265, 5.4085, 1.4725, -0.3248, -0.0122, 0.9353, -0.3214, -2.1812, 6.9128, 1.7753, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The fingers are holding a roughly two-centimeter-thick part of the plush. I’m lifting to verify that the toy moves with the left gripper."})
tool
executing move_to over 6 steps (0.6s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe small plush lifted successfully. I’m carrying it toward the near-left side of the toy basket while keeping the right arm parked out of the way.
move_to
left_x0.5100left_y-0.3900left_z0.2700left_pitch0.2500right_x0.3000right_y0.0000right_z0.2000right_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]: [-0.7364, 1.2816, 0.6147, -0.1379, -0.5243, -0.54, 0.2098, -0.0658, 0.9424, 0.9142, -0.5045, -0.0822, -0.136, 0.9985] state[eef_state]: left_x=0.3056 left_y=-0.1528 left_z=0.1001 left_yaw=-0.0176 left_pitch=-0.1105 left_roll=-0.0472 left_gripper=0.2098 right_x=0.3241 right_y=-0.0032 right_z=0.2538 right_yaw=0.0693 right_pitch=0.0297 right_roll=-0.0631 right_gripper=0.9985 state[joint_eff]: [-0.1162, -5.4222, 8.5265, 1.453, -0.315, -0.022, 0.7497, -0.2256, -2.0444, 6.9538, 1.8144, -0.0269, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.39,"left_z":0.27,"left_pitch":0.25,"right_x":0.3,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The small plush lifted successfully. I’m carrying it toward the near-left side of the toy basket while keeping the right arm parked out of the way."})
tool
executing move_to over 22 steps (2.2s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe small toy is over the basket’s left side beside the larger plush. I’m lowering it toward the opening, staying within the left arm’s cross-table limit.
move_to
left_x0.5400left_y-0.4000left_z0.1700left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8463, 2.3196, 2.2383, -0.3714, -0.7528, -0.4065, 0.2124, -0.0582, 0.8322, 0.688, -0.4438, -0.0792, -0.1387, 0.9985] state[eef_state]: left_x=0.5093 left_y=-0.3878 left_z=0.2585 left_yaw=-0.0024 left_pitch=0.2374 left_roll=-0.0802 left_gripper=0.2124 right_x=0.2988 right_y=0.0002 right_z=0.195 right_yaw=0.0757 right_pitch=-0.0255 right_roll=-0.0595 right_gripper=0.9985 state[joint_eff]: [-0.5128, -14.3111, 8.1436, 1.3114, -0.3492, 0.3248, 0.735, 0.335, -1.853, 7.1316, 1.8877, 0.0122, -0.0171, -0.0171] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.4,"left_z":0.17,"left_pitch":0.3},"note":"The small toy is over the basket’s left side beside the larger plush. I’m lowering it toward the opening, staying within the left arm’s cross-table limit."})
tool
executing move_to over 6 steps (0.6s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe small toy is supported at the basket opening. I’m opening the left gripper so it can settle with the other plush.
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]: [-0.8192, 2.4336, 2.0789, -0.0475, -0.7555, -0.3645, 0.2138, -0.0589, 0.8322, 0.6804, -0.4446, -0.0799, -0.139, 0.9985] state[eef_state]: left_x=0.5378 left_y=-0.3928 left_z=0.1773 left_yaw=0.0136 left_pitch=0.2734 left_roll=-0.0768 left_gripper=0.2138 right_x=0.2978 right_y=0.0001 right_z=0.1914 right_yaw=0.0759 right_pitch=-0.0337 right_roll=-0.0583 right_gripper=0.9985 state[joint_eff]: [-0.3487, -12.9846, 5.8598, 1.6679, -0.1197, 0.2222, 0.7204, -0.0615, -1.388, 7.7197, 1.7558, -0.0757, -0.0317, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The small toy is supported at the basket opening. I’m opening the left gripper so it can settle with the other plush."})
tool
executing move_to over 8 steps (0.8s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteI’ve released the small toy and am moving away to inspect the result. Next I’m approaching the yellow-handled utensil with the left arm and the far-right fork with the right arm.
move_to
left_x0.3000left_y-0.0550left_z0.0900left_pitch0.0000right_x0.3000right_y0.1900right_z0.0900right_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]: [-0.8173, 2.4477, 2.0716, -0.0254, -0.7601, -0.3779, 0.9951, -0.0589, 0.8322, 0.6796, -0.4446, -0.0799, -0.1394, 0.9985] state[eef_state]: left_x=0.5398 left_y=-0.3923 left_z=0.1694 left_yaw=0.0269 left_pitch=0.2748 left_roll=-0.0894 left_gripper=0.9951 right_x=0.2978 right_y=0.0002 right_z=0.191 right_yaw=0.0761 right_pitch=-0.0345 right_roll=-0.0585 right_gripper=0.9985 state[joint_eff]: [-0.3897, -15.788, 7.6103, 1.4676, -0.1636, 0.1392, -0.0513, -0.1983, -1.4154, 7.0906, 1.707, -0.0806, -0.0708, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.055,"left_z":0.09,"left_pitch":0,"right_x":0.3,"right_y":0.19,"right_z":0.09,"right_gripper":1},"note":"I’ve released the small toy and am moving away to inspect the result. Next I’m approaching the yellow-handled utensil with the left arm and the far-right fork with the right arm."})
tool
executing move_to over 30 steps (3.0s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
assistant
agent noteThe yellow item is left of the left jaw center, so I’m correcting sideways while lowering both grippers to the utensils. The small plush landed outside the basket and will need another pickup.
move_to
left_x0.3000left_y-0.0150left_z-0.0080right_x0.3000right_y0.1900right_z-0.0080
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]: [-0.3695, 1.0077, 0.3058, 0.136, -0.3252, -0.3206, 0.9966, 0.841, 1.3735, 0.6079, 0.0776, 0.672, 0.4519, 0.9986] state[eef_state]: left_x=0.3066 left_y=-0.0543 left_z=0.0957 left_yaw=0.0661 left_pitch=0.0281 left_roll=-0.1024 left_gripper=0.9966 right_x=0.311 right_y=0.1881 right_z=0.1122 right_yaw=0.0452 right_pitch=0.0416 right_roll=-0.0058 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.853, 6.9949, 1.7802, 0.0122, 0.1099, 0.149, 1.1282, -3.1248, 5.9009, 0.7302, -0.0708, -0.0366, -0.1538] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.015,"left_z":-0.008,"right_x":0.3,"right_y":0.19,"right_z":-0.008},"note":"The yellow item is left of the left jaw center, so I’m correcting sideways while lowering both grippers to the utensils. The small plush landed outside the basket and will need another pickup."})
tool
executing move_to over 8 steps (0.8s)
step 271
assistant
agent noteThe yellow marker is centered between the left fingers. The right arm met an obstruction well above the table, so I’m backing it away immediately rather than pressing down.
move_to
left_gripper0.0000right_x0.2800right_y0.0000right_z0.3000right_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]: [-0.1493, 1.7126, 0.0555, 1.129, -0.1879, -0.1921, 0.9967, 0.8726, 1.7168, 0.4896, 0.9169, 0.8928, 0.3359, 0.9985] state[eef_state]: left_x=0.3086 left_y=-0.0094 left_z=0.0015 left_yaw=0.1032 left_pitch=0.0445 left_roll=-0.0712 left_gripper=0.9967 right_x=0.3404 right_y=0.1972 right_z=0.1077 right_yaw=-0.1033 right_pitch=0.3659 right_roll=0.1107 right_gripper=0.9985 state[joint_eff]: [0.2393, -3.7402, 0.2667, -0.4029, 0.4762, -0.5495, -0.0024, 0.4855, 4.6838, -2.6188, -1.326, -2.1905, 1.9853, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.28,"right_y":0,"right_z":0.3,"right_pitch":0},"note":"The yellow marker is centered between the left fingers. The right arm met an obstruction well above the table, so I’m backing it away immediately rather than pressing down."})
tool
executing move_to over 17 steps (1.7s)
step 288
assistant
agent noteThe left jaws have a firm hold on the marker. The large plush appears snagged on the open right gripper, so I’m lifting clear and gently changing the wrist angle to free it.
move_to
left_z0.0800right_x0.3800right_y0.0900right_z0.3400right_pitch0.0000right_roll0.4000right_yaw0.4000
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]: [-0.1482, 1.7199, 0.0498, 1.1458, -0.1833, -0.194, 0.1882, 0.4587, 1.1709, 0.6521, 0.3576, 0.5236, 0.2256, 0.9984] state[eef_state]: left_x=0.3077 left_y=-0.0098 left_z=0.0015 left_yaw=0.1016 left_pitch=0.0476 left_roll=-0.076 left_gripper=0.1882 right_x=0.3784 right_y=0.0924 right_z=0.2503 right_yaw=-0.162 right_pitch=0.4151 right_roll=0.1719 right_gripper=0.9984 state[joint_eff]: [-0.4855, -4.9846, 2.7829, 1.6044, -0.1538, 0.0122, 1.033, 1.0872, -7.3915, 8.9915, 2.3468, 0.4811, -0.0806, -0.022] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"right_x":0.38,"right_y":0.09,"right_z":0.34,"right_pitch":0,"right_roll":0.4,"right_yaw":0.4},"note":"The left jaws have a firm hold on the marker. The large plush appears snagged on the open right gripper, so I’m lifting clear and gently changing the wrist angle to free it."})
tool
executing move_to over 14 steps (1.4s)
step 302
assistant
agent noteThe marker lifted with the left gripper, and the large plush remains in the right basket. I’m carrying the marker over the empty left basket and parking the right arm clear.
move_to
left_x0.5300left_y-0.1300left_z0.2300left_pitch0.2000right_x0.3000right_y0.0000right_z0.3000right_roll0.0000right_yaw0.0000right_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]: [-0.1478, 1.0367, 0.186, 0.3309, -0.1833, -0.1944, 0.1882, 0.3058, 1.1316, 0.8635, -0.0959, 0.1699, 0.2668, 0.9984] state[eef_state]: left_x=0.306 left_y=-0.0094 left_z=0.0737 left_yaw=0.1022 left_pitch=0.052 left_roll=-0.0775 left_gripper=0.1882 right_x=0.3782 right_y=0.0918 right_z=0.2571 right_yaw=0.0079 right_pitch=0.1913 right_roll=0.2066 right_gripper=0.9984 state[joint_eff]: [-0.1162, -2.5231, 8.3214, 1.7705, -0.1099, -0.0171, 1.0232, -0.2667, -5.0256, 8.5402, 2.083, -0.0611, 0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.13,"left_z":0.23,"left_pitch":0.2,"right_x":0.3,"right_y":0,"right_z":0.3,"right_roll":0,"right_yaw":0,"right_pitch":0},"note":"The marker lifted with the left gripper, and the large plush remains in the right basket. I’m carrying the marker over the empty left basket and parking the right arm clear."})
tool
executing move_to over 18 steps (1.8s)
step 320
assistant
agent noteThe yellow marker is above the left basket. I’m lowering and releasing it into the utensil basket.
move_to
left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3714, 1.7866, 1.3003, 0.0422, -0.416, -0.281, 0.1887, -0.0124, 0.9443, 1.0935, -0.7265, 0.0006, -0.004, 0.9984] state[eef_state]: left_x=0.5216 left_y=-0.1227 left_z=0.209 left_yaw=0.124 left_pitch=0.1581 left_roll=-0.0822 left_gripper=0.1887 right_x=0.3055 right_y=-0.0003 right_z=0.2871 right_yaw=-0.0177 right_pitch=-0.0157 right_roll=0.0085 right_gripper=0.9984 state[joint_eff]: [-0.6085, -10.1675, 9.1419, 1.873, -0.0757, 0.2222, 0.4664, -0.253, -2.3179, 9.3744, 1.7558, -0.1148, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_gripper":1},"note":"The yellow marker is above the left basket. I’m lowering and releasing it into the utensil basket."})
tool
executing move_to over 9 steps (0.9s)
step 329
assistant
agent noteThe yellow marker is inside the left basket. I’m approaching the blue marker with the left arm and the small plush beside the right basket with the right arm, keeping the grasp points separated.
move_to
left_x0.3400left_y-0.3200left_z0.1100left_pitch0.0000right_x0.4600right_y0.3800right_z0.2000right_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]: [-0.3706, 1.8584, 1.1625, 0.2241, -0.4194, -0.2886, 0.9954, -0.0189, 0.9482, 1.0927, -0.7479, -0.009, -0.0193, 0.9984] state[eef_state]: left_x=0.5192 left_y=-0.1207 left_z=0.1492 left_yaw=0.1298 left_pitch=0.1344 left_roll=-0.0747 left_gripper=0.9954 right_x=0.3032 right_y=-0.0006 right_z=0.2813 right_yaw=-0.008 right_pitch=-0.0416 right_roll=0.0012 right_gripper=0.9984 state[joint_eff]: [-0.2667, -9.2513, 6.2291, 2.0049, -0.1294, 0.0562, -0.149, 0.4581, -2.0581, 6.8581, 1.9219, 0.0513, 0.0952, -0.0122] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.32,"left_z":0.11,"left_pitch":0,"right_x":0.46,"right_y":0.38,"right_z":0.2,"right_pitch":0},"note":"The yellow marker is inside the left basket. I’m approaching the blue marker with the left arm and the small plush beside the right basket with the right arm, keeping the grasp points separated."})
tool
executing move_to over 32 steps (3.2s)
step 361
assistant
agent noteThe blue marker is near the left fingertips, and the small plush is below the right wrist view. I’m lowering toward both, angling the left jaws across the marker and pitching the right tool for the longer reach.
move_to
left_x0.3350left_y-0.3550left_z0.0000left_yaw0.6000right_x0.4700right_y0.3800right_z0.0650right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.037, 1.9186, 1.2491, -0.3561, -0.8665, -0.9901, 0.9966, 0.865, 2.2387, 2.1052, -0.6674, 0.7208, 0.5255, 0.9983] state[eef_state]: left_x=0.3403 left_y=-0.3042 left_z=0.0976 left_yaw=0.1589 left_pitch=-0.0244 left_roll=-0.0754 left_gripper=0.9966 right_x=0.4593 right_y=0.3647 right_z=0.2007 right_yaw=-0.0042 right_pitch=-0.0088 right_roll=-0.0486 right_gripper=0.9983 state[joint_eff]: [-1.7709, -9.0188, 10.0034, 1.1355, -0.4908, 0.4225, 0.1245, 1.3607, -11.6718, 8.0889, 1.3895, 0.2564, 0.3639, -0.0171] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.355,"left_z":0,"left_yaw":0.6,"right_x":0.47,"right_y":0.38,"right_z":0.065,"right_pitch":0.4},"note":"The blue marker is near the left fingertips, and the small plush is below the right wrist view. I’m lowering toward both, angling the left jaws across the marker and pitching the right tool for the longer reach."})
tool
executing move_to over 14 steps (1.4s)
step 375
assistant
agent noteThe blue marker is slightly left of center, so I’m making a small correction and closing on it. The right arm stopped short at long reach; I’m moving inward toward the plush’s body instead of forcing the same descent.
move_to
left_x0.3250left_y-0.3400left_gripper0.0000right_x0.4300right_y0.3700right_z0.0500right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1385, 2.6179, 2.0499, -1.1824, -0.9951, -1.8179, 0.9968, 0.8589, 2.3798, 1.5501, 0.5777, 0.9508, 0.1852, 0.9983] state[eef_state]: left_x=0.3295 left_y=-0.3518 left_z=-0.0005 left_yaw=0.5571 left_pitch=-0.0019 left_roll=-0.0276 left_gripper=0.9968 right_x=0.4904 right_y=0.3538 right_z=0.1111 right_yaw=-0.1022 right_pitch=0.4163 right_roll=-0.0077 right_gripper=0.9983 state[joint_eff]: [0.8684, -13.2855, 7.6103, 0.7009, -0.1197, -0.0024, 0.0024, 3.6581, -6.8855, 3.7128, 1.072, -0.3004, -0.1685, -0.0073] camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.34,"left_gripper":0,"right_x":0.43,"right_y":0.37,"right_z":0.05,"right_pitch":0.5},"note":"The blue marker is slightly left of center, so I’m making a small correction and closing on it. The right arm stopped short at long reach; I’m moving inward toward the plush’s body instead of forcing the same descent."})
tool
executing move_to over 10 steps (1.0s)
step 385
assistant
agent noteThe marker is held, but the right arm is not tracking and the arms are too close around the center. I’m withdrawing the right arm before lifting the marker; I won’t keep pressing toward the small plush.
move_to
right_x0.3000right_y0.0000right_z0.3000right_pitch0.0000right_yaw0.0000right_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]: [-1.1732, 2.5805, 1.953, -1.1229, -1.0271, -1.8786, 0.1478, 0.8894, 2.4134, 1.4528, 0.9234, 1.0908, 0.0883, 0.9983] state[eef_state]: left_x=0.3161 left_y=-0.3531 left_z=-0.0014 left_yaw=0.5491 left_pitch=0.028 left_roll=-0.0837 left_gripper=0.1478 right_x=0.4707 right_y=0.3373 right_z=0.116 right_yaw=-0.2442 right_pitch=0.5431 right_roll=0.0811 right_gripper=0.9983 state[joint_eff]: [2.7419, -15.1453, 4.3009, -0.1685, -0.1685, 0.696, 1.0085, 7.5556, -3.9863, 1.347, 2.044, -0.2857, 0.2125, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.3,"right_pitch":0,"right_yaw":0,"right_roll":0},"note":"The marker is held, but the right arm is not tracking and the arms are too close around the center. I’m withdrawing the right arm before lifting the marker; I won’t keep pressing toward the small plush."})
tool
executing move_to over 29 steps (2.9s)
step 414
assistant
agent noteThe right arm is clear, and the blue marker is visibly pinched between the left fingers. I’m lifting it off the table before moving to the left basket.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1774, 2.5771, 1.9518, -1.1126, -1.0367, -1.8786, 0.1483, 0.0074, 0.9421, 1.0855, -0.6807, 0.0708, 0.0277, 0.9983] state[eef_state]: left_x=0.3162 left_y=-0.3559 left_z=0.0009 left_yaw=0.5437 left_pitch=0.0354 left_roll=-0.0976 left_gripper=0.1483 right_x=0.3104 right_y=-0.0066 right_z=0.294 right_yaw=-0.0741 right_pitch=0.0259 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [0.0615, -13.4222, 5.2444, -0.1099, -0.4518, -0.0464, 1.0281, -0.294, -2.5778, 9.1009, 1.6435, -0.1001, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The right arm is clear, and the blue marker is visibly pinched between the left fingers. I’m lifting it off the table before moving to the left basket."})
tool
executing move_to over 6 steps (0.6s)
step 420
assistant
agent noteThe blue marker has lifted with the jaws. I’m carrying it to the left basket with the yellow marker, keeping it clear of the rim.
move_to
left_x0.5200left_y-0.1300left_z0.2300left_yaw0.0000left_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]: [-1.1774, 2.5298, 2.0708, -1.3155, -1.0168, -1.8866, 0.1484, 0.0036, 0.9463, 1.0882, -0.6907, 0.0597, 0.0189, 0.9983] state[eef_state]: left_x=0.3142 left_y=-0.3559 left_z=0.0495 left_yaw=0.5506 left_pitch=0.0214 left_roll=-0.0653 left_gripper=0.1484 right_x=0.3101 right_y=-0.0058 right_z=0.2918 right_yaw=-0.0639 right_pitch=0.014 right_roll=-0.0026 right_gripper=0.9983 state[joint_eff]: [-0.1846, -17.5521, 7.6786, -0.2418, -0.652, 0.0366, 1.033, 0.1436, -2.1812, 6.4752, 1.8632, 0.105, 0.0513, -0.0122] camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.13,"left_z":0.23,"left_yaw":0,"left_pitch":0.2,"left_roll":0},"note":"The blue marker has lifted with the jaws. I’m carrying it to the left basket with the yellow marker, keeping it clear of the rim."})
tool
executing move_to over 21 steps (2.1s)
step 441
assistant
agent noteThe carry motion stopped short and pulled the idle arm sideways, with a large effort spike; the visible cables may be snagged. I’m reversing the last motion to relieve the tension rather than forcing the placement.
move_to
left_x0.3300left_y-0.3400left_z0.1000left_yaw0.5000left_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]: [-0.646, 1.8153, 1.2613, -0.0364, -0.4583, -0.2333, 0.1545, 0.1043, 0.9993, 1.0714, -0.664, -0.1596, -0.1547, 0.9983] state[eef_state]: left_x=0.4595 left_y=-0.244 left_z=0.1633 left_yaw=-0.1482 left_pitch=0.0397 left_roll=0.049 left_gripper=0.1545 right_x=0.3152 right_y=0.0649 right_z=0.2753 right_yaw=0.3147 right_pitch=-0.0219 right_roll=-0.0281 right_gripper=0.9983 state[joint_eff]: [21.9009, -15.0769, 9.2786, 2.674, 0.3004, 0.5739, 1.033, -8.3624, -6.2017, 8.1983, 1.2869, 2.2295, 1.6532, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 441): [image omitted: streamed camera frame] camera 'left_cam' (step 441): [image omitted: streamed camera frame] camera 'right_cam' (step 441): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.34,"left_z":0.10,"left_yaw":0.5,"left_pitch":0,"left_roll":0},"note":"The carry motion stopped short and pulled the idle arm sideways, with a large effort spike; the visible cables may be snagged. I’m reversing the last motion to relieve the tension rather than forcing the placement."})
tool
executing move_to over 10 steps (1.0s)
step 451
assistant
agent noteReversing the motion relieved the effort spike. I’m setting the blue marker back on the table so I can stop without leaving an object suspended.
move_to
left_z0.0150left_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]: [-1.1141, 2.3783, 1.977, -0.9936, -0.9585, -1.449, 0.1588, 0.1009, 1.0061, 1.0626, -0.654, -0.1577, -0.1562, 0.9983] state[eef_state]: left_x=0.3489 left_y=-0.3741 left_z=0.0852 left_yaw=0.3749 left_pitch=-0.0393 left_roll=-0.0753 left_gripper=0.1588 right_x=0.3175 right_y=0.0636 right_z=0.2713 right_yaw=0.3105 right_pitch=-0.0278 right_roll=-0.0292 right_gripper=0.9983 state[joint_eff]: [-0.1709, -15.2137, 6.9128, -0.0317, -0.9304, -0.0415, 1.033, 0.1846, -3.0017, 7.4188, 1.5751, -0.0611, -0.0317, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 451): [image omitted: streamed camera frame] camera 'left_cam' (step 451): [image omitted: streamed camera frame] camera 'right_cam' (step 451): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015,"left_gripper":1},"note":"Reversing the motion relieved the effort spike. I’m setting the blue marker back on the table so I can stop without leaving an object suspended."})
tool
executing move_to over 9 steps (0.9s)
step 460
assistant
agent noteThe objects are plush animals and markers. The yellow marker is in the left basket and the cream plush is in the right basket, but the remaining objects are not sorted. I stopped after a carry motion caused a large effort spike and displaced the idle arm, indicating arm or cable interference. Reversing relieved the load, and I released the blue marker back onto the table. Operator intervention is needed before continuing safely.
give_up
hindsightThe gray object at the far left is a loose plush animal, not an arm covering. Bulky plushes can remain visible in the wrist camera, so visibility alone does not establish whether they are held. Releasing a toy at the left arm's cross-over limit left it outside the right basket; that basket needs the right arm for reliable placement. Grasp-point separation alone did not prevent interference: a left-arm carry across the center produced a roughly 22 N·m base effort and visibly displaced the idle right arm. Reversing that motion relieved the load; inspect and route the wrist cables before another attempt.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.116, 2.4016, 1.9347, -0.9535, -0.9424, -1.4689, 0.9954, 0.1009, 1.008, 1.0607, -0.6533, -0.1577, -0.1566, 0.9983] state[eef_state]: left_x=0.3454 left_y=-0.3728 left_z=0.0615 left_yaw=0.3822 left_pitch=-0.0576 left_roll=-0.0673 left_gripper=0.9954 right_x=0.3177 right_y=0.0637 right_z=0.2701 right_yaw=0.3108 right_pitch=-0.0308 right_roll=-0.0289 right_gripper=0.9983 state[joint_eff]: [-0.0342, -13.9692, 6.2974, 0.696, -0.6862, 0.1441, -0.2418, -0.3214, -2.5231, 6.8718, 1.707, -0.0952, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 460): [image omitted: streamed camera frame] camera 'left_cam' (step 460): [image omitted: streamed camera frame] camera 'right_cam' (step 460): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The objects are plush animals and markers. The yellow marker is in the left basket and the cream plush is in the right basket, but the remaining objects are not sorted. I stopped after a carry motion caused a large effort spike and displaced the idle arm, indicating arm or cable interference. Reversing relieved the load, and I released the blue marker back onto the table. Operator intervention is needed before continuing safely.","hindsight":"The gray object at the far left is a loose plush animal, not an arm covering. Bulky plushes can remain visible in the wrist camera, so visibility alone does not establish whether they are held. Releasing a toy at the left arm's cross-over limit left it outside the right basket; that basket needs the right arm for reliable placement. Grasp-point separation alone did not prevent interference: a left-arm carry across the center produced a roughly 22 N·m base effort and visibly displaced the idle right arm. Reversing that motion relieved the load; inspect and route the wrist cables before another attempt."})
tool
give_up: The objects are plush animals and markers. The yellow marker is in the left basket and the cream plush is in the right basket, but the remaining objects are not sorted. I stopped after a carry motion caused a large effort spike and displaced the idle arm, indicating arm or cable interference. Reversing relieved the load, and I released the blue marker back onto the table. Operator intervention is needed before continuing safely.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.62 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, 0.6136, -0.3779, -0.0231, -0.0158, 0.9995, -0.0154, 0.7986, 0.6106, -0.3737, -0.0124, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.002 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.5385, 1.7509, -0.0415, 0.0024, -0.0611, -0.841, -1.4838, 9.9077, 1.7216, -0.1001, 0.022, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e30b447b7b7cf93c0b2b67b77259722addf889ef8bb7cc8c133fea966327de84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784bd38d49164e693027a12294f831933d72d7bc75942bc4bc81c317761bb520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ce0ece913a49ee2a4ec5c26862d4acfd22dc64043f09f1a4ced613303b5a02",
      "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 · 7.32 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0be2927d6e244ace016ab45c6ff94887d08bd3cb858dfaa750",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.075,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.2967,\"right_y\":0.0012,\"right_z\":0.185},\"note\":\"I see stuffed animals and utensils on the table. I’ll put the stuffed animals in the left basket and the utensils in the right, starting with the gray plush.\"}",
  "call_id": "call_Bk78yMjRBIJGHPh6aNk51I1F",
  "id": "fc_0be2927d6e244ace016ab45c75e26087d0a164045cbad4faf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bk78yMjRBIJGHPh6aNk51I1F",
  "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]: [-0.4412, 1.0588, 0.5079, -0.0914, -0.3492, -0.2455, 0.9996, -0.0154, 0.8013, 0.6102, -0.3847, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.0787 left_z=0.1238 left_yaw=-0.0258 left_pitch=-0.0344 left_roll=0.005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0141 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.412, 6.2974, 1.8877, -0.2369, -0.1001, -0.0611, -0.3624, -0.9094, 7.6923, 1.7705, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f43b28fdc518df256002d7e1d30b065ac23ce920d7ef823b4d4f46b015872b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f49bd14f510f8f31b585220c124e25f0ce973f615cf2aadddf5331a1b950e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824c88f98928ea54cffa0e20a25d0193dc035fd41a0411c5d204001a086eb448",
      "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 · 4.948 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, 0.6136, -0.3779, -0.0231, -0.0158, 0.9995, -0.0154, 0.7986, 0.6106, -0.3737, -0.0124, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.002 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.5385, 1.7509, -0.0415, 0.0024, -0.0611, -0.841, -1.4838, 9.9077, 1.7216, -0.1001, 0.022, -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]: [-0.4412, 1.0588, 0.5079, -0.0914, -0.3492, -0.2455, 0.9996, -0.0154, 0.8013, 0.6102, -0.3847, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.0787 left_z=0.1238 left_yaw=-0.0258 left_pitch=-0.0344 left_roll=0.005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0141 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.412, 6.2974, 1.8877, -0.2369, -0.1001, -0.0611, -0.3624, -0.9094, 7.6923, 1.7705, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f43b28fdc518df256002d7e1d30b065ac23ce920d7ef823b4d4f46b015872b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f49bd14f510f8f31b585220c124e25f0ce973f615cf2aadddf5331a1b950e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824c88f98928ea54cffa0e20a25d0193dc035fd41a0411c5d204001a086eb448",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyAdxxow8OhXiLdU9oDP-QQf8EVPnQzZG3rQXWs2qUhYuZP8CclrEEGpfQIXQp0iawz4Gq41zu6jUzC_nOu391mAhxQOIiBuwg5ByCYPIEX8Ov0Qh7pVsGeJ7nw-AkAF2o-FmArJDr1dgrF1m64QiVxQwXOqSJ-yu-cuC_4WLsWUWXm2akXuyweHiANLd5iw4DCk4X846gD_DzOhMzjjLDKDYqBT87dH7WAEXaofsxRM7OqkoE1XmLyTbYtRioTsx94tRDxiqtNi_MNo6NGlah3YGvI-t3hG22GuSVALdYW9ts6DPPC2XHVCm7ZNDJ79kipUiRTXxzUytOASVRp0OPQtB-zycvW2pR4U9c3rQYNj-mhslZIZ3KR-TTlHM_I5hA1ZCwziIH-fCAQ4ph5_A53FZtTDlp7Q0huRThgGXMmd2iHzjbQ9NBB2CNQiwFValXrmHYwwNxOfLkXEkq4vIuCuhKR34uGsdwwpV7M8VqeJXcrxpmqKdPGd5vuWK31AvhgvVjYmjAjSGwOGgV7uT6LwBoZFh4mzWc5-u2_0NzFJbFkxdyqGZBBMjs0D8mKimDXaZnoa6LAXXmd7iccRcxDO6R7d162eus40qUZpdFDt7XZ1MUFqH0EEyDajudlBsNyfW1CJP98anTBlV7nNUOcEWTJTLqHP7Vks0Cj8S1mEjpAalbTu_qbqtaPdm16YYzlfkLNPDRgxn3NKocR5NiI5tawcv9xUIAI7A1-2QDXX_Ov8IbxaiC2rtoY8XHLQ8lXfKM3CqACVP_949UuN5rO-0uTdtqM7QWcWBpEMIFhAOosTvmU8Rx6gRd1Ed1MH19mwZadkiB7aG4cbtXh1iKsW0U2JX0ukk0UOX7sQ30seFnf-G8mD7U0JzmsE5v0kgt7EIzz2-3bitAgVEYwolW9nGNxiyEUml8b8fEkT8ZRPIUdmh45MTwMFhQAvrs1Us2xZ8GR4kBFuKTqG_eoDE3gsHEwkWf4m1aZ80rU8ZxXnErjVOIhB_NI5CgXfm3uk7IhJv3rUhvGYtREM7TT_Fh_XpyFjkmCUCCKSkdMxIqFPBd9UsNNDC2y7bCV0Bw9i0Rrwu3QyeaOeJqZWhMYtL1kpNgjFCeEh29O0f8VMr5qJnhx_pvUnyWj-LHlPIs_couPuGegnNg535TQR45Zv22oTKWf0pPdmF0rdaDv5kfzbQpGHszT5_Gypx6_ji3PlXYcJGRm6xxVwe3LOdUkCAwEdf0OJRrm1ANgsVZaROZUmpGHZm55FoNeNuq6Vr-AiSbMFuYMDx8Di1Nil27Z7FJcBBrV3ymZ1huFHgca-TzL4g_nyNRLbsPIN7xHjnsSuY25zCcx7d6z4JO6GqvlJf1ISKVljO323y4DU8NtVkw-zMg6peJzvaEdTeLzHOup85iGN4f-k4DMHP7f5ETpWcaJBcBdjwriV16Wm-5K6XAU2vQUm0E7t7FZqPYo-OcrVeGrvdIMw9Xh4KndhZJuKsgP-FQ6XRMoq0BERXRU1BJj0Ax_93wtFG2_KjZN97Awpips593IZIdb8g7N8V8O6vYU8pO8G9p5bzaWEJ7oEu7L7UdZy5tpki5Czb_CpLfijgV5FtSA7ip83OWYN9V8zJLn8NSbthBuJtenIcb_Rwxjdt3Wh96zXPmF3_3zzgu8wPNDj1WCI5ygmUeFnDAlG48ylQFL4WzaYROMGzWIiQBln2RzaPwXD4lj_oXUGwBf4-0_AVB6jtRMftOgNJjvuSfT-LG1Tx7JOqhUCkYxIR94y-4sAGtv-Vexo9-LBxCgWb0z8L55x0ihS2x_E9xknZiDhHpuh8Eu53MC80UsyreETNPG8Fa1Ru_m7Fuj4prq2ZNT0Ru0uQAcWFiQjPyIU_itSLQuDTIO1Rw_nQnLhdz8VB3VtDwr2xjnpTucMfv4Dv7PAeL5mYr_aZKqICRNDZKQGHUCu83o7IPOw7mPzXTbyyC8HRgv1gmguBGf9ZPHKPoL8qv0ZdfZjEq5vTVuZhItSoLsEk9uivMcrPn-4mHjCctqbzZD6e_geoszDZnWRsARibWA-xZUdpvtjmQdvneKhYllEZDTvJNI2LB2MmDbxdExk57Nn_JA__5U7EHC-Hq6KUjuP6HO2D1aJkGPMnnSudMKshBgVsd9HBV3mK_Xrph8fM2bxIl8LSj1BavQiQmIwxCIS5l2byb8dTdRcqjqgQoJM7JI4n6Pu3rvymEhnloKl1S0vlO71qCx3jsVJzVpvwbhVB0hKtjFF7gXj0qX3dnX8mnMc6wChJF-UI8Z_wzjQDZvJ8XtaAvRwnGCYKWYXGxsFVLHVbYvH1QyWXbWcdhfhsias-EWBCCzxayMP7gXbXnSLPt86hXrZREc74XW_gvkeZV4XlLM5qxesng0POIUq8sPXsxpaF20YoklvY0xALzZ2u-4sonl6W2u8kDP",
  "id": "rs_0be2927d6e244ace016ab45c7a3a6887d08d72325c9d589229",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.005,\"left_z\":0.04},\"note\":\"The gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering to grasp its body, clear of the nearby yellow utensil.\"}",
  "call_id": "call_isKhbNZmL5u1FnRMsJi9Ksbk",
  "id": "fc_0be2927d6e244ace016ab45c7eebdc87d085c505bf65cc4abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_isKhbNZmL5u1FnRMsJi9Ksbk",
  "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]: [0.0139, 1.3891, 0.2951, 0.4877, -0.0017, 0.0074, 0.9995, -0.0151, 0.8051, 0.6086, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3408 left_y=0.0086 left_z=0.0411 left_yaw=0.0027 left_pitch=-0.043 left_roll=0.0078 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1779 right_yaw=0.0003 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.4923, 1.9414, 0.1197, 0.0415, -0.0171, -0.253, -1.5248, 7.2, 1.7411, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d89b484a7df0895b692dd2142b80e5643fdf424d59fba9efb24b78962f16a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400c7686c9c8b8a6057b5dbacfc5d2e6985506e8ff815f599ad68211635a942b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37178996c841c9a6d3916500cb181c8cecdb4abbaa86b054ec44b83243f93d54",
      "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 · 3.788 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]: [-0.4412, 1.0588, 0.5079, -0.0914, -0.3492, -0.2455, 0.9996, -0.0154, 0.8013, 0.6102, -0.3847, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.0787 left_z=0.1238 left_yaw=-0.0258 left_pitch=-0.0344 left_roll=0.005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0141 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.412, 6.2974, 1.8877, -0.2369, -0.1001, -0.0611, -0.3624, -0.9094, 7.6923, 1.7705, -0.0366, -0.022, -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]: [0.0139, 1.3891, 0.2951, 0.4877, -0.0017, 0.0074, 0.9995, -0.0151, 0.8051, 0.6086, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3408 left_y=0.0086 left_z=0.0411 left_yaw=0.0027 left_pitch=-0.043 left_roll=0.0078 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1779 right_yaw=0.0003 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.4923, 1.9414, 0.1197, 0.0415, -0.0171, -0.253, -1.5248, 7.2, 1.7411, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d89b484a7df0895b692dd2142b80e5643fdf424d59fba9efb24b78962f16a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400c7686c9c8b8a6057b5dbacfc5d2e6985506e8ff815f599ad68211635a942b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37178996c841c9a6d3916500cb181c8cecdb4abbaa86b054ec44b83243f93d54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyHZjTRntP6mRvU65Yza0oPsO-899hHF1nHDopfrl1-qozTO9URrbrj_IBfhlTdnJjwz0qY0NzFgO_YehPbxxARBzsZWPlg7H5-Ed7TUZc0mvnVxSM77wlcy3XOTP_WdpY97yhXPBw9dx9spIIIstYn0-JSz6VbfhcXZCZ00nktq3W-yVTPqp03WZfCEs55HZS8tAFP8kCX_wDXcQAa6gs6DCUxfCCOFA7qCjIH7Ejfz_N5Jo_YPaMsruHY28rrm1GhHCAtG-hD1MLt_BK_4EMWzd3N6m5qj15eGdQcJkAs6SQRlkaZc0v8AqZ5BLLSq00cb__5UyttlHwb5LwlQ3vYZCe4aNJnDD09ruu6XwoWDpWI3SGDxKVRGzX2s1RocnxP_lAoZcRUtne4O76Oktvuzm-Vuf0T3aSHTtReLs2wLRkQbV05kVdPs2zxjh14omwVQTkThkYm2IPQLFnpREympiTYAkZTZz79iYkgbBnohYO9jBjS-a7PPlaUD1wMVEdIOcK3TFx73K8R2jmu_1WJpk-mzg81uXFcNSuElVcfTKFkkvJeIboU_cqYEDIYrLwGriHPrEFNhq-AEhA823GpdCYe2Or2NeIqrM4tZ2LZPwupeMfdDk_-eQ49eHi9FDu6oljaqlv365ticIrFM6faK4cdQ1Ug8f0S7nxaVumgxsUpNhZQtIv3aH6Gd4OCsCXgGRjLA5XTvI_rjkOA3QySUkGyIBhV0RzNvnTfTWJAPGACalB9P81XDSiBfQ9yKB2Wg2gJ277j7siZzIyjQhpRMjOyRUH_40LT9RE0jsCn75JDZULRtqCTxTIrQALPMLJvI9a5HilF2rjfSEARBz5uLxfPks4Fquc91aXV7SUN1HqAjyDmoHMvVJKI9sHyKm3xsyVt2QdWX51-x9xsU44vSRs0dcpt43uWY3pY60q3i4hCcrbwt5MoKezNvOLh5ElZiRnBnvRfqq8uQDbM1LuBdngJPdW5-sMntSJpF8WEcgY2Qd5R3MyiVD4Rknu55W1o6K5sA3Cl7UH3MxTK21niGWxyBxRXmOKIMRZoIlpmEKNfhnvIvjXdNQppdjFd2WIRogV-KpvDpXHAf3UFTL2I0dt59hC7jqkgMm9XL3B4LL2OVYzdacW4djjfkBizRaAChR1sgSW_hhq2HuH1qxpgDi1qTmQgOe5vDZv149aKhNzOsf9Fgbpp0E1nbDz5owvsXiDo33cJSu-aqXgLFIlYSy1TwzNVkUMeWtFECJbjJGEW9H3syipxTsDVmS-mr3_-QMoHFCOo88vqt59aINbCXm3_SMqsB2wKl5w8-4x8ZrsVMiYvJYjH3ft9B2DFaE_Ncc-vqueUhA2KilScWB7FCqxYoXFEf4RQ476Z4XAmffdhcEyxu3q9OLSDFdZouFJAu5np_hlhrHBlRggywanmO_JVbQrMJaHRbOmVeXxMT56bs_W65KvxiPfqEzN4ne5rw79QIy2a8O2dp1SXAfwM_lYUSrq-3FwcdOP8ZKuGy0KHzIaeIZ5xp_TlBSe9zgaALT8NWJ_U0jA8VP4aEiR-bDiMm1TNmxSUmtkmkUsT9BT6GSEdHTdKZcga9w94AYjSZUNW1DkkMOqL49SLjozdpy2dpDgMqQyQeNaE8TFOcieWf5ttnry0lYmpCkRptceWwuAcRbIeyY-zLVsPC_DlE0jqw9lm56rBIK7ErxacW_A2tzM7NyeZuzMdbOOO8Ll2tpjHOdln9gxwgmIfJ9Ir1291mM4fNxAvf-PlgIk93moxG2s_6PnB9eSEjhFsDwYJJ0pNt8cGyo_ltuCFWOYSLg5XtDi3XcLtZHtJi1vFeU-p_ibRoK6R3WD2GBaf8_d7ERaZ0lgTK9W7DmeFZICPxc9ocpeZR0zKj06aUAtE2Q4jrLZ5QKam102oHJOr3lnnZ6Shcj7Y69AEJa7B9CUesg==",
  "id": "rs_0be2927d6e244ace016ab45c839d3c87d0aacb328a9c12915b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.045,\"left_z\":0.025},\"note\":\"The gray plush is still just left and forward of the jaw center. I’m making a small final alignment so the fingers can close around its torso.\"}",
  "call_id": "call_2o97I3WVKjHjEN99qp4rMKhH",
  "id": "fc_0be2927d6e244ace016ab45c866c1087d0bf6eceefb9160a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2o97I3WVKjHjEN99qp4rMKhH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.152, 1.6352, 0.4015, 0.5797, 0.1005, 0.0708, 0.9995, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3677 left_y=0.042 left_z=0.0147 left_yaw=0.0201 left_pitch=-0.0867 left_roll=-0.0045 left_gripper=0.9995 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.0923, 5.9966, 1.8339, 0.105, 0.0806, -0.0122, -0.3487, -1.4291, 7.4325, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4184552ffb6b4279fd0237376aa26ab26986bf9785ff29f23fc587e0b6ea022d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e186ed8d15a98de79463d879b434aaa597407a2902062144951e4baaea74561e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77346307bbe371bec47e0792dcd10cfbfd9f6c7eab4fb9d076cf045b60fea11d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.521 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, 0.6136, -0.3779, -0.0231, -0.0158, 0.9995, -0.0154, 0.7986, 0.6106, -0.3737, -0.0124, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.002 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.5385, 1.7509, -0.0415, 0.0024, -0.0611, -0.841, -1.4838, 9.9077, 1.7216, -0.1001, 0.022, -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]: [0.0139, 1.3891, 0.2951, 0.4877, -0.0017, 0.0074, 0.9995, -0.0151, 0.8051, 0.6086, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3408 left_y=0.0086 left_z=0.0411 left_yaw=0.0027 left_pitch=-0.043 left_roll=0.0078 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1779 right_yaw=0.0003 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.4923, 1.9414, 0.1197, 0.0415, -0.0171, -0.253, -1.5248, 7.2, 1.7411, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.152, 1.6352, 0.4015, 0.5797, 0.1005, 0.0708, 0.9995, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3677 left_y=0.042 left_z=0.0147 left_yaw=0.0201 left_pitch=-0.0867 left_roll=-0.0045 left_gripper=0.9995 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.0923, 5.9966, 1.8339, 0.105, 0.0806, -0.0122, -0.3487, -1.4291, 7.4325, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4184552ffb6b4279fd0237376aa26ab26986bf9785ff29f23fc587e0b6ea022d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e186ed8d15a98de79463d879b434aaa597407a2902062144951e4baaea74561e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77346307bbe371bec47e0792dcd10cfbfd9f6c7eab4fb9d076cf045b60fea11d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyLq6IoKFwjgg4dDTD4BSSasaVMB_FzZkWqomleP8sqN5rPAiyuCuRcWH-ePxSqoM36wFA3fDiJyNyXA28_jkkkzOPSCvRTs2R1lXPk8NPNRwHUuwJ3RHCSaUj1f9m4oSPtSkV8xTbDkEdOkshjmiNdsdlP551nxUMuO2GffZBlHbe8F0j_SoFw7Rd-4eSNnK9cUj49emBn6qKBPJaARAa5uR2IL5yD2RQ3jXSl-uzdwWoFLew98-SVyK46QefltfC-V-GUN-S8S14wE0PxW79D0uRWb45PC3-bGO8lPQq7WZY1I6ZMPNfp6mExXi1eYGPAHtmJ6aQaznrcrTPJCpRGcps8iyPpu3waylwI-ZhsGLygwpHt_V1dpOlEFhca89HKDfNTaFuAPVxO11CNwNpp9UEQ2aCVEH9VvWDJowDgomB7uuSkjRLu-5OiT8MeCj9rz45NYRhnIxawI_n2zF1Z37ZjdBlNsFHfn3kaY3MJWntws31-Hj0sfK50by6xTCJrkQv2_nvKkzWvd0isjXERv9S5jXOtKQDhpoEvR05lRD1g6L3FFDadZo_m7e9rY6xoPkH34TDazsTLmS5Xg1s5pWZQqb9fOcc8izY8Gr8wX7zGzZaUa4UXBNwPHbmFZsQ0kBWHgymgeLrWIw3lYuS74SPF4dAzbGUV-f2NnU4OnNilXURuaZSnInYqIxwKV1zclzP_Kz2Lg7y_xihAQkfKAsFvonWHnX5d1RLyCMOtwLV23R2Ly-7rH-eCOoVrHBLEhYrQT1LDqDDJyxTLYyEpn9fogIpN0jBq3ZCaKoi2nzXkQsmE_qcbmxak23p2iACHHGgHj-nKSj-AoxoVZLwd3wHPSNsVT1PRjDYlPLDsq0v0H1WXbcmsRXK5xwaTHtVQsiTyLFuh6SeP9e8wg3vuT_YGSrB31XTUOceDrmM2mqPAcVSIlQkUujHPYrtnNOVGKqy46FFtqGkOuBmWaarnO5Qtk4hjyt-zSJ-QutEABHO2S4UmTj7iA4-9rmETNnBgMVBF7mUVNzG9yaM3tpRBqAmXAMieT5fdGWONiTUabENSn_PHjXiA-HGZn_6NWaJERUOUPB76pnYUHBoECOTEuZ1kcOIxluc6pLZgabYi5KkqubROBaqbJxjX7zDhdq74VAxchJtCepBc-93z78_4HeElf6YCFSxEp70poJxknEUNqrkZ4DZy3EH0A4utO9iT4pFehR8izzrMSYVLaEnj8YjaZmmzRoHwcjVjI3afgitJnzvx8DWjWZht11VTGLGzvOAbQo8uvA9YQE_WUztvnH15uy4pH9hOfjKOfpjv3E8Pvdaw6eux-sj9q4p6MNq-zNW5YEoFbO7JZQEtX0C2vvjAbx6Q7UfE9cnJA3r2hQV2-7YUJzxZiXAQ6IBmv2llP8giZRgFkdVb3Q8f1eK9GOQy-wqxtKD059JqdeKsXj7-55XUAaTDPuu7QpQnWgv0y4WwOsoU00Xm3tFjOS45JctZLt4rwXvWO_JxyxK2-FWvd1xZpOQeQ_yXXt21_WBHiWsvsMsVO6oJ-2-9afGg2BGpm5plu8BWziXhLZxnvQs=",
  "id": "rs_0be2927d6e244ace016ab45c89677887d0b412398b603f1015",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the lower side of the gray plush. I’ll close and check the jaw opening before lifting.\"}",
  "call_id": "call_Mc6v3axIrTFhAiBApSzeeCC6",
  "id": "fc_0be2927d6e244ace016ab45c8ae9f087d0968ca0dca2f605a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mc6v3axIrTFhAiBApSzeeCC6",
  "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]: [0.1551, 1.6485, 0.4091, 0.5846, 0.1043, 0.0677, 0.0127, -0.0154, 0.8097, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3698 left_y=0.0428 left_z=0.0135 left_yaw=0.0215 left_pitch=-0.0871 left_roll=-0.0094 left_gripper=0.0127 right_x=0.2956 right_y=0.0011 right_z=0.1765 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.8444, 3.9179, 1.7021, 0.022, 0.0171, 0.8571, -0.3487, -1.4564, 7.0496, 1.7411, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9f91c145e6610274d9fc7e2cf6d59c0f0df151c104c17e09d73e07c144af2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a3993360beafea2a60d14c90ca42615305d7a564667c7565fa27a34e498518",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:508206ca091e04a09f9a6de4d6c8c3afe5f904ffb0b8a0dd98da37cb69d62692",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 7.364 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]: [-0.4412, 1.0588, 0.5079, -0.0914, -0.3492, -0.2455, 0.9996, -0.0154, 0.8013, 0.6102, -0.3847, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.0787 left_z=0.1238 left_yaw=-0.0258 left_pitch=-0.0344 left_roll=0.005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0141 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.412, 6.2974, 1.8877, -0.2369, -0.1001, -0.0611, -0.3624, -0.9094, 7.6923, 1.7705, -0.0366, -0.022, -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]: [0.152, 1.6352, 0.4015, 0.5797, 0.1005, 0.0708, 0.9995, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3677 left_y=0.042 left_z=0.0147 left_yaw=0.0201 left_pitch=-0.0867 left_roll=-0.0045 left_gripper=0.9995 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.0923, 5.9966, 1.8339, 0.105, 0.0806, -0.0122, -0.3487, -1.4291, 7.4325, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1551, 1.6485, 0.4091, 0.5846, 0.1043, 0.0677, 0.0127, -0.0154, 0.8097, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3698 left_y=0.0428 left_z=0.0135 left_yaw=0.0215 left_pitch=-0.0871 left_roll=-0.0094 left_gripper=0.0127 right_x=0.2956 right_y=0.0011 right_z=0.1765 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.8444, 3.9179, 1.7021, 0.022, 0.0171, 0.8571, -0.3487, -1.4564, 7.0496, 1.7411, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9f91c145e6610274d9fc7e2cf6d59c0f0df151c104c17e09d73e07c144af2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a3993360beafea2a60d14c90ca42615305d7a564667c7565fa27a34e498518",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:508206ca091e04a09f9a6de4d6c8c3afe5f904ffb0b8a0dd98da37cb69d62692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFyRanD5qhzjgBOCXCIo5GWDsLWQqSAGcnF-xWlAaakIqPdJ0RGPJeaHTni3BS31eIXBQXPJtM3Z877OHGv74u2az6pl_MdmbaXV9y7NcqFCoXESv4moSLt7cm6XP6my8ndnJzMGhQ1zYzG3_z0sy31zvL5-Xjhu4ozo6TTlEeecZCYE7vCTOIcnft9sZlK3tuBlSeetKXctJnPTLqYaobNjkiu1WUFEqXzSs4_hpAf4YSCgKQ9hLT6yN2Xm4Eo4EMGWD2CvO1R5Dv4DZvY4Q-bYyoJyhbR-wEY71-3mjs94FufObjMu1Yx1Jc5L95TZigtFLlcMbX8A3fysPGLT8u88KOSAjpMIYJ7Unz3HpsF_cScIQEaX6h-mvWs3jMIzC17adhZApRM0PkklWZZi5pigEoHiTJMN4K4iJII1_csGscImUuEWnzd2Yxm2ji_R97PE77a_5z8yMSrbNHQ3_ywwesY16b9gge-ioK69Adou8wPhLfvl9JE8Dhs3l6-N7whKd-7bg2dZ2EU8y87Q2QrnDuwnSr-7f4c3XMjC_Df_gwfT9ye0abusn4tqBRBJjn6NhA86n9wCr88K4VVxGnKazZuYxDocx_yjyviSm4VMp5I4yP7oDZ6ddh9snGXQ6mdCEoG5mHgnnQHFkWspu52YfcWb7mF6fa3c7yDBNws3efWjjMWXkL3JShnM2dR1DnpwTYowZz9O9OCaFbYtOXM7hE5hjbdV3DBhPeUqc22mWIB5-zW_s0MWvRgDULuYSFd9Imc4UHk15qtV8kNQ3VvcseNcXbRFjCPIEnnTG-ls7V9iaxjjQHlCXQ9pEVBGd7efZTGGrjDGzvcbRjF6nJ2g45CV7nHRkqi-WSFLWw6FKTb_88iO00obteNoz4M_ertZi5pvbStTOV5uKg-uXE3EntrCLSNvXEXKR8p9pmnlJRLLAIfvNa_QpjE3_E5JN5SoNmx7Abq3QzQwvFQ_0NsiWXfHKpnb9D0BikDOA5ecuq31OpApCLUBWI3XrR2AiaAWEoV3jkDxncKJ4mV3vrOOWGyUP1N-w_lJ4LhDk6RXML3wf75mSOEckzs7PEpiPFMrS1Q4arH3-4aYr3AuKR1N3UqBcF-GTh0mhdTylF1j-mUs8ps77WcKzQh5uGpTgOKPUa81zHN5mvbQRkEagVFqsJYkjFfKk_Z2c8UhytSTKOr6Y2Hszul8lfZqxwJnCtscyuxuvnuYlAONyUMs1l_jjjkhW89-J0N37vncGjIGcKMnKCO_770VdceKB2Vs8aEU0h9bCPElV9DQsydcd86HIMRawa9ztnfALBcy4YFlRKb7gVB0_q9DX-toL0ieacdSwFm2H9YY-XkMyF-G8wkuVP8lO7zW3pKKuxkgirQv0axZIYexw4E3ctIMkffjHdvJP0ueLijsuftzSXxUPYEGVwhD5qxVsz5LC6apSB_9ZskHsOXZVBw6Uz0a1lHJ1D2APWMW8TfWoMYRVoYMS8M66JIKPM4s_ueBjSl1RFbB8vZ6H5UZfVEOrqZMyNiNybS3PZwI4BCp85BTUVNq5ySE-8HNlGwwbZLQHsN-_ELb4Q0vqu4wt2F_UuZPt4rjSIcmpqdCP3cK6YMCnTSO23rDMcIvsf74hJNnhKcZWMcpGZwLP2KCwzkBM2IzoJUPSe8FnpkxJuXVmtxaL_3FXvRFPQ==",
  "id": "rs_0be2927d6e244ace016ab45c8e596c87d0bf5f86dfcce58dc2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":0.05,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The jaws closed empty, so the plush is farther forward than the first view suggested. I’m reopening and moving toward its upper body for one retry.\"}",
  "call_id": "call_SexnAS55icO43KxPZouQJFmq",
  "id": "fc_0be2927d6e244ace016ab45c90447487d0b604578e94ce4b84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SexnAS55icO43KxPZouQJFmq",
  "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]: [0.1474, 1.7329, 0.6296, 0.4255, 0.1055, 0.0521, 0.9984, -0.0154, 0.812, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0466 left_z=0.027 left_yaw=0.0211 left_pitch=-0.1098 left_roll=-0.0254 left_gripper=0.9984 right_x=0.2958 right_y=0.0011 right_z=0.176 right_yaw=-0.0001 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3658, 7.4598, 1.6337, -0.0269, 0.0806, -0.0611, -0.3897, -1.1556, 7.0222, 1.7753, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1c479ca7ce87d13a61842638ba80219c32d9f8c917bc5a63fb4165e2a5fab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec24f4e2862b4fe9a5bc9bb2a8b0a90283259346602305782357217da526243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291229a32dc10c7c53df3c7e6e93959874e661874e21a032f26ecbc220fdc13f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 13.27 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]: [0.0139, 1.3891, 0.2951, 0.4877, -0.0017, 0.0074, 0.9995, -0.0151, 0.8051, 0.6086, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3408 left_y=0.0086 left_z=0.0411 left_yaw=0.0027 left_pitch=-0.043 left_roll=0.0078 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1779 right_yaw=0.0003 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.4923, 1.9414, 0.1197, 0.0415, -0.0171, -0.253, -1.5248, 7.2, 1.7411, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1551, 1.6485, 0.4091, 0.5846, 0.1043, 0.0677, 0.0127, -0.0154, 0.8097, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3698 left_y=0.0428 left_z=0.0135 left_yaw=0.0215 left_pitch=-0.0871 left_roll=-0.0094 left_gripper=0.0127 right_x=0.2956 right_y=0.0011 right_z=0.1765 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.8444, 3.9179, 1.7021, 0.022, 0.0171, 0.8571, -0.3487, -1.4564, 7.0496, 1.7411, -0.0317, -0.0757, -0.0171]",
      "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]: [0.1474, 1.7329, 0.6296, 0.4255, 0.1055, 0.0521, 0.9984, -0.0154, 0.812, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0466 left_z=0.027 left_yaw=0.0211 left_pitch=-0.1098 left_roll=-0.0254 left_gripper=0.9984 right_x=0.2958 right_y=0.0011 right_z=0.176 right_yaw=-0.0001 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3658, 7.4598, 1.6337, -0.0269, 0.0806, -0.0611, -0.3897, -1.1556, 7.0222, 1.7753, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1c479ca7ce87d13a61842638ba80219c32d9f8c917bc5a63fb4165e2a5fab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec24f4e2862b4fe9a5bc9bb2a8b0a90283259346602305782357217da526243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291229a32dc10c7c53df3c7e6e93959874e661874e21a032f26ecbc220fdc13f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFyZP45qzF1-a-DTZnqkkm84L4FeI7axPy0UfC3dBWMlNEModyH7zn9BqisbdJKM6pfOTtSlRUDvo3SQfJbLvjb23ncX8D1bdWb02TLOpr8vVcQz5nQHyqeHahLUbrHVZylYMkV9QHUm3REPuBkz1yrcwcNHdzzPQ3kIDKWsimCsqUdqJLsHbsspcvC6fYZLsT2LteMQI7ZQkenjMvjr0TF8eRVwCv2A6eGoX9f4twEr6GS4Bw06AqrDThPa9HLYK804Ef8-kvj4416xClRUjjQEIflNJmuqOao9RtU7UncnFkkU3oxYfC_1N8LjT9dQ9SJsDYPsr-incSCh2xHAuxgO4RjvRmt3_9ONOTjkgF35GxtCpRAuckdLIN2bDRKSFu5nqI9c-WDUw9ow2dpxs9VElsVQaDN3qc30KahWMcKhi8ADmAh-9gtbc8IaqxasZesf2oQaEyD3nqMoMqlWxZHFfE82sCHeaGZpOX9sNF_541hsc5a2FeCjFO7EpOSEoPnvN2A_n7HaQzaM44QrtACrAlC_8i7BX0c2HiWtm8qW0rP1FoAxDOMQRO5QP16c8F0dVDR6f5Lm7tY4y8j193qQtYvPeE2XexVs4X3dQJct5333ONE-_uTyJ2HzswQZDnKUToIguvH2Eph3AifmxYTPbnnVhRFx1jd_6Dfah_7CRYGvShmdAYkfJf8MTIZJ0V452F2jXzihIwywI7DoC9qoec96lH-B5ed5WqPOIuHdmIRgUSPE-wYL4jc3xTFgMnGdr1si7DtuH-uyOxoORo7HDNWi1naot0ZsgpzDDpsqOdbD2NFO-j4PdltBUGyaxN_IIMUaxHtNMVeXcGVoTzMIyWv1y-oaN7x0-wQu0obxCqxOu0TQfXR6aXimnZ9gjKLCeXVWaCXqk1NtyZmo_WyBMILPMvEZDFKVpvSNvPyC60Ef88LuUtdt11o_x_XUQO5u5LPgwuRn-c7qhGijVhTVuHkzui8vfEHHjKdkMPQPNVewnoscN5cXh-yO0B6SwrSogkRsg5wKwIAUJYmsD-nnnu-1SBcjVVpJpslS-Hu7PUCzmWmJjIAJ4k5SMz8sQtxm1UJ3MnzDYOmY40nZsUns48O_CX-WWNtPmX7iOYiE6Nzr-OeXZ4r72MoXlWWVlxOgMUqpcrNY96qumXWBcypHBZAHTJXgv8c4ZPqfcvmqA9HkoBcDCru0jOEdzHvkoS7sRGKHvMePf0-oDfgfdTvvcy1oPGce3SqYGVkubO4gj8nkTvY2Q65p56Y4VKqtE81nAEd9SrKuGn7ZLf3Fi8Y_1rs0tSzANtxRNkxerIF5Quvj3EM9wvHDKH_XlrRbGJ6fouRd2n8LEBQiqKfezjPhJ21PG_cwqrFBPeP4p8RM2ZL8wRU1TtnjW4mjlqu2d1l3OIE0cxXOHD8EcmRKwok3tteIqecRXSTRnHuCprMva6d229sFYX3A8qrtMZmCzMiQn_cIl0kx13gYi7vmdTHvzYrHsu6NlL3LvL9g0-m9gx3iB-5Q2rY8kaJYsTdCqOwrodxOkCvpdF2fMrnEfYMa7PJdVadVrtpUITDcRVKLo4iM6N9RNUclEk0ogbZWULHzPujvQjRw46y3zhPC3sSJ5RMPUZ-JOL5c8uyTbI0UINBoPtCuUg1nghtUbfbVpGUN6wpki9iCulMV-9fGcjV_HtTJ2tioxIBLgwBGUrS4bd8PiTaBoTzYgb3f9EL6sDAdDvPSN5g16a-lXJY1Z-j9eVp_nDlyvmLzWZnIx518qsUhH6pVUMOGqpREn55LkW6bWC2Edj-LRp-1fPyAMpT6m5TFZ0o0LaqzWHYNQbqtRt5YsB0A3jBBYWtXMZbiawlPE314Fl4uS6lmjBAc6SkaAEBxEdUeU3E6L6owtVoSiGPL1cImErJwr7j_EWyqi8ce0ag2KSXExYes4T0vA8qOIdrvisSixrYGEFRirgS12Maj3hQS5q68zLCXFDlqCyy_7DFmwLJ9Kz9Hj5z5sb5XWOXhe3ZBf-QpPX6gMfk3rEUI0ewqSbAJDGY3R2g6eRCIMF5V3wfQmWSqDxrkMBOeGt9qjJSzfQ5wcAa52NQMadPOXyUR6JGZ5SpTBNXqmPq8TVqVsex4VabQBm1m-4lLaURHBcYgpHK-MWb1WhekMWh4lJlzMFP-vOwcEQrZy8NqMDJcwy63MkxxICTRMbeS3UGw_k_qhssvnIDllLz_O5aKiq9xa0XsC2GdJv0qymdHUmdkqLnkixGO1bjislf8c9452YjyS_BKqNebSpJFpTm8ueqhbgkBnKPVJKGasS4ygU8zzbhRxI09zKajQWQi4Lgn3UjUsv_qULMp9cVBfhg4ZRfAngMjHQPhk2a3NcrQDLik_UqslIGiU518qy6_uZf89XXDSxDqgXTLVepNokPwTfWPvkngGv2PYlgQAqmLHLTomcaDJMFoXpCjYCmonNUJYcw8U4SnnosNb71rDgti-NcI-m1Lzw2rt5WTxDCQNVehxWGskFY8RUnsQpUB7gxIuhwqwHrMZBZoZGKMG_lNPTyqysWRjJ5jeExJIhafC5XK0UclRhqpMYamTjEcEjfuTYJzpL6bKjUUU-orJtymsBDux_EKHHZ4p0DIallr8hJUzIrrY7NPztJ4nOsQFt4VFYBEhXWRdLtTMEdRAAk=",
  "id": "rs_0be2927d6e244ace016ab45c93acb887d0870a30ba7c925935",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":0.05,\"left_z\":0.035,\"left_gripper\":0},\"note\":\"The gray plush sits close to the left workspace edge, with an appendage beside the inner finger. I’ll try to catch that reachable part without moving farther toward the fence.\"}",
  "call_id": "call_vh7vqlgSbNQbkAegjzWjbROG",
  "id": "fc_0be2927d6e244ace016ab45c983fa887d09d31c24e2cc96e56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vh7vqlgSbNQbkAegjzWjbROG",
  "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, 1.7927, 0.7326, 0.3592, 0.1051, 0.0444, 0.0157, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=0.0491 left_z=0.0268 left_yaw=0.024 left_pitch=-0.133 left_roll=-0.0341 left_gripper=0.0157 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0004 right_pitch=-0.0298 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.3231, 7.8017, 1.6288, -0.0464, -0.0073, 0.696, -0.253, -1.5795, 7.0222, 1.7118, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c145b6a6f2bc2c96f76ed80e2a1af48d1de77c901572983e21d636df97e32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f4a1a5f90428e8f102196f73a6571c025c11c29df073ccddaff029282720fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a48ea3cd75a09654c0bc5f3f963929993b26653b807bc6624229243558cb35",
      "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 · 4.388 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]: [0.152, 1.6352, 0.4015, 0.5797, 0.1005, 0.0708, 0.9995, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3677 left_y=0.042 left_z=0.0147 left_yaw=0.0201 left_pitch=-0.0867 left_roll=-0.0045 left_gripper=0.9995 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.0923, 5.9966, 1.8339, 0.105, 0.0806, -0.0122, -0.3487, -1.4291, 7.4325, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1474, 1.7329, 0.6296, 0.4255, 0.1055, 0.0521, 0.9984, -0.0154, 0.812, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0466 left_z=0.027 left_yaw=0.0211 left_pitch=-0.1098 left_roll=-0.0254 left_gripper=0.9984 right_x=0.2958 right_y=0.0011 right_z=0.176 right_yaw=-0.0001 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3658, 7.4598, 1.6337, -0.0269, 0.0806, -0.0611, -0.3897, -1.1556, 7.0222, 1.7753, -0.0366, -0.0659, -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 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]: [0.1463, 1.7927, 0.7326, 0.3592, 0.1051, 0.0444, 0.0157, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=0.0491 left_z=0.0268 left_yaw=0.024 left_pitch=-0.133 left_roll=-0.0341 left_gripper=0.0157 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0004 right_pitch=-0.0298 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.3231, 7.8017, 1.6288, -0.0464, -0.0073, 0.696, -0.253, -1.5795, 7.0222, 1.7118, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c145b6a6f2bc2c96f76ed80e2a1af48d1de77c901572983e21d636df97e32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f4a1a5f90428e8f102196f73a6571c025c11c29df073ccddaff029282720fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a48ea3cd75a09654c0bc5f3f963929993b26653b807bc6624229243558cb35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFynKJd1rTOf_5prGtJ3_bFZ2nXmkfQVHdw0G8k9aeKbajrSroy80Anh2RHRBCY8OLYhM9LJ734rXdxHxtZVHsMp52HXWCfCyUUmKh2YsdUtuZBlA8ZsB7Bz4-yyHJmd2vznXUDAUoKx-U6S-wuLwgxCeiuDwSnAdhiQQRRfAaXrrdPnudcLve3qmTvVO_3D5DELnC7gR9Im93_xJEs0aEcsaiF-AoHCqV9ylcE3soVzEw_lR2moXmON1ypUbsb8ickG40mI-CrZbNsiG1-NzOo-OQY_1N_jMAFgErEohMIQpnpWrdDEBLHfJAHTfrxFlUVN75N6-8gaaq0IEdLX5_NZWcploiBJyQYLU5FS6FEVuGucA0JYxFO4x1t5-p7i--3VqDaknr99_c1F9ZBee3Tpd4WHXWgDjoInOjrXWwg3JNaYgTHhv4Ce2iPY15uDC45_oHbM4LY84A5tLy07yeXwf99tfxfzySVPCv6md5AImO1OR8y7qlGgrb_XG4t_AQZdmcNv9Xf5cPRVLyCq-CqEXaAkfmUfaJxILzQIYGSf3NmQqvuM93su4KrkhadKKueWa449dWcTOE5ovJmoEwn-ALbFTBbd4eFrLak1gz__n3sNDuvrhvtFtf1Kfvv78LK3Ag7O6kO-dyM86QMNtQcECpeqqyeXVdqIhHejee_N0JXUR9Q3u6dwEeXqAj8yT5G0gGV5NhiUtgde06_dKu6xEo8VFkJUwh10xlsgaqLP4qANOxoqhFJl1S2qZDhBzc2Whc4D5dwPM4mPQTxaXaJzaqbjMwVOpf440ABN8j5TkbOi5U3WAcdN2drJDKOw7YyTTHk7SA3l6CGKUJPWbAQM7Qp03UG72qr3yBah7G6_G9uI4ckbGPWn_qnyeVpaJFDlEGtCwzwfmNDU3kN-XzMUvydNknVbD-GfIeO_XY6E9fOsglWuCQLiU6hc9hwtx0RJ1_zYdOMXcoDfuJI_m8p_S0iuLhftiULwUOaKAY0vloyJZsWmOK_18uaAjq7BA2tQ0TqKPGewpLlNe19pjNZ0oSLxzODUbZHyEAArVj1_uyqbE5SPYeIhnDlx5InVl-5tfKgCyXxRsT1pQqUFr-yZsLARJAibvI04FpNNz7nxxCYfrGrBCyPHsWVkmgEWBhptcNIDISUmHNGag2m0vPU0T7aqQRCN_2nr8AST4iuOl9aTucOLNI8BB6U9sdZ1WaPejjegIsIqPN3lCOFtkFpeIa8PDXjY_-Zjtmt3iQ1p1fr5r3KB4LhaF7IbJFWYYQQXHCObiCoZ0uszWNQLGAerMhvE5b_yqHcSRImPJu91x3vNN_Az4ra6khYMy1BLI23xiKT0HfMZkYOidgCJ1-iPnyyxVZ4-xDf-4it_TBT_IJ6W7yP7-0hegOadR-coWCPhvi_9inh5rOGr9vgCMc_08yhEOdo5hGHB1pynsh2BCRu-gdw8bC1Oq4tkQ1rdrE9D36kwhMtBWdaXpAkek2V_9b4YUNASxh0DlrrIQp-e5YmWwYEGxJrBY9fUz4cvE6M938N7-JY500ui5cK8y-nyeJwgmCbb5qg2KLMsuKme59OjN5bL-irrQgWHwrwKC6HFjwwourZ2sEXrC-DeEoaVWawg8WaG46o-NsuHC8o0lq-GadIB4WIkZhAGAaVkIYtgaZMSyJ8GEzivt35yqfT00goBDOIwUSm487kjZDEHNfun8c6qUV5JRGl93XJRMNiUS0tyIIvRhkfaTGlEJVWOFGWw72puzUBa7BSARnHRbKZjEbc4EE_S1hGjREId5v90HgVQ6ts2ZqG1Zsr2V4fEo4N59MFjcnouUT4ltwNz_kManXqhsY6uTw7bfG5bKG_TRt1jnfYuNEtahFD76cdRrkDxLZFBjvEBZF3Bu3l7YTAz5LQFxTgVPlsyhRq2QrCLn8SeOvJ8THzgYKnY0aH_B0fnYMAW_ecGV8Puolo8Jj_L4gi6mvibx61J19fih1OQTvmyqlltjSgou-2NQFr0mHUrASZ4fWLg8YJmKC7vV2rXaLPsok15SWfKRR_U-yL0I_4C_JkmhB51rPVM_LBtYGJP_xkDvknzEG6AFSz69YNZ0n8xugJEkjIieB-h_mjMt0iM2rTl75jma1LQtTJoN_gcajvmvDhzUfGSZa2Rm_BvYRSatnOybHsYqakkpYHRieKM1ouCxvkw0RnUww285SGuXtGbVwdvshHA3TTkf3af4mgExz26q6gh2UyZrmNKiJnr7Exm6nc01UQO12iNovStExUOmeGTaiYhTeYtpdPwkmHh5ygeGJGhvzCMCSFF_vByj0XPFAV6s6D_MkHlGCTy7mw6sIT9nFsYDFQvskbDPRyxXMM7_kIpgRLDV0MdXYioDrVHYDp4iL6a8mZkP3CaPSDZmsjlqx4QLGzDvEUhVqPg5JyBaSA1L94XEiczyDbWZJgp6-S72SoMR9mH4cu7gEirBkHinKMrWSzRrcwvVOTxdIHSq7vce6F3_PZDrbfpV1BDAdF6Azc99PNUOny1pyCmZ80TYt8nN5mrQ883VfMFQ2XH-bis4Cp6ee5cB2jn-tO949NKtOqbOi2ZAcQGr-W0g6vxTrZ3Ziu5dXXSOlJjBULMVgcXudMob-0jJA6DuU-R5NGOrrcRuPS6w1iGWpdH1V5ElDoCUh5Sg40I28JHVyCJ_LAg5Ya83qSP66MA9HKTo6RlTYrL2j5LS_-GmMDqnj9YvtukwhCeQhhvm5s54q0FFCi-Tz3QPGQycJzBnPqIE6VpDuDmvvzkk8PrGkjFFVQ9GDAi6p3lR5XmPXlwj0ik7zy7-pO_ExVNTPvxqiKWMSOcewbVBbatC4IyYstJd4bONnqyye7byUCT4Gv8E8dEjKR9rxRY8-9scfYdSTO08LZoPf7Vvu4fgxNKtUsckIf4RKVobjk8HXfoCIjGoneW_K8650gSeTRPNtfP8EBM7m0bTYJ6MmvY6enTtCb78fyJHesQl9ev5_eyXWXpwh5r8oWOJYigvLiiUpAtC1w68hW4qqoVvvO4HtHsnnQipvoOsiMDCwBvYSK2jmleGi7WC6rA4kx1kXerA-GegtswbbuSzRT6xGaYUESBwdyPiPBVl39z9vbkSZHEBq1cBupJ35AKQ-tdeNRmjzPEGD-B3mSbieDIoRSWqdZLIzQ5TGRdt0h7XzVssvK5qGMA4ZE27XWd_BfxQlRFwJkQQBxZ3cglFRamxXs0ZqdMY-yY31dp50SxROO359IZ3x_2pfmMAJDqzI7ofRgl8w2Hs-xXdC_DLvFRsU-9QIeuOILsRahyMSTAXKsV9_ifqc57j55EycW3C27JDw02aWUXNB9p3Vs-6mK6bkweaQLIS9q1goVaETSBFYpmq_ptutES0lkEKdmagPr-8-Z7s9JzXiyXHC4TP6YSoo_WTtCTDVUP5U8Abyj84sLoXWJkHJuj-dkS4pujHaOjZKIV4uDuuWXQUs8aKoYaFK24rK2MI6ieIgDsfksYMRHWwC6fACFdJONVF1eKqxLd9-4WuexWCKjQPBUh4_qqa3ohYoZ08J6uS3ZVRUthyeK8wCr96Nst7gnC-MoG9tSIX5kQbQ7mnzXWEPpdA8il2VRngeBSw7jpHdAo3DNBFNYQTZsQqSq1VEESkVUmCL_P0eSBEDr6CLXcOzlsHOm3jLM1vcr1VJIIiVL4zBQZPWP_V3Z0-KuoIIEhXT24y8SriD6fQzwHf3WUiDVKBMmfEZncxBp1S5NsOD8XU798RWdRDJXzqM-9X5FaBNUotQ_wlYm_oWTcb3a7Ia6ZGBPK201FxACOG-syO_dXsF38jbeLp_L5Qex13-tCZ1gZN6xmSzy8tGGMVgQY1530D3Z9Hm7V_fGzFMP3wG-5w1KTXR4zQRl238Om9FTnbPVrfdQEDF-Oo_YuEXLa4O8pT8uAar9yMjERFlQR-LAb-_2-uPHe3SQ=",
  "id": "rs_0be2927d6e244ace016ab45c9d90a487d0937c79dd2ab62f7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.37,\"right_y\":0.3,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The gray shape follows the left wrist and appears to be part of the arm covering, not a loose toy. The loose toys are the two brown animals in the center; I’m parking the left arm and approaching the larger one with the right.\"}",
  "call_id": "call_ak0FUAFSwstWPDx0CR97uVJ2",
  "id": "fc_0be2927d6e244ace016ab45ca64e7487d0a831dc6786581fb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ak0FUAFSwstWPDx0CR97uVJ2",
  "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]: [-0.0288, 0.936, 0.7956, -0.5842, -0.0231, -0.0685, 0.9987, 0.9146, 1.813, 1.2758, -0.3222, 0.6971, 0.5976, 0.9998]\nstate[eef_state]: left_x=0.2993 left_y=-0.001 left_z=0.1863 left_yaw=0.0192 left_pitch=-0.1611 left_roll=-0.0368 left_gripper=0.9987 right_x=0.3669 right_y=0.2965 right_z=0.139 right_yaw=0.0218 right_pitch=-0.058 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.7966, 9.5385, 1.6581, -0.0269, -0.0562, -0.1441, 0.4444, -9.0462, 9.1282, 1.3211, 0.4957, 0.1929, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a43001b0da2f67a121bebcfb1b86c68ed3173940f619267b4e4d9d1d3fcc23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8653c42a63199d3b6a2b347b3f7dd42a6bae1d2e2a05264ec636568512cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defeef1a80aab526169ed7f6e31d2d629cacc3de01416852a0fa6ac710c22124",
      "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 · 8.153 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]: [0.1551, 1.6485, 0.4091, 0.5846, 0.1043, 0.0677, 0.0127, -0.0154, 0.8097, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3698 left_y=0.0428 left_z=0.0135 left_yaw=0.0215 left_pitch=-0.0871 left_roll=-0.0094 left_gripper=0.0127 right_x=0.2956 right_y=0.0011 right_z=0.1765 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.8444, 3.9179, 1.7021, 0.022, 0.0171, 0.8571, -0.3487, -1.4564, 7.0496, 1.7411, -0.0317, -0.0757, -0.0171]",
      "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]: [0.1463, 1.7927, 0.7326, 0.3592, 0.1051, 0.0444, 0.0157, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=0.0491 left_z=0.0268 left_yaw=0.024 left_pitch=-0.133 left_roll=-0.0341 left_gripper=0.0157 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0004 right_pitch=-0.0298 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.3231, 7.8017, 1.6288, -0.0464, -0.0073, 0.696, -0.253, -1.5795, 7.0222, 1.7118, -0.022, -0.0708, -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 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]: [-0.0288, 0.936, 0.7956, -0.5842, -0.0231, -0.0685, 0.9987, 0.9146, 1.813, 1.2758, -0.3222, 0.6971, 0.5976, 0.9998]\nstate[eef_state]: left_x=0.2993 left_y=-0.001 left_z=0.1863 left_yaw=0.0192 left_pitch=-0.1611 left_roll=-0.0368 left_gripper=0.9987 right_x=0.3669 right_y=0.2965 right_z=0.139 right_yaw=0.0218 right_pitch=-0.058 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.7966, 9.5385, 1.6581, -0.0269, -0.0562, -0.1441, 0.4444, -9.0462, 9.1282, 1.3211, 0.4957, 0.1929, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a43001b0da2f67a121bebcfb1b86c68ed3173940f619267b4e4d9d1d3fcc23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8653c42a63199d3b6a2b347b3f7dd42a6bae1d2e2a05264ec636568512cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defeef1a80aab526169ed7f6e31d2d629cacc3de01416852a0fa6ac710c22124",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy8OEeAs7Uaoj-axtau_pz7Mjv_TXJgg5AhdW_BRmTDkYbHB-CH4_1gis1ybGgemKZwpiKBQJRCZFIQzwya_Zoq0jGJxxc9HijiZF6fawSaJvDn0ir8be_mJQL1xPV3oW3_Jzin55K-PYueokiHfeL4-fkc6HiT43G2BiYgES71I2SB9iuBhHNrRH10ZaQIzgBUth0mBLkjyGWyXijZnUJWWId3PuxGM6cDshnLZbzw0-NFRp_g0R95bvjjRHbPXjuRTg7pW7a2Yj1W5ykDn3JudK5j8NgqzDg5TNimmomSnzRgWseUPyoM9SyTGrmBQCG8bN7ilypDW0m3o24_B1KSDhfqty4HVHyywZIXnqW4Qn1Ed9mkF62TteFZrEjrFUYEUbrPNEH2_wWtitEHq3vxLz59tCnpwRkIHhdYhXnf2G-949S1i0cRLl6cBM9f3W9MOU_2zYPQ38syELIAtQV341S6qZUy2YEq_nsetQWWLMSCh_mOcGmrxIqqUQ9uYSULineUmqCeTP62vRt3F9vDE227rLNGINB8293TNqmi0_bJ6ZyUPhCPSMvXFQMnflxN7cY-6u0FEsaQK2SeswkR2fzdqv_kvHtp9COqknGCzG9JJwNwBCdHo7_TPe1Pun07XoCu7cLC_VMVPrrSl5m43egyNsqAF5rJl9dTb-ZWQmJXjp1jVnP9jY-Gd9ll5EqhtHomR5VxnHh090H7mOWq3LGVz5_UIM-wL3eDwpUvT2O9egbJvw7GM1n4u51jNnP8yxXemdPdGaNp_sqp0H3Qk_Zegv6Bor5juYNqT7vqJTbtxfuf1Djik9ycZG_xU0frubfydP6xu53LXgoQ6jzLrCYE_dYb-cOW6gza9MXYhRvixF0zXw-crajsQGramrPRQdpwUCZUOFh2NIaMLjrJhhpO7XL_njHsmppeA3N7ikUnVZ4j-m08EXJeIibvcnHr18--HX0EgxnPR7N6fKmgyaCaFxSe8Iuqu9PvQOMjZnuosQDObMHsGvgscTkLPQMKq1hUf0WPkclBFdeR5T6Cf62aIYh1QUq56M34ntG0pO4LXckJiuVXTI7PqAmxC-hQg61UliwcCSZSCcRpU2yXWn3oTmxJPj4Wa5ZSMvclqAadfAzz7JBGS-uLGG6E_QeqgoKTDVsSMeQ8e9ko2qhroqxhptoAWDr3af4_W7PPAwaOdlsXqPG7XfHKbNP42PMTY29y0Tgge-qZzAgvMOcXArNUHAxSR83gwxbTyDCHJKsq2LKBGnJ-zyE-OhxFe8qQPnHPTf-SZHvPD9EK27RyveIwb43xSwbSKhFe-WtW37kTw6pVh_-__NdPQzhgV-6ZKX5UVN2bjCZfaSozoWytcWKF1gECzK5MdM_xmx6HWz0xEOUcfysb0NhkGpN70gPMr3CxiBEJ8GdEh1OaDmaKbw7p1H-_r070fTC9E-GzJThD4JZOUtAct8jwo3M9cS0BhWlUH57-UyJ8fmWr2wxabfTPHB13NMR51rSPLJOmXkOjKDn1a1rw1vIdeT1GawjT5LxK8CluMVnj0Pzl2HfwU7-QfgQpyc3EVge89as5Ab_mkjzJbsmeF04CFiS9tXnZp2GCK7JVwBvFoCGPd_9jRERsED5lOoc7g16aq0OpFxl8HYLbvp-X6e88wbw_7ObfFojZmvGmbLZbFY_qLd4heHKgavCHbeLRpggh2cT1-hnJysTu1JPKgFBtW9SWfvvKodQ3t0DPxvoy5CnXelVrUA==",
  "id": "rs_0be2927d6e244ace016ab45cb98a5c87d082069c9d1fcb9847",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.325,\"right_z\":0.045,\"right_pitch\":0},\"note\":\"The larger brown toy is visible just left of the right jaw center. I’m aligning over its torso and lowering the open fingers around it.\"}",
  "call_id": "call_qb9roM3tTKOT3cMjHc3pW0TG",
  "id": "fc_0be2927d6e244ace016ab45cbb613487d0b0b2e277f3d2aa3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qb9roM3tTKOT3cMjHc3pW0TG",
  "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]: [-0.0288, 0.9371, 0.7963, -0.5987, -0.0231, -0.0681, 0.9983, 0.9077, 2.0861, 1.2495, 0.0654, 0.7185, 0.5499, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=-0.0009 left_z=0.1837 left_yaw=0.0191 left_pitch=-0.1759 left_roll=-0.0358 left_gripper=0.9983 right_x=0.3993 right_y=0.3282 right_z=0.0587 right_yaw=0.0271 right_pitch=0.0093 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.812, 6.9402, 1.7656, -0.0415, -0.0415, -0.0611, -0.5675, -9.4154, 5.5179, 1.6142, 0.105, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4464ec6841eab6fabcb841b9d3d2e4c255e31351f024e57ba005b925f2105f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7fc30d51f8bd06026d6d1a8d88940522d66179b4499424658f13ec86ec61b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723e190ab381278c64f11fa24fa4d50675c43888fa09db26152644bfd50d53bd",
      "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 · 2.431 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]: [0.1474, 1.7329, 0.6296, 0.4255, 0.1055, 0.0521, 0.9984, -0.0154, 0.812, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0466 left_z=0.027 left_yaw=0.0211 left_pitch=-0.1098 left_roll=-0.0254 left_gripper=0.9984 right_x=0.2958 right_y=0.0011 right_z=0.176 right_yaw=-0.0001 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3658, 7.4598, 1.6337, -0.0269, 0.0806, -0.0611, -0.3897, -1.1556, 7.0222, 1.7753, -0.0366, -0.0659, -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 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]: [-0.0288, 0.936, 0.7956, -0.5842, -0.0231, -0.0685, 0.9987, 0.9146, 1.813, 1.2758, -0.3222, 0.6971, 0.5976, 0.9998]\nstate[eef_state]: left_x=0.2993 left_y=-0.001 left_z=0.1863 left_yaw=0.0192 left_pitch=-0.1611 left_roll=-0.0368 left_gripper=0.9987 right_x=0.3669 right_y=0.2965 right_z=0.139 right_yaw=0.0218 right_pitch=-0.058 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.7966, 9.5385, 1.6581, -0.0269, -0.0562, -0.1441, 0.4444, -9.0462, 9.1282, 1.3211, 0.4957, 0.1929, -0.0415]",
      "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]: [-0.0288, 0.9371, 0.7963, -0.5987, -0.0231, -0.0681, 0.9983, 0.9077, 2.0861, 1.2495, 0.0654, 0.7185, 0.5499, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=-0.0009 left_z=0.1837 left_yaw=0.0191 left_pitch=-0.1759 left_roll=-0.0358 left_gripper=0.9983 right_x=0.3993 right_y=0.3282 right_z=0.0587 right_yaw=0.0271 right_pitch=0.0093 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.812, 6.9402, 1.7656, -0.0415, -0.0415, -0.0611, -0.5675, -9.4154, 5.5179, 1.6142, 0.105, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4464ec6841eab6fabcb841b9d3d2e4c255e31351f024e57ba005b925f2105f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7fc30d51f8bd06026d6d1a8d88940522d66179b4499424658f13ec86ec61b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723e190ab381278c64f11fa24fa4d50675c43888fa09db26152644bfd50d53bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzFJRvq7Y8LI7LcQsQN_r9Jpf6VYhP0sQhzQCznOMhZbF44ykohdJUhORC2aGKzz4Yzvto_-_POZXpumsKHtwE8KtBB7vEkU_nuJV1i4Oj_vwXAGb-hZNOFsBitlr_Wgo1b4ldub4dQWKwKwqy6YYPCyTZRaMsUquqBgyDspxTO7YUfMzX218jYhaF0GuAHKQvna7Zl_kZUxtpDiemGSNArJb570DocDClYCUhZPNQLznKXm-DtaVeFNNnArhraEBtsel4wOeOi1pfRdkigO1PXvuaEHT6FiLIewsbMIdpMCdIFrlLOjczyfXrmY2UmP3ocORJw33SgCRPt_lWPurNhXE4C5gxY9rfVeKlGhbbYXSBwsSPxsV_yzzfqt027xqGT86IMNqGyGcgRjjEx3U20LKApnfsohl9kLc103TPeMumJxa8FRwJVyYIP8_6Ussph0W0PoEYOJAPwK-0bCROF_zrCJcn-OfIU1ow7hK0vJBIimYzS_E4-pvSrYCusubOCAwWlrJ6cbg7OJKkzoU-WHUIRB0nDDMZ4M0XFZyufSQXmTMCBpDmgPTc3Q-9a7EMcFy-eTxwvhWzN6WMP4HLOijeKV7zRhaAn4_2NQcjrltxhKvslZ75IxYCDxIS4b4aD0IIwmCTsURChZiLmNHr6EpTYPBPhfrgP17iY5sDs0W_EsO5Tu3eU2XZ72bxgYZU_Dz8eZTvWJZTDv4VEVds0K8-UlLCzEhU2zxabH7yi5x8h7yA1jWqga-xQYgTAjgdoB4st3lCetapI6mBKsXmq6NTDy2WWwBpf-GyIBB5ypuwxV-RWDLRaMMB_JODCZYJKe1I5qFHUDNkFMAQMBC6Q1m6iyNGApDS_rndPtmy3Agy9fj_VwQiFueGsBk8h9u-HI0S2G54qm_PrfwuLn6lwcB9-i-khi44FPg8XmyQfM6vf6eEZ3OCBouJnSdxF8qvS-DZVg1Cq05Sw50KLk3NXouFwI67KOSQMxlYgE8jqjH4hO2WqjqtJiYaV1jvByo2lUVa9JaHk2GI3Mz4-CnJkOFnfklWnRFqNo-b_Ntx9bPivcIhQ2xg1xLvg54Xl2cZk_ryXxQh8Yx-IcxvwpYsbQG5SOMaxbNYZVqnsFiW1kWskq0e6K4fWZXuf5MhlF5WZ_iFEHuqfIhNuJS_YX8H3mIlZTD7Ly7Z-ws776Rd8e-aB1_S3_7Y_XIC6xY4iCHVAPcPoTLWsgALNLJN_zAEnOGzh18XLDNVtBnFBWSW2uCMrqfT_-c6opOtsAg7LUEprqRZ-fw7DFdA5o__XiEa7-Sa3XvaCerASHRvi68e078eq5c99d1QTBgxx2RD5SLVKaaT9QxcGgmiKEbV6s5pD69TZoQ44jLIng2RH-IcEijgWAHgERTT_gWb5DNTtDR4atIHLc598OsQ0zl6KTS9eVs6kn8heoKNVHoYBxiP9-FpDgDyG_bp_XzVWNWlDsFrSjOJqr4MNF50yMBhuA1EKMHSPiZtPnY6WU4l70BWGDE4e1ah2RBxz1RUTOTWu9iLwkSHSsriYI6L4dsdLXUDaYyKfN14UJkQAKAipKCniLY4UFNOmxJtB_PdeAAL8JeQ_1AJKas1IKoOWqgaKOS33ubV36X4Pk5AcHWJ42hqnSoCcXQfzR2mq-OyeGIpm2Gb2naLpOpUNB10RsK-vg2Afw_kU1YzlE__puh_BP2u2QcCtVmlZyjDXDeQZg8aD9iQxTrk6HxSH2LMEksk9n7kPUKBQ5FPZ2kC2_k9fZIvLNitvNz4fhkiKkFgVHJRFCaU0S1bRYsI5jvhJsjIzHmu02uMG8J9rKdH8NvjoyhJ-ylxWMueefgnXCQRfrcywjVb-Le8GY1glamEaYU6z7GVK2YGQUvFbpxu56C9TKZN_gkrIDMDY5k0yU6yU_iTcfH5q6XWPgyHZy_cadP1PaHPKIVmXn0ur4rpbYAvZKjm9QUUFZZ615xxrNaQMiAjkHCw5wQyKIGYDIZtfRZtrPHq1qKck4jeXy4d0VfTMiKbzdLQ=",
  "id": "rs_0be2927d6e244ace016ab45cc1acbc87d0a77b136575c46f28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers are positioned around the brown toy’s body. I’ll close gently through the gripper controller, then check whether the toy lifts with the jaws.\"}",
  "call_id": "call_8eotoyQb9UDG0PFmzmrMuIIv",
  "id": "fc_0be2927d6e244ace016ab45cc4966887d0800a7c0c8b5219da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8eotoyQb9UDG0PFmzmrMuIIv",
  "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]: [-0.0284, 0.9405, 0.7956, -0.6025, -0.0231, -0.0685, 0.9982, 0.9051, 2.0926, 1.2495, 0.0811, 0.7258, 0.5354, 0.3794]\nstate[eef_state]: left_x=0.2966 left_y=-0.0008 left_z=0.1817 left_yaw=0.0198 left_pitch=-0.1839 left_roll=-0.0357 left_gripper=0.9982 right_x=0.4017 right_y=0.3275 right_z=0.0584 right_yaw=0.0269 right_pitch=0.019 right_roll=-0.0126 right_gripper=0.3794\nstate[joint_eff]: [-0.1026, -2.2632, 6.8991, 1.619, -0.0562, -0.022, -0.0171, -0.0068, -11.5897, 5.9009, 1.2674, 0.188, 0.1148, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0006dfe0b385c3ed6be3360a6635483832517d84878c0fedb7b1f4bd8405dbac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8512b024d55acb93e1736a3a03878dd6c5c484cac18d9f3817d4d34088193cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79a3f027156746f22baca1cdf34dced62aacc0dc4bd8d52af050863f397c5aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 6.302 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]: [0.1463, 1.7927, 0.7326, 0.3592, 0.1051, 0.0444, 0.0157, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=0.0491 left_z=0.0268 left_yaw=0.024 left_pitch=-0.133 left_roll=-0.0341 left_gripper=0.0157 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0004 right_pitch=-0.0298 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.3231, 7.8017, 1.6288, -0.0464, -0.0073, 0.696, -0.253, -1.5795, 7.0222, 1.7118, -0.022, -0.0708, -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 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]: [-0.0288, 0.9371, 0.7963, -0.5987, -0.0231, -0.0681, 0.9983, 0.9077, 2.0861, 1.2495, 0.0654, 0.7185, 0.5499, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=-0.0009 left_z=0.1837 left_yaw=0.0191 left_pitch=-0.1759 left_roll=-0.0358 left_gripper=0.9983 right_x=0.3993 right_y=0.3282 right_z=0.0587 right_yaw=0.0271 right_pitch=0.0093 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.812, 6.9402, 1.7656, -0.0415, -0.0415, -0.0611, -0.5675, -9.4154, 5.5179, 1.6142, 0.105, 0.0171, -0.0171]",
      "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]: [-0.0284, 0.9405, 0.7956, -0.6025, -0.0231, -0.0685, 0.9982, 0.9051, 2.0926, 1.2495, 0.0811, 0.7258, 0.5354, 0.3794]\nstate[eef_state]: left_x=0.2966 left_y=-0.0008 left_z=0.1817 left_yaw=0.0198 left_pitch=-0.1839 left_roll=-0.0357 left_gripper=0.9982 right_x=0.4017 right_y=0.3275 right_z=0.0584 right_yaw=0.0269 right_pitch=0.019 right_roll=-0.0126 right_gripper=0.3794\nstate[joint_eff]: [-0.1026, -2.2632, 6.8991, 1.619, -0.0562, -0.022, -0.0171, -0.0068, -11.5897, 5.9009, 1.2674, 0.188, 0.1148, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0006dfe0b385c3ed6be3360a6635483832517d84878c0fedb7b1f4bd8405dbac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8512b024d55acb93e1736a3a03878dd6c5c484cac18d9f3817d4d34088193cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79a3f027156746f22baca1cdf34dced62aacc0dc4bd8d52af050863f397c5aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper has stopped at a substantial opening, consistent with holding the toy. I’m lifting it a short distance to verify the grasp before carrying it to the basket.\"}",
  "call_id": "call_faXjKiLyqjyYH6KTPIk0Bonz",
  "id": "fc_0be2927d6e244ace016ab45cc81aa087d0a6cf4d9fd7474b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_faXjKiLyqjyYH6KTPIk0Bonz",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6067, -0.0231, -0.0685, 0.9982, 0.9047, 2.0048, 1.3773, -0.2176, 0.7036, 0.5312, 0.381]\nstate[eef_state]: left_x=0.296 left_y=-0.0007 left_z=0.1804 left_yaw=0.0198 left_pitch=-0.19 left_roll=-0.0354 left_gripper=0.9982 right_x=0.3963 right_y=0.3251 right_z=0.1032 right_yaw=0.0434 right_pitch=-0.0469 right_roll=-0.0694 right_gripper=0.381\nstate[joint_eff]: [-0.0615, -2.2632, 6.8308, 1.5751, -0.0855, -0.0464, -0.0122, -0.1983, -14.7897, 8.7043, 1.4335, 0.486, 0.0073, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3049b1a640466f1107ab0a43c42a6ec7ae5fb0f2a464300c28dada9b92c79478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfda66a3e3d4d05d104bf5c5df0e799ad5b07c904b17cb481c6311c59f31206e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9e012dbc3024ef3f09f92657cb6bc6694b8d0068f4a40dba4b28a93114ca6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 4.085 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 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]: [-0.0288, 0.936, 0.7956, -0.5842, -0.0231, -0.0685, 0.9987, 0.9146, 1.813, 1.2758, -0.3222, 0.6971, 0.5976, 0.9998]\nstate[eef_state]: left_x=0.2993 left_y=-0.001 left_z=0.1863 left_yaw=0.0192 left_pitch=-0.1611 left_roll=-0.0368 left_gripper=0.9987 right_x=0.3669 right_y=0.2965 right_z=0.139 right_yaw=0.0218 right_pitch=-0.058 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.7966, 9.5385, 1.6581, -0.0269, -0.0562, -0.1441, 0.4444, -9.0462, 9.1282, 1.3211, 0.4957, 0.1929, -0.0415]",
      "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]: [-0.0284, 0.9405, 0.7956, -0.6025, -0.0231, -0.0685, 0.9982, 0.9051, 2.0926, 1.2495, 0.0811, 0.7258, 0.5354, 0.3794]\nstate[eef_state]: left_x=0.2966 left_y=-0.0008 left_z=0.1817 left_yaw=0.0198 left_pitch=-0.1839 left_roll=-0.0357 left_gripper=0.9982 right_x=0.4017 right_y=0.3275 right_z=0.0584 right_yaw=0.0269 right_pitch=0.019 right_roll=-0.0126 right_gripper=0.3794\nstate[joint_eff]: [-0.1026, -2.2632, 6.8991, 1.619, -0.0562, -0.022, -0.0171, -0.0068, -11.5897, 5.9009, 1.2674, 0.188, 0.1148, 0.696]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6067, -0.0231, -0.0685, 0.9982, 0.9047, 2.0048, 1.3773, -0.2176, 0.7036, 0.5312, 0.381]\nstate[eef_state]: left_x=0.296 left_y=-0.0007 left_z=0.1804 left_yaw=0.0198 left_pitch=-0.19 left_roll=-0.0354 left_gripper=0.9982 right_x=0.3963 right_y=0.3251 right_z=0.1032 right_yaw=0.0434 right_pitch=-0.0469 right_roll=-0.0694 right_gripper=0.381\nstate[joint_eff]: [-0.0615, -2.2632, 6.8308, 1.5751, -0.0855, -0.0464, -0.0122, -0.1983, -14.7897, 8.7043, 1.4335, 0.486, 0.0073, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3049b1a640466f1107ab0a43c42a6ec7ae5fb0f2a464300c28dada9b92c79478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfda66a3e3d4d05d104bf5c5df0e799ad5b07c904b17cb481c6311c59f31206e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9e012dbc3024ef3f09f92657cb6bc6694b8d0068f4a40dba4b28a93114ca6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzUZrnpwqgZCrLYz-Bbc9JPVUhS2l1GqlUARy4bVzqgSXnUI0gta7RZmdsZEGGmXslnyZyX6eWlQ56HxcV8s5pCQ0vdwIrJGUPWWAZLKxC4Sn9PUmphVZ-YLlCiYLePoboIfGw-WdY0IGTzgbaWUVJqEfdOJSGfsNqKB4ZUUM8NBB38Rdjv72oZClXZK7Uh-67XT-5MdPngKuMb9KHjcT0Uf-nbowqeLINwPB6NEX3KQMEnfpgzkg3Hb1vyQXvLmUtl5AIFAwzoYILKGulsLNeiNArx3U0vpcu0txn4ca7yp39hb_y1xP4YuvZx2yeR2Dx95aP_MTOLt1ZlOt94xsepNG1AnhBs15RMollUbnx4ooSxeG_qsjGwAk5m9EmEPxCiryYAd7ieh-GP7ufmVEupPxYluQKbpyWOHA6kIF7YXtAtFhiiFzK9mT44ytGdK8SDUuskby9KraXpV7X-YbHF6nQGl5Y99pEjJ9APrJYY3nysMZng3n6TFwzbwQ_GPMdnKj6Z7XMLEfuZYYRvtxr-TfTlzbaxmq67Fck-uQ8-VJmZc7RKE7DMD1CTNgGZNSZaMQ7JdgLq9giAUqFaOLMyOIIu_vPsPuepkzBB2Hk9dwvm5NELxbkmBFg-mf3QaezlTfYveWwA56-5VhOD4C3HQfVuKVl11smZxVNomqog4qu95WK8UMQ1Nj2XmcNCGEvi-8ioS9Is6Mv9rJC5MB8K5WKuJ3Nfk7h37Z3yia67XC2szXRadQ5IomMBLve_S7GIj-mqYTiHA91IcuZGnxDFU1Hx7UyErHvpGSpwxPiXNAW1lXxGZ7wduWR0BVHKDUXHOGV_jyFaR1hpE-DNOFIk9HM5BgMEOULweky-52sDZ-Fb3p-XkoU5UHcELAPQ9b2pFnOPe17Nnl05bVps4s_9aMGk75FBzAexBYM7a1s7KI15HAcvzzZlqIboOpwErfonoVFrkfVKNA-beM7S1Fwus4GA9eMBJBu8-ZWgyHuIL9Q9kcm8LxHRgUrGm90lamsTyFdSkR9ieK2qF8jLnBKaE8tYPJiQatnU_p6sW0oYv362wbZJLIa2O3vlUJYoVBpYzogFPKnlPlR2dHIxxPzlSwit4l3HmQL540k6M9_E8BDUd_V8mVRllOVUfS82yFAgIB4cz2wZfyr9yHc16tQf5CR9GLFlLyNh2XlGJrjYTHDtfhHMJd21MSYMWv-B4TVMIxd3fI6kokklkiULgXxxixAYZHkbPAS9XSadCPgFD6AUsoaPiEPWEhTyCcnWof6_LDsA8jP9GiQHAwfxrjqVdKWFN7HZEq0zf3i6YTppueFkHKcIAKl09ZWbqtc-NDjcq0H41B_C3pit4TNbJTWg4aWn8fuxl4VkkZe-Akz8hxO6t0r8kAK-ntp3VpjnFIdCodR67o14Mkf3_Ts8Y2ULC12ZNO5NneWSGyK15A-H3yTE28iHqpm-hHSV4vIBUQVsoqKGKYxHXUthpPiMAKtW2Vy5rOhC8ykRH6LKEK6QMm9umwhtvj-3e3u_g1KeYY9gXZ8NlcZUqNWlDKppp0TyXE_yR07o5WJif1oXD8jIcxgT82ThySw7l7B1a8_4HME4ESjBCQFvmpsFS55TXdukhbnKVIqSuOp9nb1940tm10dXg5ocVksyAVU1BmMXI0SeLp5Q9mYxCKG2ZPGrp8nmGQMwk800VZsBLq35WCa3Zw7KKw9BLUkf2FiqEbWS5G_jdOUGKdHR9txYctl5fvz8-ThxmztGDFHvbZM4Otye5_gGX3Nq9Ze0sAn_0b4vfR-3HfJS2jjCDXI2z0SBG8qspZ8HeKktw-q7MqtCJrWCW6vvpPuMrZP76JSAHYyYyC6CuxutjsQ85Jw5U7Ijyb856YCTyhNBSZf_jetIbBWLTcvWMq_WrsBiQON83YrW5TLslqdvOWpPlnXHNNDXQ9ic5p6evuN2wU4NDJ-HZuZdXc1mZJo-K8OwkuW_q3mQ7L9rKAkevGsSpggWiKI_njQKV-OUR0AIu4R0Ea30BIZKHulH08-QukOdRIeX34YEMuRshVOkpW4qkd2DxC9khGz1Pt_NrIHkDGCOTmwqYJJNi6jAXP8TTz4grm3lRLL9kMhUUSkx2FoprwOVCNpCcZP6mj3IUA1kJ5oCicherfVLG8D6rFgHLzJMYlDgBLiGCTENtzzyaUqk4mI4UdP1jDFNMAos9gHApNIdyxE0xo59_onKQsTYROhBESdzG8Awam3mpWSBJcfKMAJy40Hk6zzY9-zUaarLcR0OZ3yJ6BtAcqo=",
  "id": "rs_0be2927d6e244ace016ab45ccfe1a487d0b1a2470715ab0ec4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.15,\"right_z\":0.24,\"right_pitch\":0.3},\"note\":\"The brown toy is secured, though the loaded arm is sagging below its target. I’ll use the right basket for toys and the left for utensils so each placement stays within reach, lifting higher as I carry.\"}",
  "call_id": "call_6JTtZclatxXdoOWMd6JEwNZN",
  "id": "fc_0be2927d6e244ace016ab45cd34f9c87d0880cb0547d2ad3e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6JTtZclatxXdoOWMd6JEwNZN",
  "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]: [-0.0284, 0.9424, 0.7956, -0.6128, -0.0231, -0.0685, 0.9982, 0.3939, 1.8648, 1.277, 0.1432, 0.3763, 0.0395, 0.3826]\nstate[eef_state]: left_x=0.295 left_y=-0.0007 left_z=0.1793 left_yaw=0.0199 left_pitch=-0.1961 left_roll=-0.0351 left_gripper=0.9982 right_x=0.5272 right_y=0.1527 right_z=0.1781 right_yaw=0.0462 right_pitch=0.1466 right_roll=-0.1106 right_gripper=0.3826\nstate[joint_eff]: [-0.1026, -2.1265, 6.8991, 1.6093, -0.0562, -0.0659, -0.0171, -0.4171, -13.3812, 10.947, 2.4347, 0.1734, -0.0806, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbb386516891a6fb491f4627fe2a99f576a0886a50a4986fef5f0d37311f9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c07db9ff9297d0e07d7c715d434aa95329bc19200af40fe1d237514f0a4094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6763a612b60ae09a4f91f33a413bfa5760102762dda607204d9e7abb363d4e",
      "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 · 5.267 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 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]: [-0.0288, 0.9371, 0.7963, -0.5987, -0.0231, -0.0681, 0.9983, 0.9077, 2.0861, 1.2495, 0.0654, 0.7185, 0.5499, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=-0.0009 left_z=0.1837 left_yaw=0.0191 left_pitch=-0.1759 left_roll=-0.0358 left_gripper=0.9983 right_x=0.3993 right_y=0.3282 right_z=0.0587 right_yaw=0.0271 right_pitch=0.0093 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.812, 6.9402, 1.7656, -0.0415, -0.0415, -0.0611, -0.5675, -9.4154, 5.5179, 1.6142, 0.105, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6067, -0.0231, -0.0685, 0.9982, 0.9047, 2.0048, 1.3773, -0.2176, 0.7036, 0.5312, 0.381]\nstate[eef_state]: left_x=0.296 left_y=-0.0007 left_z=0.1804 left_yaw=0.0198 left_pitch=-0.19 left_roll=-0.0354 left_gripper=0.9982 right_x=0.3963 right_y=0.3251 right_z=0.1032 right_yaw=0.0434 right_pitch=-0.0469 right_roll=-0.0694 right_gripper=0.381\nstate[joint_eff]: [-0.0615, -2.2632, 6.8308, 1.5751, -0.0855, -0.0464, -0.0122, -0.1983, -14.7897, 8.7043, 1.4335, 0.486, 0.0073, 0.1538]\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 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6128, -0.0231, -0.0685, 0.9982, 0.3939, 1.8648, 1.277, 0.1432, 0.3763, 0.0395, 0.3826]\nstate[eef_state]: left_x=0.295 left_y=-0.0007 left_z=0.1793 left_yaw=0.0199 left_pitch=-0.1961 left_roll=-0.0351 left_gripper=0.9982 right_x=0.5272 right_y=0.1527 right_z=0.1781 right_yaw=0.0462 right_pitch=0.1466 right_roll=-0.1106 right_gripper=0.3826\nstate[joint_eff]: [-0.1026, -2.1265, 6.8991, 1.6093, -0.0562, -0.0659, -0.0171, -0.4171, -13.3812, 10.947, 2.4347, 0.1734, -0.0806, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbb386516891a6fb491f4627fe2a99f576a0886a50a4986fef5f0d37311f9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c07db9ff9297d0e07d7c715d434aa95329bc19200af40fe1d237514f0a4094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6763a612b60ae09a4f91f33a413bfa5760102762dda607204d9e7abb363d4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzblAJoVcpslF7m6ZgDP1N1ISontLKBPKBYIYe1vvYM6cdxTliXd-cTy5yA7vSYvwpEVywSpg_oJqkQ3IDu3tXzGF2oae5ltzHumuhUOJ-ALh1AEme86Ot9Q1dm-g0GBWDsTQcZsJHnbtsEWlAA1ciEoqmZiiDJwKWqWAVN_m7hbbsuf70jQV73PyjMRx4K0-8gC71yaIeDtpB7OZQV9xEIvuFOkxIzY-jfkM7SVHH4bhNnWRpxM9M1iIoy3zTSo3Vo32YyGUAXQDQfhE1BBjgeDaUQFgiIfsDWssqzQpyZVOUcFp41znRMVMz60HSCmdlfmZPIhKUsiPGaGVgiGuF41qGMPjRCs97LwFitzIndhuQ-yZCXfsANrzCZHh1638_ExctJLnSY0PmqpGw0JsD60vxkSOqrFvmcPXxsmtoJgLvDTFVldwdY_6kLZPjxeV_MRPQRsIG45I5LxBvPHQ9U1VdwMyOmnqnVl0EOmYuxsef3id02hngClc49B5dJkm4CHiC50BHpErUfGAyNP2lHVm3Kj5hrtOrKbzewxDWV-YsDwY1Z3gZ-nwYgz5c2xxJp0XSGoIAvmanK1huzglrazL21CtInQHmm1iiukLk9NRr6dbyNzWh5D-yA8DvSmPWSdhG83x3BOoWGQyKOwoJXXGGDTrhpOMOXowCBku_zmXgpZjoiE8EwcEFOLPBu3IcHAtV3U_Um4kmxBtfVdsYECniA2j7gsS-XsGTnmeHcitgLkJHwN507uR-Jfcl8a2UdGcyYrkvkggNHBpy6banosDpzZIi0L5JPPOsZLFE95susaN0jOhTLp7S_DoEtsd_7z9K07RfDHrmmjiL_t9UrUPPVVKuFMx1xWudwiaqZTFv1RGHTroTIfq1IHs1O0pndWbfzWBXekSVy5WfEE2UBz8cBmr1p85ui5csM3mwd2SW9d7jgZKYfYSLOH8f5hypvayLy0YvquFt5YoYl2uSRnruT-ZrhLZDss-8ZV463USDYi7v5_tptH79J6YEAT0rQV9LwjOsv2F-JMqFdJIiXfIQs49yM9G6V-A6glvhWL2KOzee89b-WGEniiAXHHS9jw6tsgQ2rV0d0X9FO_iX20PMm3oW5BedFeC9bOww7PmX1Kx8wZU-NlfvIxwWWDa7yH8P5izmZswp7d5CqRvUKkc7Sw5iKe5sSPc9JGptyLjqxeqBHx53DDOT80-mDjSP-8zd4tNodXXQN6En8yVwLhaHWnuiZKMiso_DhWKIyYwAsshLgihAWFEkE_XGLsUFis9OCqrns1y9uLadW5InrwLSsjeiWtwxh8GeiyGmmFXKUT9-Ly3SgamdVVa0N8wxayuQxubK8N8hsQ_pJ-S2YmWOwY6nsGunyEHyAsrMZ65zrTf77vah4q--bG-S5otpuZR_Xz_qhNDpo7dMCPl9O0xt4QgMxh_acwUHFph8T4Iuxny0b0aOHEPghdnRjbNJo3b-98JY--9kYP4RrZL9yq0GQ_KQZwBujYLC2kZJfeHMnImiQ_BkEEW7UIzcyJQ31",
  "id": "rs_0be2927d6e244ace016ab45cd85df887d0b88f08252583f753",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.075,\"right_z\":0.21,\"right_pitch\":0.5},\"note\":\"The toy hangs to the left of the right basket’s opening, and the basket has shifted slightly. I’m moving forward and right to bring the hanging body over the opening before release.\"}",
  "call_id": "call_luhlzkBdylwgxNB9GVZFUDhu",
  "id": "fc_0be2927d6e244ace016ab45cd9f1d487d0b4c59273c4932416",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_luhlzkBdylwgxNB9GVZFUDhu",
  "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]: [-0.0284, 0.947, 0.7956, -0.6151, -0.0231, -0.0685, 0.9982, 0.2092, 1.9915, 1.2198, 0.6209, 0.1776, -0.0757, 0.3841]\nstate[eef_state]: left_x=0.2949 left_y=-0.0007 left_z=0.1777 left_yaw=0.02 left_pitch=-0.203 left_roll=-0.0348 left_gripper=0.9982 right_x=0.5796 right_y=0.0949 right_z=0.1887 right_yaw=0.0816 right_pitch=0.4109 right_roll=-0.0954 right_gripper=0.3841\nstate[joint_eff]: [-0.1573, -2.3316, 7.1316, 1.5311, -0.0415, -0.0366, -0.0122, -2.4, -9.5248, 8.5402, 2.3126, 0.3394, -0.2955, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c256beb8fd8e8ae838cb7764fb9f630b18bc54b7887363fc410d94969c674d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204ccac3785eef42197ef320f3844fdd01a5738e63739a0259bc89549528fb73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8e11f72d9c607e87aab7ca8e6ec4b50565f21cb1d0d3f56751a6cfa87d7cae",
      "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 · 4.026 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 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]: [-0.0284, 0.9405, 0.7956, -0.6025, -0.0231, -0.0685, 0.9982, 0.9051, 2.0926, 1.2495, 0.0811, 0.7258, 0.5354, 0.3794]\nstate[eef_state]: left_x=0.2966 left_y=-0.0008 left_z=0.1817 left_yaw=0.0198 left_pitch=-0.1839 left_roll=-0.0357 left_gripper=0.9982 right_x=0.4017 right_y=0.3275 right_z=0.0584 right_yaw=0.0269 right_pitch=0.019 right_roll=-0.0126 right_gripper=0.3794\nstate[joint_eff]: [-0.1026, -2.2632, 6.8991, 1.619, -0.0562, -0.022, -0.0171, -0.0068, -11.5897, 5.9009, 1.2674, 0.188, 0.1148, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6128, -0.0231, -0.0685, 0.9982, 0.3939, 1.8648, 1.277, 0.1432, 0.3763, 0.0395, 0.3826]\nstate[eef_state]: left_x=0.295 left_y=-0.0007 left_z=0.1793 left_yaw=0.0199 left_pitch=-0.1961 left_roll=-0.0351 left_gripper=0.9982 right_x=0.5272 right_y=0.1527 right_z=0.1781 right_yaw=0.0462 right_pitch=0.1466 right_roll=-0.1106 right_gripper=0.3826\nstate[joint_eff]: [-0.1026, -2.1265, 6.8991, 1.6093, -0.0562, -0.0659, -0.0171, -0.4171, -13.3812, 10.947, 2.4347, 0.1734, -0.0806, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.947, 0.7956, -0.6151, -0.0231, -0.0685, 0.9982, 0.2092, 1.9915, 1.2198, 0.6209, 0.1776, -0.0757, 0.3841]\nstate[eef_state]: left_x=0.2949 left_y=-0.0007 left_z=0.1777 left_yaw=0.02 left_pitch=-0.203 left_roll=-0.0348 left_gripper=0.9982 right_x=0.5796 right_y=0.0949 right_z=0.1887 right_yaw=0.0816 right_pitch=0.4109 right_roll=-0.0954 right_gripper=0.3841\nstate[joint_eff]: [-0.1573, -2.3316, 7.1316, 1.5311, -0.0415, -0.0366, -0.0122, -2.4, -9.5248, 8.5402, 2.3126, 0.3394, -0.2955, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c256beb8fd8e8ae838cb7764fb9f630b18bc54b7887363fc410d94969c674d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204ccac3785eef42197ef320f3844fdd01a5738e63739a0259bc89549528fb73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8e11f72d9c607e87aab7ca8e6ec4b50565f21cb1d0d3f56751a6cfa87d7cae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzhteMIxQTHjHBhx6mUTmQ0cWTsP2NO4tz2AJamdgm_vLzJAIQUFWmDwW_o691GgUChmB7J3kfha54kKPF36z7jDb-P5BSFuJ2rrplHV8dyz3kwWkS5iChrroXIfeDGCwvwKo3C9PkO27iLWLSXOkAk4_F9IkNGWDdNOWl10R05V4DWVyP7w0erNMGnpTIvcQgmjuOoJbbpo-sMx3tY20GfvDCGjTOOouCfG4X1OKjMCPuMivxAym3VMjsY1T3T_O8Ve3RL0_AHyus_QjQmNgmqXHqSHYpRywxcrcF4o1xztGGt8-rIIbjgtZDbcCyWl-0m6Rs03ZzNL8fP7nKh_SKISHTR6OJFZxbohPTIDaXCxh7qdjtCzyzHhdnB8Qwmd1jLp2hIeLUGSz63jpOjQSbws6JpYMlQ8LyRPr7nK-pVwHrKE-ZescN0Wqi1lOD_B7ArKmTm9PqQXPV8tzbAlHd9L-Cl0DDr1ppe-tVN2Nw9VE5HPQZD8pNeSFEou4NZCqxgyV8QJMfoLh8E2EQzNydpoQ90gwWNp42KVEZgP8Vmc89sL-K0tP7IqkmiZVRSCPN9b4hPO1ANaIdZkvQlEVQBgnGCEO3gRqk1W-sYfJrDAvp2ty-5zCj23HmLhXoVMjVGnt3wz2kyOiPrMD8WNntgLnKGGQLIfutkDBAvDVtC5JKPpY6hagww1YgCFyFouwnvS7jI8nsvLtLwBInExWCgOgRk7KUA3IJAw26zw6itMuenR6oEnK10D5PooFBS3lIbC3Vrfj5w_G202L8M1UCdEDuSdMdnX2giGkD1dT8Nr1h6z8uR-Tv9BvwwB6SKx0iUqsfm0ejcXLMi92v1YVkxXF8WwQ36HzjAXAhr_oOb_XUyA0syJOyL27xZK6WM6CVWSIEF6rAyf6GsAF2EoXa9ySglqnLdSBuF4XXjkoUtiEnHs6AEI2tDKBBleO7J_C6wot2FFkHA15Xe4zYU5WfA06bSOKCVRKVRZ2DxOAY5aB9K7COjirCM3xV5ZCW8GyXS8y2-FquSmMu1pCWX9UMtdrxvKm9Qsa3o53-yZMnYebJcR6f-Bzxt4U7TAXrP4zf1jAHpwsTIt6vM4n7R-J9N3LcySv3l3Ze60ZwkknL_utLh75ljD3c0hzohMaSsGKGQoQrE4bTga7EkOt28egOsjD2ZIkPpNEntwfuRA6VQ7mFuokCFBXrGEZ-4PltLeU8g1lxQY9JMsmnSS5d8JTlIu-oej62XS-6bTnRKfKbORewIijGzHU0vXWodJhM3ohKjhs0ip2FKm6w0iHWYk-4HXGkaq3ykrpn86YIdOZ1ZtSaytzemYn_9HIKWkYSd-9zQnIt85EaRM2JwfFJdNPNer4Ke2fARCTQ6nyF1G7rUkDZOwyl7-5Tgp1MAABYkfIqB0f-r7-uZLHb07VSvs_qlE3zeFzbscueT1U66yXYuvpzSmfdSSYkvoeku_4BeGQUyvGLU0LmO1L9AE0fJvZNz51hxoO-5MnqxErXGThJHCh69Eu1H5bn66NIyesTRAXkUwvrhp7RjhvXQ-Mud8dnT8taGHeEbanAn2H4YFb2ld3VeUTC9EFwqT-YEMZFXT1c9eTOcrOhtZ5sknBArbw-VZd9ZqjkaqWyfGKm1LXFeRoHayr2-r2sPW2vNePJVyApqHeUs4na2qnHy3SxW1kv50ALNB7-T4JuuQVHQ88AFCQ4=",
  "id": "rs_0be2927d6e244ace016ab45cdddcc087d08b92ab8c60a58f7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.015,\"right_z\":0.31,\"right_pitch\":0.3,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The toy is still brushing the basket’s left rim rather than clearing it. I’m raising it above the rim and shifting right before attempting to lower it inside.\"}",
  "call_id": "call_X0GQTDzLga4VCf3iDX6w7RVD",
  "id": "fc_0be2927d6e244ace016ab45cdfdb7c87d085bd661e738825d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0GQTDzLga4VCf3iDX6w7RVD",
  "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]: [-0.0307, 0.8135, 0.6888, -0.487, -0.0273, -0.0681, 0.9982, 0.0334, 1.808, 1.4647, 0.0517, 0.0036, -0.1028, 0.3849]\nstate[eef_state]: left_x=0.2914 left_y=-0.0005 left_z=0.1914 left_yaw=0.0201 left_pitch=-0.0482 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5691 right_y=0.0219 right_z=0.2719 right_yaw=0.0797 right_pitch=0.2679 right_roll=-0.089 right_gripper=0.3849\nstate[joint_eff]: [-0.5949, -1.7026, 6.8991, 2.0049, -0.1587, 0.0024, -0.0122, -0.6222, -13.9145, 10.2906, 2.0488, -0.0757, -0.0708, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19324e6deaea6707f389f07fe2f3e2abf413e10a5d12a1af4c93355fe0478941",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f65fc476c76141198d345a026d69452797b7b158fadca5e524db4a0d195f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31c60011fab61b8b2425df4cc8eeee8f1f56e80b40286ef69601f4e64e94e15",
      "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 · 16.63 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6067, -0.0231, -0.0685, 0.9982, 0.9047, 2.0048, 1.3773, -0.2176, 0.7036, 0.5312, 0.381]\nstate[eef_state]: left_x=0.296 left_y=-0.0007 left_z=0.1804 left_yaw=0.0198 left_pitch=-0.19 left_roll=-0.0354 left_gripper=0.9982 right_x=0.3963 right_y=0.3251 right_z=0.1032 right_yaw=0.0434 right_pitch=-0.0469 right_roll=-0.0694 right_gripper=0.381\nstate[joint_eff]: [-0.0615, -2.2632, 6.8308, 1.5751, -0.0855, -0.0464, -0.0122, -0.1983, -14.7897, 8.7043, 1.4335, 0.486, 0.0073, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.947, 0.7956, -0.6151, -0.0231, -0.0685, 0.9982, 0.2092, 1.9915, 1.2198, 0.6209, 0.1776, -0.0757, 0.3841]\nstate[eef_state]: left_x=0.2949 left_y=-0.0007 left_z=0.1777 left_yaw=0.02 left_pitch=-0.203 left_roll=-0.0348 left_gripper=0.9982 right_x=0.5796 right_y=0.0949 right_z=0.1887 right_yaw=0.0816 right_pitch=0.4109 right_roll=-0.0954 right_gripper=0.3841\nstate[joint_eff]: [-0.1573, -2.3316, 7.1316, 1.5311, -0.0415, -0.0366, -0.0122, -2.4, -9.5248, 8.5402, 2.3126, 0.3394, -0.2955, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0307, 0.8135, 0.6888, -0.487, -0.0273, -0.0681, 0.9982, 0.0334, 1.808, 1.4647, 0.0517, 0.0036, -0.1028, 0.3849]\nstate[eef_state]: left_x=0.2914 left_y=-0.0005 left_z=0.1914 left_yaw=0.0201 left_pitch=-0.0482 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5691 right_y=0.0219 right_z=0.2719 right_yaw=0.0797 right_pitch=0.2679 right_roll=-0.089 right_gripper=0.3849\nstate[joint_eff]: [-0.5949, -1.7026, 6.8991, 2.0049, -0.1587, 0.0024, -0.0122, -0.6222, -13.9145, 10.2906, 2.0488, -0.0757, -0.0708, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19324e6deaea6707f389f07fe2f3e2abf413e10a5d12a1af4c93355fe0478941",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f65fc476c76141198d345a026d69452797b7b158fadca5e524db4a0d195f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31c60011fab61b8b2425df4cc8eeee8f1f56e80b40286ef69601f4e64e94e15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzmCgDMPQxgoJKyf5aJ7IKARi-O7YkleHKJgQ5HUlz5xM2yZS-mbSUk_XGwdexBDxFg06arpm1TSQxbfrz0XjSNlPKGEZWdi3zicg0UxVLqaSIX5QwVQMtpO_yPidteCoLRoRACodQxOijy_bLjtUxBKNkoK9HqPdneLZ3-NANL5-ZVT7swQi_j94voMoNwInvgzHh1dAsNNoP4OcQdDPkIwoVw2r3fV2VhP8QFkDyXKEIg4v6O5gKBeqwLmXv_-rMn_BnaZw5MvejNdJYpwcSU73VjgshLQArX29x0zLPx7yn1c3DYfWQUSi5NcBacKuzMGRuni_sOEoinB2ssGxzCl3ELinfD6_a8FXrn4v04GiSKvcAWNAxgNklkMh-kTw_729C9fe50wlZGJfTAd7Eih_dMGN4Vh-8-os6StyKnslHeuKQclK8pngtp-7QzleskmpOlLHPf29JH8kwjKW3S2d1yCKYVZ2Jahe1KJNNTyvQXkHCaR6MNCiOb7c6Pq4omNS3W6nfvEjx2HbrAHOkMa02L6Z_WxQ2UFcnpAUImyCrdYiciyy1u6cA8T0zF2tqJ5kzsjUR8cViyEvN-_BBHKi8uv42Y7dwmcoHtDdcyoLKRWN9zyX-JBg8h8TSgtOiO3FMmA4uyaDk6eglx8GzD57LVi-8dtB4QevkZGAwC8r8gFIhlxsczkFeyfRAShNn255H7Bds27KPdLyWHkEllXNUWR9fPLtrM71Akf5mcc8zn4zTGsJH9tiaG8B7_0nT-H-RHB6UUWs91Yo4AJl69cSHCaTO1eKhtntbtgr8mRjmONVgjWdWkcNTdChLd0UVNZIXZPOjJrHxHB3IapUazUwtBfxSnE44650Hl2FWslKmmBxL8tvEUmBI3yQsmGkUawIB6ptb69iQQgpibREwYkLLqzX1P2x7KqFwhT8v6YYaJzmNtaUlhKC-c7TNzCav3VceTih4FDUIHpCNrLbatb2Qg6H17kVmVw3Muf5gch6T1THVSB2j6Csu9zFMAeaBG1ECW8MGgItvUyUXndLrR1ETncTYlved_hM9ajo4nIKevBdKqyxkpdui3DYTKbfagMagwPQ7B8FYdBBK6_UsWxSseA8FEd1tWZI1wnBZygSDIkzX_lDYU_48F9PERtot_R8YcX8EiV3QNvhBnTdXGcj5b049tq7xghgbA6LOBNpDAgMflThph2zzoqSubJDi_GXZDfnSrhlxGYR6jPSwJ7imA8Zor9bBRF458Dl5oJpHru_U8hzKkYfgAggdoI61cVR0hdbh6GS2-cqYvqXKS4pa8SW9jSIu-g2ihXl-uAn4aPuS5_ZKGPtJNvqvnql7QNRL4ETDdOrgG1vqCf7ATiZRF_Wru225d7i522CMEkIRgvJRKRVJChu5WWHDVhebrMhOas0frq2tHEOrbpGB4Wkbg5qLqoEQnEf2_zApwtoM_N0xfJz-hC1B4KsnQaC572ApRRIjbzYJSBfoNN3Xkn6f5h0hx1zwGxNQqON8PW9mtymM6lALJkzxv2AM2oRAjgBIkDxwmEM1R8hb9W2m_7ajf6S4f7gHuSuthCUrY71M=",
  "id": "rs_0be2927d6e244ace016ab45ce412c887d08f78baf404548b46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"right_gripper\":1},\"note\":\"The toy is now above the right basket’s opening. I’m lowering slightly and opening the jaws to let it settle into the basket.\"}",
  "call_id": "call_jrWDRc45mgtJHWGUV3EeDud9",
  "id": "fc_0be2927d6e244ace016ab45ce5838087d0ac84426286888b6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jrWDRc45mgtJHWGUV3EeDud9",
  "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]: [-0.0303, 0.8181, 0.6769, -0.4847, -0.0265, -0.0685, 0.9982, 0.0349, 1.8275, 1.3388, 0.16, -0.0013, -0.1085, 0.9959]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1853 left_yaw=0.0201 left_pitch=-0.0623 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5648 right_y=0.0235 right_z=0.2259 right_yaw=0.0883 right_pitch=0.2307 right_roll=-0.0911 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.6752, 7.9111, 1.6777, -0.0659, -0.0659, -0.0122, -0.2803, -9.388, 6.8991, 2.3126, 0.0073, -0.0073, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e69cdb896c05b74299ad62aa7aca6a7df2293eceae24a601e76c68177921e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15dd4ca3da594e713cd72fcdcf18fa711c600ee03944e454c8a2f3603d994dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cf949cb64c6a483c7c398c2f9568c85b6b73714d1983f09c96f80065d7501a",
      "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 · 7.32 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.9424, 0.7956, -0.6128, -0.0231, -0.0685, 0.9982, 0.3939, 1.8648, 1.277, 0.1432, 0.3763, 0.0395, 0.3826]\nstate[eef_state]: left_x=0.295 left_y=-0.0007 left_z=0.1793 left_yaw=0.0199 left_pitch=-0.1961 left_roll=-0.0351 left_gripper=0.9982 right_x=0.5272 right_y=0.1527 right_z=0.1781 right_yaw=0.0462 right_pitch=0.1466 right_roll=-0.1106 right_gripper=0.3826\nstate[joint_eff]: [-0.1026, -2.1265, 6.8991, 1.6093, -0.0562, -0.0659, -0.0171, -0.4171, -13.3812, 10.947, 2.4347, 0.1734, -0.0806, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0307, 0.8135, 0.6888, -0.487, -0.0273, -0.0681, 0.9982, 0.0334, 1.808, 1.4647, 0.0517, 0.0036, -0.1028, 0.3849]\nstate[eef_state]: left_x=0.2914 left_y=-0.0005 left_z=0.1914 left_yaw=0.0201 left_pitch=-0.0482 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5691 right_y=0.0219 right_z=0.2719 right_yaw=0.0797 right_pitch=0.2679 right_roll=-0.089 right_gripper=0.3849\nstate[joint_eff]: [-0.5949, -1.7026, 6.8991, 2.0049, -0.1587, 0.0024, -0.0122, -0.6222, -13.9145, 10.2906, 2.0488, -0.0757, -0.0708, 0.0708]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0303, 0.8181, 0.6769, -0.4847, -0.0265, -0.0685, 0.9982, 0.0349, 1.8275, 1.3388, 0.16, -0.0013, -0.1085, 0.9959]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1853 left_yaw=0.0201 left_pitch=-0.0623 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5648 right_y=0.0235 right_z=0.2259 right_yaw=0.0883 right_pitch=0.2307 right_roll=-0.0911 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.6752, 7.9111, 1.6777, -0.0659, -0.0659, -0.0122, -0.2803, -9.388, 6.8991, 2.3126, 0.0073, -0.0073, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e69cdb896c05b74299ad62aa7aca6a7df2293eceae24a601e76c68177921e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15dd4ca3da594e713cd72fcdcf18fa711c600ee03944e454c8a2f3603d994dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cf949cb64c6a483c7c398c2f9568c85b6b73714d1983f09c96f80065d7501a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz3359wcwey2TkeAgyluWMJc9vFdfq2KuHyfeOGdHwB9PFUPC8HnxcrYTjY0JOsHx5Y25Ep6BbdH3EwbsC0SiF7_OCYhF5guAU4ecGDuxE2t86-SPwUh5fvSv7MNui45xZLllCqmhcBY2nnG0el_xmmhA805v5PJbbDbwlvnik53Vn3EDph25tdZD6OjPZzO7GydcmupEWeSDdy7F6gGW10GXVPOv6MurMVk7Vg5wzO2u1paan2NZJeXuRVklXxouLO9jfEWzsar9ZcQRElPocQXUdJxuV5zkx9fv-xxGRXthhV1re-CxsdziL8LDefBm3y1QSHHSkWPf0D8A4CRX9_cj6jvlxNlFQ7HuaHCmc3xZsUcJANmzw57aTkN2ywp2_ypYpUfHxeyFjfaMmZ9kh3Es-lcbcAv6855GjwFs9bMNk_n8QwEQtTKcIxdP1AJs_VL0eqy70cE-eNlgOGU5l1FBpwk9vwYE-w6doZqULsZPdRS2pBSV5jRgvnTpqSzDa7LhLuLKBjzzv-gVtaMrQKQcM8J-POp-80QFL6_yjbeKJviOij03qVFoRKvyLr2xK7uUm9V9cuGX3zcr7hY6vq8YJoQPEowkud5TDtUpprGurrrWPXuATTcaXJRGyjfoBO4Ijm3Aedfrcm-Cv77S9lw5Hp5jafKneXazhHmBHedLsS8l96j9WEqBgxJi7fqySeNklQTecoimf4AOY2jZDGtPYF6YY6xfp0AbMp6LRpRoBjFRwe1lLS8_Vwo8pvtB7Nufi3ARYmqnS2oFbD8cSj9q_LGoFFFMuU0ylJvxp4B-mmWTZaAtMHZxI63Mmrw5xyTHPJivodZebpUlI5ZdnwEZCsbdwnnQpKKMU3_oVOto-O98mhe2iIyX5ueeMS0s6JuaItS3mZZzfGQ6pWWIFh9xL8xLCBXBaVJMur-ZCXGVm2OWlPWlF22O9K6i5_bAgRVY46FuVPLN4FOLCEvphuRK_PgmKH3hz2Fjn-1GZKyBX6lAd2OPb14ghPsoHo3RST1jtCWGcnZYuUZrX9W27NWVfA9vAr9kOR1zb3Bv2_qXPUYbrvvQN0F_NLyxTtI5-b8Njouv3eWH9YJgD1wqu2hFHNVRx4Bh1gYozBH5Jul8lWAxDNtyVK5FwdfQRlox_2rqxGKLZWUDRoSETtVhwYuntW_lCtp12D1Umb-OBEkgF2FWzdBi_czLcTK1FV9zKZNBcGGYIm9WzKhL4JN91GpXcz8FVw9jL4L7_1PB99lngulWW5eSvEEn0H5SO8jYPRgRxDhmjUc_cq0NLcxjnFYn4Wcws6wbqZdrjodd5sWuGXzAk7kODTUKqN0luPM_69YiNtA2VdOQAVbPLBlT-jxsm7LQA6apAD9vYoyi2keHhAeDFTcwBVtMwG3RbmQ7FmKPLprjZwkgK3CnY7vjwc7A6y11yuWiMz6CA9XQH96pOlgRD9d30cWw_4IjlMXG0Z86c-k52JmT-5Cn6U17mm49Cg1rYcFBinjZma4fQJI1mhZd373VerkVTzMYdraD9EajmXsc5vNhBsYczGJs0HpHN7gxOfI5ZiQu08pp4hu23IOVkp5qbSSlp72sWKgP6k_ymHJKW5mgdCIzc5XqnRT23gTsOGliKpszUKfZ_vK5_hLCPsi5cMJw_gSZy7h5KB2GJZ7Gx-5johv876ruzSw0VT8cMUng8ijBzN85IwmXlQZT9XsTXlD9gqFInCgZlgMI0Z78ZJNy1-_160nadD54QyUsL0CYb4d9U1VxzlV7BVE8l2kLSUn5mFg8GpOKcVB9H3G3Dha0SMb9cg6qRxsukh2_FGSDcWb0aJHV5amS0yt_Gyn2wxoG3ouV68E13E-yCcF0t15mQWxhEykQBRxQkUtcELl6Yggrfl1XqHEbK9YzBzZ73tqv556ubCRakzoGm0927bTam1Mozf86JSdjgC0tXCcItJ9fBEVa26Qea_ofE42fzud6YcW2e0I7Ksef2-PNCavIvNndqBKpgIEbtZF2SgObw7dczpA4Hscqc7dBwJR9eER9YITwPGlvgVPPHKAq7w2MeNCXvxmVedJ4OXDT43RZBWcOjs4-fnoa0ObU3Lz4ds28Hv0ECfMA9KVkCw6rtalYKO5bVnzG4KWE7WQmA8DTeAC_aONMGrQBOqDyu5i2WrTrNqrwsb6AuefeopC0FVCOZBV0UaaITXhykKAQieEQEq8EV_wu369TV3E4x8pAbOsJspBrkp5z7VrKQaSvqcfp4V0pPbfBeK_rMPlVUAVh32-Aa6MkpdqVORHs4F2cK_1q52BvSO4Qg8Cy59DLBUNxX7RWqNJWOjSio2jkLGlp94a5FUi6pMwvXDDVvK1cq-edayEImPel1gdZ2NUqov1rUd-Kz_bqOq2eKvG2X_8_wPcsa4-SdoKTxZUGURXyrUHTc4YPqN_-VLkuhJVNxBmsGrGHMdzfthlPGbYMNMbLbRr8CkcAvXBilKs6Po56HcQ283CKAHoSGV53LVsZaC7xz7YvtGmcUv_AdlfXhfT91FC8m1XUNpqNX5psN0usFEb8y8Byhb5IKPpZ4NyyJrfsZK9HgfPFOY4kPS_9de_iZmV9j-WNoeV3hv8mn6mq5A3z4wMRyfd6Re6_mdnzkFLYuTTJQC0bHlIVC96k7ZzzvWmjqfLujMKr6neoAh1Zf2uhv0shiDUdZAp55r67fHbyOCY3ZidwzR97nODq_7WQ_gwBZDXR_pMeD6zm8A6MZehoRAtDLZT9CmAWM29Ay7qnAuOOqeBJ-4HMOsJJEFOqNf0EYmdajbbTsophjtMcqM1mYfq24Jz7C-5HyOoi6B7s-iYXzubnQhNdh4UglYPTEkEI1OaUGQ8d_4qlYf8ZiEvMWiwvIN7G8gToN3tZotgvECveoi7Q23lPQf5R1TjvnGXolLQOE7aCW7y2an3-g4oYKLJzRICv3qGzpeTI8BImBMKmvxGZ8ohbDoEr1cpsASe_Ciwa5Q0dTnnWJHysVO1N-2yfUFjuhbzaRkswjGN_SyTRP4BkPF9eKRLMWkUrJn-Y_xUXP1c6_0E8LZ4IagdOoFpTFd3TiZBi1i-xd1SoIifAafTuq23xgUb4-Ai3xrfAO99E_tWszfWGFgQl0Z707ceaQ3gX7C1kizqjvKeJLn9HjJ_H_vX74r3ZlGlczvmDgTrQhT58i1mGTFHJdVNbDetlRmrw0fbsMLPT_lAymPnhr9dLMWzm0KbgBaJtDhFtA9cMyMV2JcEO_8XZlZBbR0ShB9WLsL3xqNZxMxj7BE9orleCt5r-5kXP1D7bB56e9GCNjdfEl4P3TNi3UHJXQFXoRr7cxJ9B0k3uaeRIHgRENJLoOioVN14y4lGgQFje-qs6QNXP7Ip0oHRxHvBocXcqUvLOmIV2N4jaJCHJzuUDloTP7sQjg2VG2IGoZI_GZv-ajG-JbcM_KoCT2khjtjif4uyuLzRrbFNsvSdUQNwmBc7sZCAAVDdtXXncASx9IfSfPCVcRpYCzZU0tNlsbo7msXQJytqABH2oiyPbtWV5Yi0Z67Ccnzn13_KBnW0ItfltBK3pnbknuAtuzfcPRvQYzXgB1aVWszqZYYPlPGdE_XgBZBMdSigC2xT6-XORobxTD6agwQmGTpPxi8efDbHFQbYINeRyI1IY-pmas8EpgD4QTVwoP-LBKwAj0lDp4WtpnqvjZPPBI4M4o_kKf36c8tz23Sb-13p7bDsCfBGKqLX_zN96JPlTRbYpx7gXQ6iSbh3qdwGqsZe-Bt2y3A7l8jn_okIHYxUOo8CQJaF8lAmWMppha9Md4F62UJIjJSGHL0KdRroyG6U5ne1CHuaxCQ_5VCXTV7Nrv28T8AaRyssu2K-XjPUfD12mYKwJwP6LX8lUUmiNZaFKEeGu9LrvyzpbzW1HJGZyvUdgpX0m7qZrTaqmNNUsrH7IcOjUwubwFm5sl1Eu8YuqPP89S-6uYxiZo6mE184CRp_UKDWsVXWpfyHquEg4kGrwrEa4e1b5PY8aynst71xnnm4PzxaFZSWCJUbU7M-SC4YAfg1E4EZ7y_CtS57fQ9WvzgYcBiGE7hxBd9mcAASFUfFmuvbjpbkSjy9keyU3efgqkCO-C2FNfeVYb4qi93iVOPySKjWZ1bRNHcOLqLIhH9v2264dqHeNrK86UPPAFWZImkDwrN8TfqUUi_7YtikTtqWA6OIlHuU7fJtt2oZy690CCmy1qyGy7V_J2EqDe4cZmoQAfEmGUr0ChJIir9R-ED-0fOJDcT2FM=",
  "id": "rs_0be2927d6e244ace016ab45cec275087d09669b69e8cc3fa83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.15,\"right_pitch\":0,\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"The larger toy has settled in the right basket. I’m moving clear and approaching the small brown toy with the left arm; the utensils will go in the empty left basket.\"}",
  "call_id": "call_vDAJHtYSE88f9WzPuRSd11up",
  "id": "fc_0be2927d6e244ace016ab45cf5cb4c87d0a87acb7489d7d9a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vDAJHtYSE88f9WzPuRSd11up",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.5711, 0.7361, 0.0589, -0.421, -0.3904, 0.9988, 0.5369, 1.4815, 0.8898, 0.0704, 0.4129, 0.1444, 0.9969]\nstate[eef_state]: left_x=0.3752 left_y=-0.1425 left_z=0.0728 left_yaw=0.0034 left_pitch=-0.1302 left_roll=-0.007 left_gripper=0.9988 right_x=0.4078 right_y=0.1644 right_z=0.1728 right_yaw=0.106 right_pitch=0.0869 right_roll=-0.0604 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -7.5556, 8.253, 1.5849, -0.4322, -0.0269, -0.1441, 0.335, -7.3094, 5.2171, 1.033, 0.0952, 0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d36766f14972eac9bf477c119654df0a8ecdfa0ab6f89e70a7176129a79aa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ac769bb718ef7096426dc2240bbad6db44570abffcaa11d274a12fff16c31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9efad86b73b60d45e2a555e48cd1e76f0295a5203c2a4dbff2d2224b0c2bd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.813 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.947, 0.7956, -0.6151, -0.0231, -0.0685, 0.9982, 0.2092, 1.9915, 1.2198, 0.6209, 0.1776, -0.0757, 0.3841]\nstate[eef_state]: left_x=0.2949 left_y=-0.0007 left_z=0.1777 left_yaw=0.02 left_pitch=-0.203 left_roll=-0.0348 left_gripper=0.9982 right_x=0.5796 right_y=0.0949 right_z=0.1887 right_yaw=0.0816 right_pitch=0.4109 right_roll=-0.0954 right_gripper=0.3841\nstate[joint_eff]: [-0.1573, -2.3316, 7.1316, 1.5311, -0.0415, -0.0366, -0.0122, -2.4, -9.5248, 8.5402, 2.3126, 0.3394, -0.2955, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0303, 0.8181, 0.6769, -0.4847, -0.0265, -0.0685, 0.9982, 0.0349, 1.8275, 1.3388, 0.16, -0.0013, -0.1085, 0.9959]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1853 left_yaw=0.0201 left_pitch=-0.0623 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5648 right_y=0.0235 right_z=0.2259 right_yaw=0.0883 right_pitch=0.2307 right_roll=-0.0911 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.6752, 7.9111, 1.6777, -0.0659, -0.0659, -0.0122, -0.2803, -9.388, 6.8991, 2.3126, 0.0073, -0.0073, -0.2027]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.5711, 0.7361, 0.0589, -0.421, -0.3904, 0.9988, 0.5369, 1.4815, 0.8898, 0.0704, 0.4129, 0.1444, 0.9969]\nstate[eef_state]: left_x=0.3752 left_y=-0.1425 left_z=0.0728 left_yaw=0.0034 left_pitch=-0.1302 left_roll=-0.007 left_gripper=0.9988 right_x=0.4078 right_y=0.1644 right_z=0.1728 right_yaw=0.106 right_pitch=0.0869 right_roll=-0.0604 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -7.5556, 8.253, 1.5849, -0.4322, -0.0269, -0.1441, 0.335, -7.3094, 5.2171, 1.033, 0.0952, 0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d36766f14972eac9bf477c119654df0a8ecdfa0ab6f89e70a7176129a79aa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ac769bb718ef7096426dc2240bbad6db44570abffcaa11d274a12fff16c31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9efad86b73b60d45e2a555e48cd1e76f0295a5203c2a4dbff2d2224b0c2bd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0AnveFmLfakPlktH8-wKrDnWldnVI6D8y4-seIXO8EVRkeDPJKzxoHudzUhQA3Z6LuQ7vUeu-iLaIsu55-NV36l-FBwp4UqYkzrlJQghz-XgVs9C2wHxeDBAtEmTOKsVCQxw36UmoJrvPsbYSoVMXqDGafTfWWMDTQ1q0CxiWB22QmksN4Cc3_NgDmxuARFNra2Burfj8GoqE-IdhylfwFa_Fgvofx5wqBZwZEUVyn1U2OEIDYH3-oEjEFBtQ3MlCNHQXwHWwj3EfT3RSvjWAJoeyv95QGav_5XVhIy_1OfT5H9PKTJ3KecAMEpW8fJ04hPat4y8dB-OlBxqbmSxkIojt97hEYDqVtXt8ugYbJaepIWzTmBV9xe6zDPYyBoSnyOY1r_-SWCq3LDqquZs5ucSHIpmMtIrcCftL9p_KcATD9QLCN0X2nAg6kceXUjd-3ySe14neJP4p6Deev5LY8fBsMpSDywlHxS23aH998NnHt78gxFPk2QMc_HkRYlPA7ncUtNQCdyydcBjNqhkujwLJhBvWEmFmwuu03TlYH_aCWqorYb337ZCZmfoAf_nYxkSjfixzorB2uYjA_wQOjmlmHIgowQTPY_IxO8TI4sEM-bs1v5ODL-SD2K9Jy6E_ynkZTE1ITnbaz3dL1oQol5lJ-uF1Rh9QnL0Pr1gRbAHrAozF1JQft4lqFA8ogCSnUukvSn-5CkXNw7pZA929lm5ZSniPYU014aqvgmAw2wWOYdDXzaOIf47Bcz95jCqE6BNQbLjWZD5Z0G8E0Y3Fn5Q3VvuCQwGBEyIioTHKos7cuWmyqjw6KsTARMQHb3kffJShi-VPs0CxPihPNi4YfJ99xIa8sVJH7vewpxWYmKZwE1cNO54NoKKo-4EHVfwbX4YjnZxHUdcnD7Ly8NameaBBQQWelQho3E9GidHen2auAtCBgH_qslrL3G7_6E9WCnovRn47XqfTNBzDAxVqg8ZQUmjOJJQ5DCcY-Ls33F3zYnuD6bOTEbZ9zf4Fc3wgzbPYNT06WMnJgWgDCSNU4FujVoOSzBtP-jv6RiAEYJUNvT8XaHvEwOPMAmBWBG6kobPxD4aTmftb-JMCcUfyOUuwrC2FFFxUIB0MDuosbqp8yTdDv9n2tZccjqKXsoSjZP27_VceE3DTtY8tmckUmv3XQ7WEmJz412iTBM7sg1STm38i3fBPj8ojJZEzAUJPOBD_w3xVOTZKO1gOqyHE9FSrI5ipJK7KPvlCm3PGoQE1iQlT2CTF8Ssf2vXhaSqr9n-8YoRhBfGi-FhEHZwO65OA_ai43f7kLL_unhhrTmdegZPn06xQi_UP89U4zOaq2zuusJjnjgHL1MxnplLO_6bjUC6YKy0YBwW1iXLxlA8LMEr-6uf91DD6okvbLPHy0ig7mSDFxPVHsd520yEk8yHPCGPpaANtoieoASfRhD6cFhRKhwr3q2VDIYouv30v_oXB7qFB3W7fjLiDgPxbUKWTNzBzdlvjO59W7YLzvoncKLlR7_wGFqTn0j34Ax2xteNdhtkJnGcam3Vu2Sbx14Y5srzgS5FV25AY6qKG19COuHLWo5y7P96jqXn_giopJCgVz5Hdax-_onkF2y1ZaC8knV6CQ6u9yhHcBgOTHhL29DOkDJQz5_d7zIwmQG-_zBOs8zVJUm6tiw7xXoy6NG1Sc1C0FliIjlkyY4v9ut_2TgEjZKXHf3EJWDhgx-khi8dPlmAL9CsNPROedDYnQrXAaH4B3VmvjnTRGf9nixLhzbwJD-2qHb94hxMdgqs1eHby-NZiK7guka2xEbptKi_Y_zmuxHbXFCLGtZDq7hIDhIqydTi1nqSxe1UzU2YSW4HMPmhGedNttIPA9ZF6WYpwrP9nWwOjxnlAhfKEyPcBthPY2aKYkbbe4_uem2Ts-a67fpWd3Og_eH44xKFH0gnEs05fq1AdilWFsgqmkIiS5Bi63OJYmyPHT5HktCYnSr_IyIbtUj9e0A4Q5s89cOnCAc4Bc6BqL0ptCf09iJ5JhwphQhvbmi2PUurD1Tyk7HdXo_bOL94h0utVR_D1-1GfiJsr_dyChPhwhK2F7Wibe7MMJHZpB8svrUhghD4wvOeGd10bW2Kt9ebZjXarZMCzLBObS2MHycnYVcstNo3DEHuDhQSGdyLYhLuA9Y_SguwkMZRq1BywiFHsJOH1ZWDcn5JakW4WFAby4vJ4iGMmHR5engNm_Y14jkCKzYRZxNpZvNy-6Itfr4sGcPiK1HtgOq6cKbrjp6ux-SBrOiBQSq9JBpJL4LKW7VhBiFqFytah0Fqjl0VSx2-loJFba1QFLlY4Ct0bADPCdy12IpQRAvi6xebm9ooIhbXOV7z3I5DprEAQ9FDc1JI4OTEXK27QpCDl5tEm4GesU0fLO83bvPnM3aCzhkXWqlaiCGyGe6VbwKXedgvtTe0CYaSAVQDjcVR206LS3jj-q6tqZTtzOI5_UeMMwm5QXQnihST_oDGvXUAs2b3EMd5qO0iLAZKdgjNipIPurSguQOAsnlv2s0ftNSI3vG7s5MMK_dMFulqK9Zn_FAoHtBp90IbfFv5Eda999GxT8cPkvYE48T-jqN0McMed88_cKSuyiI5dH5J-Y4Ga5whleZvqBGb09Rt5MqDp0jfzbtZdnFinlADRl41-xkN4-F1w43PCDW4UTL6kPDDrX7Chs4lor6JNMEXa2tereVAouERhc8u92igaotDQw7jcGPwwtcxM68GpNbNsgdcIYn2NQWvrAxD7FwwtJo9Y9u32nLdYB00gwv75NiYUL3eCRnwPnmFXH-fSyjvWkWruXkTeKzDw46V8hzE2429mpHPZtYZHDihU3cywZnOLZ45954UR-9d8U8JgkKeYc8nwDxHVNPC__J1cTPg==",
  "id": "rs_0be2927d6e244ace016ab45cfa4b5487d0b63395f0a9a88e33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.15,\"left_z\":0.025,\"left_gripper\":0,\"right_x\":0.32,\"right_y\":0,\"right_z\":0.28,\"right_gripper\":1},\"note\":\"The small toy is directly beneath the left jaw center, so I’m lowering and closing around it. I’m also lifting the open right gripper away to check that the larger toy is fully released.\"}",
  "call_id": "call_qLmtJaOPpyeVUw6xifAcB5aA",
  "id": "fc_0be2927d6e244ace016ab45cfef43087d097e2257553f700b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qLmtJaOPpyeVUw6xifAcB5aA",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5621, 1.726, 0.6933, 0.2733, -0.4309, -0.4026, 0.0124, -0.0639, 0.9325, 0.918, -0.4789, -0.07, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3841 left_y=-0.1505 left_z=0.0346 left_yaw=0.0076 left_pitch=-0.1123 left_roll=-0.0197 left_gripper=0.0124 right_x=0.326 right_y=-0.0049 right_z=0.264 right_yaw=0.0536 right_pitch=0.0684 right_roll=-0.0617 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -5.9829, 4.3966, 1.3309, -0.188, -0.0171, 0.6032, -0.1983, -2.8103, 9.9624, 1.7851, -0.1392, -0.0562, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c7a4581e8193e52dd631a95b027cb8043cc66dcd26a775cf0209a55e717f20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6b26204cfc3c5d03dadca91e6f20b63a6826b159d1432022fcea0c0fa900b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a7b640b879d526b034a7d29c4ef304e506567f3549a262e191d8271bca452e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.094 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0307, 0.8135, 0.6888, -0.487, -0.0273, -0.0681, 0.9982, 0.0334, 1.808, 1.4647, 0.0517, 0.0036, -0.1028, 0.3849]\nstate[eef_state]: left_x=0.2914 left_y=-0.0005 left_z=0.1914 left_yaw=0.0201 left_pitch=-0.0482 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5691 right_y=0.0219 right_z=0.2719 right_yaw=0.0797 right_pitch=0.2679 right_roll=-0.089 right_gripper=0.3849\nstate[joint_eff]: [-0.5949, -1.7026, 6.8991, 2.0049, -0.1587, 0.0024, -0.0122, -0.6222, -13.9145, 10.2906, 2.0488, -0.0757, -0.0708, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.5711, 0.7361, 0.0589, -0.421, -0.3904, 0.9988, 0.5369, 1.4815, 0.8898, 0.0704, 0.4129, 0.1444, 0.9969]\nstate[eef_state]: left_x=0.3752 left_y=-0.1425 left_z=0.0728 left_yaw=0.0034 left_pitch=-0.1302 left_roll=-0.007 left_gripper=0.9988 right_x=0.4078 right_y=0.1644 right_z=0.1728 right_yaw=0.106 right_pitch=0.0869 right_roll=-0.0604 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -7.5556, 8.253, 1.5849, -0.4322, -0.0269, -0.1441, 0.335, -7.3094, 5.2171, 1.033, 0.0952, 0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5621, 1.726, 0.6933, 0.2733, -0.4309, -0.4026, 0.0124, -0.0639, 0.9325, 0.918, -0.4789, -0.07, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3841 left_y=-0.1505 left_z=0.0346 left_yaw=0.0076 left_pitch=-0.1123 left_roll=-0.0197 left_gripper=0.0124 right_x=0.326 right_y=-0.0049 right_z=0.264 right_yaw=0.0536 right_pitch=0.0684 right_roll=-0.0617 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -5.9829, 4.3966, 1.3309, -0.188, -0.0171, 0.6032, -0.1983, -2.8103, 9.9624, 1.7851, -0.1392, -0.0562, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c7a4581e8193e52dd631a95b027cb8043cc66dcd26a775cf0209a55e717f20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6b26204cfc3c5d03dadca91e6f20b63a6826b159d1432022fcea0c0fa900b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a7b640b879d526b034a7d29c4ef304e506567f3549a262e191d8271bca452e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0GhMwUSd-h824FQiQ7uzkVFHQUYumgtWqL1pMUPJnG0BEH0-v0cpk27u7iWBmKMcGahdgXRqA64b39O_H8P3CsOSuHAKjfE_3y6RPrm1XHrsQ5Uuan4GuAa8NjESP5uiHvOmas-7eNM3dVdKpVkDOyhLEmOi-wD6Z2IPdqmXZpVdsGT-_IFtFRkGGb6AAsLI3uFZXLBqP72aRjP8CC_rCrNHvsNcNqpiUied9GR7gq7VUKGD8n_RB7HXyLdTaYsLPglZBbP1SpYDN2mJ5AsERiH_i8TVXKxDmhDq6Epd9sfrIAQuC6YLTxnrDhS_IpETI8r-kzuEkxAVy51H5dni83tXdfRwNX6zluU9iCxTAt3C1wQVSbl-6p-2Fi7TW3e94eZcIOquuWktw9xE5zmx5zFZ79Jz3mKI1YSWY6L8zEZ9dhc-45l5lBxwn6_2-3bCCnZwc1Q2dlKo0becYW_qbag_ckEtCsIRJp8iUDJ4mSgmEbDjmDfCrrgW-uJbBDdhf4hT0NREoAbeppzlPWvpupUTNMWw9DQpBne0rKtN_x-59etWCYHlvmsoIvf3WT1qn1RkLOzpfOAtDIGZ12vv7uqqOT2LVzOA1okWIirmsjUnqBLWUtuzPhHuo141b60xVjb42-bwtlpV09sQFR1N1UJ2nko3eGId3lkFijTca_bxSwoowqk1pJne3n2rw1uBa8-CADCTzBVq6p7_OWy-5gbme5MrWMjtglMo3L37qnMHfjbatVfBeR_4i6s4bIBpqb9nbgQpgaqSR7ehdC7OfEQgsiNE8bhsfr6kR3Qh7c6_WAjqgAEAKiAmh-OxHaqzD9WG1FCPJ48y0PfM1AbHElKKQZWNfdmq8yYjSZ0KFyCfdcPQlRmqgy84GLNqFOY3w8dvSMa9V7_RC-VgJVxmGMnNUgNLkcYoLpk-EXXcejBWv95gDst2rGin7sOf9PcWt4AE_KQC9W7jOIuvTGhVACxs-RQNQy3iRIjPQ0D10W7OJ14FtuBpVyRw5hr58d85DyRXQ6sQsSWO26SqaQ0DQwqwgS-tyxR7SwhWmTi6fS4Y1c2Y-WjDLq3hDNxeipRzpMn39qn0uSYdUfidVTuZOMqJN5vJkgcExvpNqKjdo_Gdr8vOA7HI35SF_VgY2ZVtqGCWiing2F3wywi7_w6v2W7y7yr7ykwXpfK9HmHByUhgU32vswLZ8pmmH0WV2QVbR3pi-ckNCUpSJmDWKqzU2BiCtESP3W7KLfR0kzinzAkX1Pf_gl10anMUON4abQ08zLvAfDERW-regnSj0I-cp-A4zZ_ZVPAAeUTVVQ0Bie0rtDqIpi61YPse6cEnHFlPOUAbAup4azXivDj-RJ_JnZ69PIvHFOe4zn_7DmNCKeVSnlMwM2_kA7aSqX-NRFMU-R9cczMGwyyG4iKaaXLat3XTcIoGyYnBF_n-Xbvpbv1D9pkM2Z4JjmCxgW0vj4ssn9aiFz3tWJjxrZ7rAdMu1CmNF4EpbXbzw6ggrEunPyY9JY97kx0HP--nnsB_43yjnmLIyb-Zi5GmNY1dZJ3IEAL3isFuOk-wf961-L7gWE8KOBhteYRmU1mO6CdkEc5s6otRkyuimtsHIxhvqySvDDNFYVzN7MqjrnvRBdOcgxR1kWp32Foykn71s3oTVvMD2L3CJY2mzwtluuqtaNq3wtmo5CDqywzWka9sZlFDsxuhOrM2QNXZYLsxGV0A493hSCBE0St64j4DMHCDmsQ4oYDxJqEH2Zx2u4i7VrNRLNrfUpq6MNWB9Z50P-AZGW1kNjc8Wnubsj88IXgO1sZ_R9ZhPIH4c4DrNhfNK_oxGmX9eTWtG0bcojaM1HgdU81TSUcB-faXsToscpK_tZVytzjqX8nnU9PCUUC9KoTmAZe7wZZOCtmZCrYaoSVrD9oMl1mBYmQgFzeljtO9rXaxLrZSutQp09bJg7Rgzvwaqty64=",
  "id": "rs_0be2927d6e244ace016ab45d02e84c87d0af6e8654c54eec9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The larger toy is clearly inside the right basket. The left close was empty; I’m reopening and backing up slightly to expose the small toy and correct its position.\"}",
  "call_id": "call_oWeWt77Rjrf5Z6GTTooi1qHp",
  "id": "fc_0be2927d6e244ace016ab45d0555e887d0a73b2bac17ee54b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oWeWt77Rjrf5Z6GTTooi1qHp",
  "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]: [-0.6498, 1.5101, 0.6388, 0.0895, -0.477, -0.4679, 0.9956, -0.0658, 0.9386, 0.9154, -0.5034, -0.0792, -0.1349, 0.9985]\nstate[eef_state]: left_x=0.3449 left_y=-0.1557 left_z=0.0669 left_yaw=-0.0075 left_pitch=-0.1129 left_roll=-0.0314 left_gripper=0.9956 right_x=0.3238 right_y=-0.0037 right_z=0.2557 right_yaw=0.0661 right_pitch=0.0355 right_roll=-0.0644 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -7.5419, 4.9983, 1.4335, -0.4371, -0.0073, -0.1685, -0.2256, -2.3043, 7.1179, 2.0342, 0.0415, 0.105, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15463381f0ee0b1007497624cba7aafb34a94595f58a0a44aadcd45da1af39e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21619b0cf3414103d6d9c3295f1fa24d91da4bb8450c9f3af641eda702ce99f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786da6849638f5efd9afc73f184ef6f6230dfdc368cb8d23718728abc2144949",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.317 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0303, 0.8181, 0.6769, -0.4847, -0.0265, -0.0685, 0.9982, 0.0349, 1.8275, 1.3388, 0.16, -0.0013, -0.1085, 0.9959]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1853 left_yaw=0.0201 left_pitch=-0.0623 left_roll=-0.0395 left_gripper=0.9982 right_x=0.5648 right_y=0.0235 right_z=0.2259 right_yaw=0.0883 right_pitch=0.2307 right_roll=-0.0911 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.6752, 7.9111, 1.6777, -0.0659, -0.0659, -0.0122, -0.2803, -9.388, 6.8991, 2.3126, 0.0073, -0.0073, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5621, 1.726, 0.6933, 0.2733, -0.4309, -0.4026, 0.0124, -0.0639, 0.9325, 0.918, -0.4789, -0.07, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3841 left_y=-0.1505 left_z=0.0346 left_yaw=0.0076 left_pitch=-0.1123 left_roll=-0.0197 left_gripper=0.0124 right_x=0.326 right_y=-0.0049 right_z=0.264 right_yaw=0.0536 right_pitch=0.0684 right_roll=-0.0617 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -5.9829, 4.3966, 1.3309, -0.188, -0.0171, 0.6032, -0.1983, -2.8103, 9.9624, 1.7851, -0.1392, -0.0562, -0.1538]\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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6498, 1.5101, 0.6388, 0.0895, -0.477, -0.4679, 0.9956, -0.0658, 0.9386, 0.9154, -0.5034, -0.0792, -0.1349, 0.9985]\nstate[eef_state]: left_x=0.3449 left_y=-0.1557 left_z=0.0669 left_yaw=-0.0075 left_pitch=-0.1129 left_roll=-0.0314 left_gripper=0.9956 right_x=0.3238 right_y=-0.0037 right_z=0.2557 right_yaw=0.0661 right_pitch=0.0355 right_roll=-0.0644 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -7.5419, 4.9983, 1.4335, -0.4371, -0.0073, -0.1685, -0.2256, -2.3043, 7.1179, 2.0342, 0.0415, 0.105, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15463381f0ee0b1007497624cba7aafb34a94595f58a0a44aadcd45da1af39e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21619b0cf3414103d6d9c3295f1fa24d91da4bb8450c9f3af641eda702ce99f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786da6849638f5efd9afc73f184ef6f6230dfdc368cb8d23718728abc2144949",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0NbVyPVuYwU5LO-6imj5oJyaRI4J6gD-u9k-6ytIZmRWIdCReEImGST6SeOYWYiEftRZZ7eQyA7hZZCOISCMkdUrxXR1pgzDo4ym6EwJa-9OqmDw2fuN8iauXEzzjejpAiBe9TXViZy-0pO4EstB4wvym-bfUJtV6qWeySyfevTxsSVncfF_6-qtEw716FRAp94vzqIh3NRWgAfYg_N7zBzt9ETpIUvbNd98dS7M8mhU_EPcDd4BzhXBYDYzxzk2F4deiV7Z7ioF0tFfdcPXqH1nxZvoqGcd3J8g0KZHNzmL2ic3b-lbfAiY3jElKuE0fGXJqV4bJ0Y6GhL-0LZqVJSDom79tOH1BVpcrIvDjiyTOby7rj0CLyLOJjV5LRMjI3LKxnMFgEX9SHfQU_v7ecZEf87aVWvhHDD-NgdLqOBfrKMwGsLOarK0hWh_SVxn-v7z0zsAVBYAgM5pjPg9zgxBgEsyTL1NJQtJMPeWbzOeHpPpJDmz2b_LElKd_YEvU2xGJ5zXnVaVo6hLaKYGR4y_6eEy1vCedWWDvcOqpgWjbHIpUlMt7aAQTfTD0Wnx281GConLhAFhETjrsHqUDJ7y72EGYuCPsLXiib0Xj5p8XJJJ_RyxyceaZwB-RJq0uJpZvbmxJ4n35h8_Hienj6iPYRAO5FlfRWFCeOLsDfnRFUvUzuAd7GKSxKdQ8Genrx5NJiN6M7KUOYz8aFDhkkL2_dLJxs1Cf9ygcgP8-WKd9MuHmFLbPpSU6G1fjd6va-S2tqckTbEkZ1gOHyQDkq3qa3riPeUXYmhxaVe7MXh7xpaxGpMjAz6I2aYH80UdwAVKICpGRQlz2Fbn_lfkQZ-ONLZHs2tzuM_uXfkOtnzoPpVKMsfJEYIxZ-rgZQmsHF5uKZGGspa9zQ2z9C0yZHvGWMN-OS46VRZeX4DFWJ6q9aGkPUz2FnBr_Liqy_lRVBeESP8LTFWLZz7-axbZoLbJwkBXDowIFt6QSgmpCRy8GJYxJlZEKhp19f2aQ8CYuj7H_Qx4HFNtJ1Mw2qwkt5OY33WWsCWB4HI4_RYKmRo0uQDlEIXIbwfIBuaOdbPBwVDGdSFwke95kdOqpTsdA0fW9bRTbyDH-ang_HiKCQZ8EsPs9qMn3gI6AMVhM-LqC60gEiqEcxFIZepWWxu62ZZTBiRvWke9Cf--z4jVB00ED9svUHo0YgzdAvGRYKcxMYpkX_7V_5gdT1npEsNZIxwx-_xccjs0Rv25VcobF2q2KM2-MOreo02tcNVcKeqH8_Jzi_topySO9EP6O6Ss5G2w1d2HTER_pmb5LwLCxFggkts_Po1HpCCk5MFckile0cbKaEUCLErHgRK4vTuDCCqY0_ObOi_H_vufnmLlnkfaaU8U4WNZ-Xt6_J6jRBCll4xm_ccnhQXzFsYrFfw6GE7ri6y5sNk7UNYcdIjIlyQHV49btIl7yMv3c0toXB-nQgQru-auNPqz48zhX4a6AhIUnAleGYUS5ZXlZ79WJtHatzgYKoKDyp933JXYJl5hOUV3Ut1H_NJcMxSJ4YYnPKiq4b7ht6YxutO6X83uFnMSIlVo7fnABtsY3NiwTIFNdSayJsgC63G0w2R5b7lqNdrSK5DehC0csdT_vJIo6FrHshlkoAPe5RNb3uGSfoBzOluSfwytBNyMbl8afKMqMetPcyOf6kkwlzO7XW4afObgvidH1HQ0oVFJ0-WAKHjFqET6SoWf-2GZ0IWcX2ViCOGKUIbQXpc4lwVMws_K4DFgYO6HMqbxcS95luz14njGMQPLSM7UpMknIj92qhzX2st9NRD2lJzLrTDkT3bM6lg19CVhJKwQynGchbRfc7qeDHYKmGCuAJbT_zigfeN9qZ8BMNXllFf9FXkaJeIUugIRRk-dkhXGc11ZxLcCpPxdv5CzNuRCcfC8lGXUvlxXPncDhXZgfw4QoOMAOIYaSoxv3ZW-A2Mvsw6wg7lJKXHqJ_0Ar_j3-7-scAWqHC5Cz7jBz5ZPbbZDho0PYm8-ugt4iyIAfnpm0ReNFcqnGb4xIGxh1_dBFuv9og_CW_0owZhFKZe1Vq2suEpwg4XftjMDm_SCGQGBObiHET1e1rapHeimr0iqi4dTrrYvV3slsElnpMqWS14w87FQiYgVLeikuJ8XxYhjimhwPWe5u7UsTskovf0eJ2cAcjAHRdQ9lzVhfCAraFRqLSJ-hj4zETd474-o_HtSLPlPLrmojoTSCUOt5B9KETNMqSHn0dkpm4kix4gdTdZH457kDdWRnxO5xPB4lfq_kA9p9Rw32QPlE1Vs672RZp6ukntWcsbqBA-S16plCuQ1oJ8ui9ymrVcxWNNE7GtxkgRb0fmIJxp9tkADwM5vy2Y3KUoeTaMFq_mxjBWdFJZm5JZ9280clTTgA4002IYWr1DQ7GB9Wdm7_2xaWDhdP1OX3zlwtx0CBMpq_TxVPEj6az7cjh9b_Kmz3_lNbn9xZyy5Ara16A3Xj6QVyqVoSQN_0BjceG9ytkD2wyoqdX5FNGLzWZ2wPagCaqD2zopPXlKw-x0ra5zlMv_Bu_E3bna93CKjgQd_fRK67Xn1jqOiJ888iS3sUKQ11EAH_dyu5BaRZ5twEzOKyzUIN-YRxDFm1WLCXPSM59zg==",
  "id": "rs_0be2927d6e244ace016ab45d089cb487d0beaf9767650c367a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.15,\"left_z\":0.025},\"note\":\"The small toy’s face is now visible at the bottom of the wrist image, with its body closer to the base. I’m moving back over the body and lowering with the jaws open.\"}",
  "call_id": "call_3IlkhfulNgZLHyb7ftE72FVP",
  "id": "fc_0be2927d6e244ace016ab45d0c4e7487d0b4561803a379f9a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3IlkhfulNgZLHyb7ftE72FVP",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7303, 1.5173, 0.45, 0.2073, -0.514, -0.5171, 0.9967, -0.0658, 0.939, 0.915, -0.5041, -0.0799, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.3008 left_y=-0.1479 left_z=0.0204 left_yaw=-0.0267 left_pitch=-0.1573 left_roll=0.0011 left_gripper=0.9967 right_x=0.3237 right_y=-0.0036 right_z=0.2553 right_yaw=0.0672 right_pitch=0.0341 right_roll=-0.0645 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -4.5197, 5.9009, 1.9023, -0.2857, -0.0757, 0.1001, -0.2256, -1.9487, 7.0222, 1.8242, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637a1f5d343144aaaab38fd43b1bdffe3f23b4d284cb2bb142c96c1f4ffc508d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f507fb4b9edfbad2323db928822c794d9450d2a146e576666a4f17c567860c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7931973c1c601d57e91a5f16e4398476b30a54817cf5b2598807828867349d56",
      "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 · 5.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.5711, 0.7361, 0.0589, -0.421, -0.3904, 0.9988, 0.5369, 1.4815, 0.8898, 0.0704, 0.4129, 0.1444, 0.9969]\nstate[eef_state]: left_x=0.3752 left_y=-0.1425 left_z=0.0728 left_yaw=0.0034 left_pitch=-0.1302 left_roll=-0.007 left_gripper=0.9988 right_x=0.4078 right_y=0.1644 right_z=0.1728 right_yaw=0.106 right_pitch=0.0869 right_roll=-0.0604 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -7.5556, 8.253, 1.5849, -0.4322, -0.0269, -0.1441, 0.335, -7.3094, 5.2171, 1.033, 0.0952, 0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6498, 1.5101, 0.6388, 0.0895, -0.477, -0.4679, 0.9956, -0.0658, 0.9386, 0.9154, -0.5034, -0.0792, -0.1349, 0.9985]\nstate[eef_state]: left_x=0.3449 left_y=-0.1557 left_z=0.0669 left_yaw=-0.0075 left_pitch=-0.1129 left_roll=-0.0314 left_gripper=0.9956 right_x=0.3238 right_y=-0.0037 right_z=0.2557 right_yaw=0.0661 right_pitch=0.0355 right_roll=-0.0644 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -7.5419, 4.9983, 1.4335, -0.4371, -0.0073, -0.1685, -0.2256, -2.3043, 7.1179, 2.0342, 0.0415, 0.105, -0.0269]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7303, 1.5173, 0.45, 0.2073, -0.514, -0.5171, 0.9967, -0.0658, 0.939, 0.915, -0.5041, -0.0799, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.3008 left_y=-0.1479 left_z=0.0204 left_yaw=-0.0267 left_pitch=-0.1573 left_roll=0.0011 left_gripper=0.9967 right_x=0.3237 right_y=-0.0036 right_z=0.2553 right_yaw=0.0672 right_pitch=0.0341 right_roll=-0.0645 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -4.5197, 5.9009, 1.9023, -0.2857, -0.0757, 0.1001, -0.2256, -1.9487, 7.0222, 1.8242, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637a1f5d343144aaaab38fd43b1bdffe3f23b4d284cb2bb142c96c1f4ffc508d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f507fb4b9edfbad2323db928822c794d9450d2a146e576666a4f17c567860c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7931973c1c601d57e91a5f16e4398476b30a54817cf5b2598807828867349d56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0Qz5cHbVHfB9FvJItXioKQ20_2PDwNLA0DHnrlj_ffQyOdYegcH3QujXnxPS9Q5zFzZLnV-Dbl58ZccZJpP-USmHpUMbcBmLdxfvWng39RnTOIV0vGUz4RnKfjFECfAA33KG9eXzTvNxUWCeWIR8FxGxdBX4IxnSGCP-I4jrscI3QwekhZDv-Rj_mRCjPFTAIlM97X5QB58pW71oFxK_YBQQK9l7T9BPWDs7fVJxK1yKiEAOYBeavG3YzOaT2KYHBHNGjeg99KpvUyAVmF4zyjBfgHZ50eD-GCY1kt39j1hI9wQwRDOxQcvdIsGn8xzKMmCnyUbCSBtb-wIJhsBubJj5db64sRZIGbnhAFWxKPWwSNf2AfmyZ0uY_x2NrL_EHAfGEnGGz3Ls_2biF-AQIvNwZs1h-dQsJbu4qCS8gPNuOL-2EZuf9UHOyHH78pr-ZNYCOi9SS3vNbG90AAiv0jk-4cpG88GzaaTBjZPSM1Ff7Hp1wn_Izrv1GXF7b-YwuMk9O0-SAn7ll9kUJ60H6sJA7hLlHGu_KUA7FOafd9l_iUcW6nKkOtnJQG10pn1G2fIeatd10gtkUL5Bq6oq8BQRjOnv2rgqSUVMSdcU4jTu46vcbkoXWZi0lh_IxFb588rgBDtu7IadwXYhncqA3bS4QiGkM5MY3WJkDMjFEeAn3ngBJd75YiomSwEVPu7kruNbyAGJo4CVnGIJEOpSqzXx7m7GK4nubLi_fByMYrY2M0rfoqFG3yi98wRMhNi1mrptqvyQJLlCUF-gyyahuPVWiphkTlD51gb37f8ERdwXPqTWfv6JvjDHuKPWp7G3CZ3qWu8yf7K8ee14aa78Bz3ff2M3pGvoXGOju2ClzsfmrvU81MHwmQTlVvYwOebwLK6470zwR9UE8a8m0Xmjcr7WRB5RsY7Gh-RPJR3OBoZxrN2DBhSszJaA58xPYJKMQ-ganmgQATP-ySLQRM1nVtZSxRKodic11_xlEHDiBQL2qTC17XTXcrpf78zbX18Ddjen-qZmQ1_YLFS4cyFGk711L3RbbhsYYSGL_lzYgEd4MOXcDXYZnDaUSQzP2zNAb9pBkML7dGC0PntBorOJ1Ik7DbYTe02NGbX8joQ8shGojDRAfUvUUxB4G5APb-ex1teruSE5vvy9hyjewZpfrdjjPIuloXYhS4mQA10yrkX1zC7bwLVuJRczf8JIqYdeNo72rtGPWcM7-9RFqujeW15A==",
  "id": "rs_0be2927d6e244ace016ab45d0ef90487d0a1d106603ac4f399",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small plush’s torso is centered between the open fingers. I’ll close here and check the grasp.\"}",
  "call_id": "call_Y3eIAwGUAx1J0lKz9SZho9FK",
  "id": "fc_0be2927d6e244ace016ab45d0f537087d0b3726668deacf045",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y3eIAwGUAx1J0lKz9SZho9FK",
  "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]: [-0.7364, 1.5261, 0.4332, 0.2642, -0.5327, -0.5396, 0.2078, -0.0658, 0.9409, 0.915, -0.5045, -0.0803, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.303 left_y=-0.1488 left_z=0.0221 left_yaw=-0.0097 left_pitch=-0.1245 left_roll=-0.0263 left_gripper=0.2078 right_x=0.3239 right_y=-0.0036 right_z=0.2546 right_yaw=0.0675 right_pitch=0.0318 right_roll=-0.064 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -5.3265, 5.4085, 1.4725, -0.3248, -0.0122, 0.9353, -0.3214, -2.1812, 6.9128, 1.7753, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a79b52a2a11d5341d22892764865633ead3e3e1a1dfda5536b4fdb6643c71c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513497d43f0f5ea8da14fbd8cd1def89cf9860878d88691c9e64f594f3d7efa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376d19aa6091d3a184eab018a07ddb0b81dae34945d4bccbe9d6a277e1a3d53b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5621, 1.726, 0.6933, 0.2733, -0.4309, -0.4026, 0.0124, -0.0639, 0.9325, 0.918, -0.4789, -0.07, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3841 left_y=-0.1505 left_z=0.0346 left_yaw=0.0076 left_pitch=-0.1123 left_roll=-0.0197 left_gripper=0.0124 right_x=0.326 right_y=-0.0049 right_z=0.264 right_yaw=0.0536 right_pitch=0.0684 right_roll=-0.0617 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -5.9829, 4.3966, 1.3309, -0.188, -0.0171, 0.6032, -0.1983, -2.8103, 9.9624, 1.7851, -0.1392, -0.0562, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7303, 1.5173, 0.45, 0.2073, -0.514, -0.5171, 0.9967, -0.0658, 0.939, 0.915, -0.5041, -0.0799, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.3008 left_y=-0.1479 left_z=0.0204 left_yaw=-0.0267 left_pitch=-0.1573 left_roll=0.0011 left_gripper=0.9967 right_x=0.3237 right_y=-0.0036 right_z=0.2553 right_yaw=0.0672 right_pitch=0.0341 right_roll=-0.0645 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -4.5197, 5.9009, 1.9023, -0.2857, -0.0757, 0.1001, -0.2256, -1.9487, 7.0222, 1.8242, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.5261, 0.4332, 0.2642, -0.5327, -0.5396, 0.2078, -0.0658, 0.9409, 0.915, -0.5045, -0.0803, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.303 left_y=-0.1488 left_z=0.0221 left_yaw=-0.0097 left_pitch=-0.1245 left_roll=-0.0263 left_gripper=0.2078 right_x=0.3239 right_y=-0.0036 right_z=0.2546 right_yaw=0.0675 right_pitch=0.0318 right_roll=-0.064 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -5.3265, 5.4085, 1.4725, -0.3248, -0.0122, 0.9353, -0.3214, -2.1812, 6.9128, 1.7753, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a79b52a2a11d5341d22892764865633ead3e3e1a1dfda5536b4fdb6643c71c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513497d43f0f5ea8da14fbd8cd1def89cf9860878d88691c9e64f594f3d7efa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376d19aa6091d3a184eab018a07ddb0b81dae34945d4bccbe9d6a277e1a3d53b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0be2927d6e244ace016ab45d12365487d081e31e112a8917bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The fingers are holding a roughly two-centimeter-thick part of the plush. I’m lifting to verify that the toy moves with the left gripper.\"}",
  "call_id": "call_aql4d5RkOri8bQNJCqSqzsRS",
  "id": "fc_0be2927d6e244ace016ab45d15a6ec87d09ed66e1b3087afa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aql4d5RkOri8bQNJCqSqzsRS",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.2816, 0.6147, -0.1379, -0.5243, -0.54, 0.2098, -0.0658, 0.9424, 0.9142, -0.5045, -0.0822, -0.136, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1528 left_z=0.1001 left_yaw=-0.0176 left_pitch=-0.1105 left_roll=-0.0472 left_gripper=0.2098 right_x=0.3241 right_y=-0.0032 right_z=0.2538 right_yaw=0.0693 right_pitch=0.0297 right_roll=-0.0631 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -5.4222, 8.5265, 1.453, -0.315, -0.022, 0.7497, -0.2256, -2.0444, 6.9538, 1.8144, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0e6914b33ab92192a6637f1d7b530e268962ee548d436fcafc5f6ffba862d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca813cd4c53cb6c2dbdce1b011754d53c8024bb20cd092db14bdede0ea8b15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718fbe8e540c77773b21ba99aa99a47ee0f7f0d936bac2e17c25c952908577ae",
      "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 · 4.266 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6498, 1.5101, 0.6388, 0.0895, -0.477, -0.4679, 0.9956, -0.0658, 0.9386, 0.9154, -0.5034, -0.0792, -0.1349, 0.9985]\nstate[eef_state]: left_x=0.3449 left_y=-0.1557 left_z=0.0669 left_yaw=-0.0075 left_pitch=-0.1129 left_roll=-0.0314 left_gripper=0.9956 right_x=0.3238 right_y=-0.0037 right_z=0.2557 right_yaw=0.0661 right_pitch=0.0355 right_roll=-0.0644 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -7.5419, 4.9983, 1.4335, -0.4371, -0.0073, -0.1685, -0.2256, -2.3043, 7.1179, 2.0342, 0.0415, 0.105, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.5261, 0.4332, 0.2642, -0.5327, -0.5396, 0.2078, -0.0658, 0.9409, 0.915, -0.5045, -0.0803, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.303 left_y=-0.1488 left_z=0.0221 left_yaw=-0.0097 left_pitch=-0.1245 left_roll=-0.0263 left_gripper=0.2078 right_x=0.3239 right_y=-0.0036 right_z=0.2546 right_yaw=0.0675 right_pitch=0.0318 right_roll=-0.064 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -5.3265, 5.4085, 1.4725, -0.3248, -0.0122, 0.9353, -0.3214, -2.1812, 6.9128, 1.7753, -0.0415, -0.0269, -0.0122]",
      "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]: [-0.7364, 1.2816, 0.6147, -0.1379, -0.5243, -0.54, 0.2098, -0.0658, 0.9424, 0.9142, -0.5045, -0.0822, -0.136, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1528 left_z=0.1001 left_yaw=-0.0176 left_pitch=-0.1105 left_roll=-0.0472 left_gripper=0.2098 right_x=0.3241 right_y=-0.0032 right_z=0.2538 right_yaw=0.0693 right_pitch=0.0297 right_roll=-0.0631 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -5.4222, 8.5265, 1.453, -0.315, -0.022, 0.7497, -0.2256, -2.0444, 6.9538, 1.8144, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0e6914b33ab92192a6637f1d7b530e268962ee548d436fcafc5f6ffba862d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca813cd4c53cb6c2dbdce1b011754d53c8024bb20cd092db14bdede0ea8b15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718fbe8e540c77773b21ba99aa99a47ee0f7f0d936bac2e17c25c952908577ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0cQIABbe7tEWcsuQwnZW82af04jsXLTCyAQCRAoXlw8h9f6gZrffC48K9tx47VcWcgSBBhXfiSW6K7ZIuYUH90-rUbQwl-LDB2yeQXejDnOuUo_TXTTMG7PkZYf9zTkV_MIFcxjNSeKR4uVRYZk1_vp9FnhUcIXCWHFkvnBBDAzkiMfECj_CQsLL9cMlAVQSJs3ybMQBoxm8hezS2ATbmSVEJJKkwYTcnsFvWIpKQhNLQLLj3TItcI19zCR6H0IneqS_sp1pgFOpJT1jvSi1pE1g0r5vQDSXhmqLpZmClajZM02tDe6Rr7iYS4JF4l7-ZEkBczsTtp6-ngW8LWOUJRiMq4DSu3D7URxpIRpX8IHpdBiuVEtHli3zfYeQfxFKQonI-imwJ69xavL1dPasD9AygU401I47OEw4CkgQrR_4lq9-i-hvJPvgN95t_3du27u8pRIjulrjy82iyqd3sirk_IHaL1f5UzOxfAq3RXivtmsWwQ-vbdGmjv9TL_n7D4JiJVFYrapmFkz9yV4qmjqsF3Pe1JCYlFfBnqFA7ik4IP7YDpHG-9cd3v6tSbW2DANKoXXC0HPvwDs5QsUXjcsHYchGaaPqqFUz8qXzDNdmQf2_HvveTa0BMuOrrO0jz7MPDOGEupuEFx1LdhZwPxKhW1ZgtXiZcDkbNZ2R7IKijquRorVMdc5NQQ_r7cGeJYl12s7nNnWw2DQafM_sEs7xxWY3MroMb85dKz721kcohXJyAPO_z84rEUrWqS3g0lKf2Iq7SYFOyZ_ecEljFT8fo6hk3bfjV4uknxRLBpuIduTv-dSo6NSCWYysboTI0DxfCrgTZ9FYUyLzz6KQAlGGC7rRLYWnaExKqN88Bd6t9GxDmvhNwA2EpNZrkn2z3BVEtCYpmOHzaPjup3e8i3Fc4HxnP6wn-vzd9k0CwvXNxq1TqUgNtxpDVRUB5WqdqXN95I0UyoQ7phJNpdyfUpu6iXdRRJbkDa6PBSPtJXKm8gxuOtqR3aveOUOIF8r0YbcecjjnCrbWLqnhHaVnGBhJWMaW_45kQjt17H8nKZRaAFw2gyuHiOjkH9ulVEQH2cTN1f_uN_mtZqbVGt3270wt8NoOqWbhF1xZEuGFlhaw2Plwl6GK66FGcnmx72ECcsZiKAcGti0WVJIkFD0TeIsDtW6Thwy9oUThdimPDYV88Gi5sfbCJfMWqbaDT3G_ac5daoR4DhSUJfLZwt55DFFVydnk381ljXqnEbacmgQembE6fvVqVM55GQp6iflWkgGQhHyvTxf0H32OEThXyvRcPHSXRLXX2t1sAUMs5IlOsTO8J1gt2QOkifSsz0uBlBKfgfOu3sDuuaKoNx0EKSl2dEZAvMX33AQvCDh227a18WsgCjcY3LNd97FPJF3MJSDQ9ptwCFC98Jguz5cZ5o0lZ4lMW9hRyvEbh_nfsuI9O4TLwpJuPlN9NldOu3wdyHbT-iJ9d0uOteK3ULObu14bhcrTlaUI8PKkbVbCgIDatFGk59z3w061Sj_aoQ4AaTmcbcCdOC4Ek6n2WCbTv6S60valk4fye8X8yzEfh9BKVWQiA7TGHMjBVCbBVByg_5MAQls_ExoGJRGeBUCoB5Fmf0lTzFxZc6Gn_tVMfCWi2B6K7PhRT-NqSikcvEiOcunwvERgq9XMRjpRY-Kfs1MTi1TJbwOAKHzs963SeNc7FDUysL79xE2tEUgsqgcZIBJOtAoO_we_fsHi8udCQbLzU-6p_nPrSCzCqm1bbInLt2XTbKy-DeAVp9z6OkmHj7ZF7iI5Xh9TC1NTbm7pm27Sc1h8k6mTxJ2mzcQkkqbEES3KbyxSm9_vso3mLHlcZj6rTPryZd_dsEHDh-f4P7l08ZXBURLGioaJvgpqnHxtdo7fPfesQasoFl_AS1biEbeLXnNs1rqsXxNidWMWjUkXAQqi8wTs7-GEy3fMA93v1hGs8xasQBMVlEpGpfy4WaUWl9b_7JmTozEKemO85G5KQwGUm6glNmIp0ikocR-rs=",
  "id": "rs_0be2927d6e244ace016ab45d18751887d0b698296c17e0ee27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.39,\"left_z\":0.27,\"left_pitch\":0.25,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The small plush lifted successfully. I’m carrying it toward the near-left side of the toy basket while keeping the right arm parked out of the way.\"}",
  "call_id": "call_LnuKCbXcjgA5bwMB8jLJmHTD",
  "id": "fc_0be2927d6e244ace016ab45d1af5e087d0b8e7e5cb366f67be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LnuKCbXcjgA5bwMB8jLJmHTD",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.8463, 2.3196, 2.2383, -0.3714, -0.7528, -0.4065, 0.2124, -0.0582, 0.8322, 0.688, -0.4438, -0.0792, -0.1387, 0.9985]\nstate[eef_state]: left_x=0.5093 left_y=-0.3878 left_z=0.2585 left_yaw=-0.0024 left_pitch=0.2374 left_roll=-0.0802 left_gripper=0.2124 right_x=0.2988 right_y=0.0002 right_z=0.195 right_yaw=0.0757 right_pitch=-0.0255 right_roll=-0.0595 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 8.1436, 1.3114, -0.3492, 0.3248, 0.735, 0.335, -1.853, 7.1316, 1.8877, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4052ae52d6a336766e5b1b5a9c1c9274a4d05cd732f9b471865fe3b976bfa84d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005028026f6aed6b9d55c9a04a7c4f76ac35d021aad4cb958b374595c06b6466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa599b44357c7dc0fe653eebeab55fa67d31684a07cd59da45ccfc4d1eaa174",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.79 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7303, 1.5173, 0.45, 0.2073, -0.514, -0.5171, 0.9967, -0.0658, 0.939, 0.915, -0.5041, -0.0799, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.3008 left_y=-0.1479 left_z=0.0204 left_yaw=-0.0267 left_pitch=-0.1573 left_roll=0.0011 left_gripper=0.9967 right_x=0.3237 right_y=-0.0036 right_z=0.2553 right_yaw=0.0672 right_pitch=0.0341 right_roll=-0.0645 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -4.5197, 5.9009, 1.9023, -0.2857, -0.0757, 0.1001, -0.2256, -1.9487, 7.0222, 1.8242, -0.0366, -0.0317, -0.0122]",
      "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]: [-0.7364, 1.2816, 0.6147, -0.1379, -0.5243, -0.54, 0.2098, -0.0658, 0.9424, 0.9142, -0.5045, -0.0822, -0.136, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1528 left_z=0.1001 left_yaw=-0.0176 left_pitch=-0.1105 left_roll=-0.0472 left_gripper=0.2098 right_x=0.3241 right_y=-0.0032 right_z=0.2538 right_yaw=0.0693 right_pitch=0.0297 right_roll=-0.0631 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -5.4222, 8.5265, 1.453, -0.315, -0.022, 0.7497, -0.2256, -2.0444, 6.9538, 1.8144, -0.0269, -0.0611, -0.0171]\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 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]: [-0.8463, 2.3196, 2.2383, -0.3714, -0.7528, -0.4065, 0.2124, -0.0582, 0.8322, 0.688, -0.4438, -0.0792, -0.1387, 0.9985]\nstate[eef_state]: left_x=0.5093 left_y=-0.3878 left_z=0.2585 left_yaw=-0.0024 left_pitch=0.2374 left_roll=-0.0802 left_gripper=0.2124 right_x=0.2988 right_y=0.0002 right_z=0.195 right_yaw=0.0757 right_pitch=-0.0255 right_roll=-0.0595 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 8.1436, 1.3114, -0.3492, 0.3248, 0.735, 0.335, -1.853, 7.1316, 1.8877, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4052ae52d6a336766e5b1b5a9c1c9274a4d05cd732f9b471865fe3b976bfa84d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005028026f6aed6b9d55c9a04a7c4f76ac35d021aad4cb958b374595c06b6466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa599b44357c7dc0fe653eebeab55fa67d31684a07cd59da45ccfc4d1eaa174",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0i6wzMVkYAeFuE3WHRojbo9KI15eOjlt8HSVM-_NdA3ucnqsP-pCL3NHKKGpp4CkL6oPeysB3XbR8E7hqVK63SwbeDmZlbYMzPF971w68JY61lq-TEREq6YotlKHPV2-GPh65Iq5p69NdqEPDdiT4TW-gftqtjDDjBqsm1O6Q9Rwkszm1yUIqdeJK-nmodtMki6CffrmrNiq73Y6c4v-sexwLHYbHkwLaJTqUbmBYZYnLcimrrx9ZiOP-PY-kzKmoFqwnA7PKd4u0AOf23uWfxwCexC8VFzWSvRs2teZ2M2lmOlCwPncy6BjpSf0zspTySrZ38mQ03S3uGbYh9AnkWiQoo-SEZilQvG4zDEnUS_5ICMfLmoMoOrue6ZybusyoOcKMuGJyr6BT9BmLNQQ5hfwhvhUjkuK5ntoTK9Tn8Et_Sj46T7_NfmexZxTgnNqJ6KbBbgmGx-Wvgu8gL9mFpeiJ7IkY8WJP7taItRO9JprYCpnRlblLyZ2Ik8-peOQontAnI-b8Q3a_HiANvNzJlJqCrecR8ghJqvvJxohvC56fOnk7HJNmtv05qZrE2m80IsmBpcn71ASlVcRo5UqRaTh196RQN2JXAI2eSZNi9zN-RZDYhGOfUoa6uxBtDfW2TrnjUk0B8j_M6UvUqUufZ5O-RsjaWAcwr1pEa2lgXcvOkoo-dZEY4MEho3U8cdZnIN5UbTN2KSU20OrkvRgWuMRHPg6MgPPNBiMcQ_ikN1dcuQzbdIyMf_m7MB_N5d-aQbf9iyjWxjQYIo7ljMZmAYUliZ9dffrLegGAK4cU580GskEm_205qcCc6IX0J36_oDcFexL4ZNMl1qbf9zwsiVM-nxiGWcA_mSAWf99LMPEyAtaxw31eNBmez12ZxdGg-wvrLXT97WsDZEhAWfEPObDTM3doj7BFKeFd2LFrdmX3HmZo6tFocuRBzMWYRFIQ1HdfIew9ebSUJ9eYCrQODzlSk3Ks9-1Xe4sD2_wVel_oqlvTL7OEkmaVc1gxAARnJGOmQuqBvt89xBoQjNX7ITPwNw0hXG8sLrTrqWq8ZNrY_zSBzRBXOxp4MokARhwoyZ-YA2UfvN7ULTT6XvsAfSusNMCmAfknVWVAXe3uhMxz3MdGRK_EcwSKmPIaQ28MAWPx2oSST0Wbz1jELHUtlss0eV3wL1bh-opaWKtS6k7iS5GgISfC7RXekODO_6Ay77feBdNEo0j5Z5kRQxTAafDY3Jd4miekqmkXFOORZOTqNbanMowpOJoGXMbmN-8Ghz0BYoYnPUsmP_CfFE9eAfkD4qtb3swPYtv1cQzQEw7OM0xackNVkC67eRxqHFvg4LGzcEDSQnQLeCgdR5vmLG-wtarPMdewbi4BMQuDO0Z0rsn1KL9m-LTvYjgf-xAEChGFbbLzZwr2Fs5l6IrGj_LMLWaPPoilQtd1_QDIds4fo2M3ce7Mcfppjkb8h_NVep4MS4VNBME1aa0Kqz_4epHEYjQmaWAYjc-ebIum4TwIU4a0uNgE3h7amaQSzP_VkR3Fvi-D8DCHOCT_bLuOT8CI-9NUAOTn4yZVQhCNCKa9dqV_3CjVTvf-cn0fCK0RI",
  "id": "rs_0be2927d6e244ace016ab45d1fb46887d0bb7dca842b270d48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.4,\"left_z\":0.17,\"left_pitch\":0.3},\"note\":\"The small toy is over the basket’s left side beside the larger plush. I’m lowering it toward the opening, staying within the left arm’s cross-table limit.\"}",
  "call_id": "call_q18bCxGUF133G7NGfBMxqiaP",
  "id": "fc_0be2927d6e244ace016ab45d2184a487d0a0be0d43c6385735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q18bCxGUF133G7NGfBMxqiaP",
  "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]: [-0.8192, 2.4336, 2.0789, -0.0475, -0.7555, -0.3645, 0.2138, -0.0589, 0.8322, 0.6804, -0.4446, -0.0799, -0.139, 0.9985]\nstate[eef_state]: left_x=0.5378 left_y=-0.3928 left_z=0.1773 left_yaw=0.0136 left_pitch=0.2734 left_roll=-0.0768 left_gripper=0.2138 right_x=0.2978 right_y=0.0001 right_z=0.1914 right_yaw=0.0759 right_pitch=-0.0337 right_roll=-0.0583 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.9846, 5.8598, 1.6679, -0.1197, 0.2222, 0.7204, -0.0615, -1.388, 7.7197, 1.7558, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f855f5f20f2d4e49562c90fea5d9f936e19e38c3b7f500ac455bce5111102c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3836e331793d0d2e11a5192c99464e1a9134740fc21b8c6e144b96d9d4b53f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81deaba19e3d1b11ee70d4b38a2d337790b59dc52aa0a88eaf09a2e4af083a16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.525 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.5261, 0.4332, 0.2642, -0.5327, -0.5396, 0.2078, -0.0658, 0.9409, 0.915, -0.5045, -0.0803, -0.1356, 0.9985]\nstate[eef_state]: left_x=0.303 left_y=-0.1488 left_z=0.0221 left_yaw=-0.0097 left_pitch=-0.1245 left_roll=-0.0263 left_gripper=0.2078 right_x=0.3239 right_y=-0.0036 right_z=0.2546 right_yaw=0.0675 right_pitch=0.0318 right_roll=-0.064 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -5.3265, 5.4085, 1.4725, -0.3248, -0.0122, 0.9353, -0.3214, -2.1812, 6.9128, 1.7753, -0.0415, -0.0269, -0.0122]",
      "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]: [-0.8463, 2.3196, 2.2383, -0.3714, -0.7528, -0.4065, 0.2124, -0.0582, 0.8322, 0.688, -0.4438, -0.0792, -0.1387, 0.9985]\nstate[eef_state]: left_x=0.5093 left_y=-0.3878 left_z=0.2585 left_yaw=-0.0024 left_pitch=0.2374 left_roll=-0.0802 left_gripper=0.2124 right_x=0.2988 right_y=0.0002 right_z=0.195 right_yaw=0.0757 right_pitch=-0.0255 right_roll=-0.0595 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 8.1436, 1.3114, -0.3492, 0.3248, 0.735, 0.335, -1.853, 7.1316, 1.8877, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.4336, 2.0789, -0.0475, -0.7555, -0.3645, 0.2138, -0.0589, 0.8322, 0.6804, -0.4446, -0.0799, -0.139, 0.9985]\nstate[eef_state]: left_x=0.5378 left_y=-0.3928 left_z=0.1773 left_yaw=0.0136 left_pitch=0.2734 left_roll=-0.0768 left_gripper=0.2138 right_x=0.2978 right_y=0.0001 right_z=0.1914 right_yaw=0.0759 right_pitch=-0.0337 right_roll=-0.0583 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.9846, 5.8598, 1.6679, -0.1197, 0.2222, 0.7204, -0.0615, -1.388, 7.7197, 1.7558, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f855f5f20f2d4e49562c90fea5d9f936e19e38c3b7f500ac455bce5111102c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3836e331793d0d2e11a5192c99464e1a9134740fc21b8c6e144b96d9d4b53f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81deaba19e3d1b11ee70d4b38a2d337790b59dc52aa0a88eaf09a2e4af083a16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0leHRrmWeCmA80ZGXGe-gW42dj36lE8xhNLeOG-_CCtp01YnhmgM-ikRFOUJCvKoIT9tsBJpHNKTFQglGDW8DSm8HL-bSxUtK95D-pdzwbiFCjhkFyNlwJ1JMj-dZnLkd9gumbtSYm8pKH_9uNn3a2gqKjZGdmHrjEwg7MoaeKEbhbz2UEajqoO2tEFt-3WqsDjfW8h7-mpVuTWRuFPTGdGeo9jFHgrBltH3uHQD47QKDCp4vM7whQdZqG8xzWZeXjPJNg64C5EIUzIiNVuUlcsb-06aUBfnwKoTqQuE7hEeF0qxC7-fMp5nwMpTPFgKalt4w5KJ8TQxzWjcIl6YbXNssUG8PeYmw-HE7tk7pVChBF_IoR53wRKcWTwMwkx1AoDaoKo-46zkuCYV2b6rFw5QZJzlfD5s0Hls8uA9wJMfWygaJuU-5m2VoaJ5zowpoco_Di3YLHYrYCB0wXMn4pj_J1XG1luyAF0mw4nveUAhHbDmfd5i9KGatD5cupJwsjc-c_Qlaj8Smt6JPSX4OPFjVnw1kYTDRnRvl2vDnizibRkTVkVMAQa7ZnmC4sUfCClAc9r4ApDeLwhiCoWQvzDs5vXk_YQof058F09dFBV_34ORCKI686Egh1x1_XRyjb40KNjWQdzTAQeNM4BSU8_yFpQViN9pTegzt4nmwmY2uwEJ5cA-6Xq20Qj7sMoy__yqv5Fnz4-NnCNeDISDxUQfKjU5V8VFg88njC_PwRRDnR79W5TwhK8D5kCfhBngGOVTZMu41g6xcz4N6_wj0Xo6pf_1H-3v53648CeAcPsmrIihemu-N2IXPA3EnSFBvsE8iT4CaZGItulBLDV-bVHAxpBrnGFJD7-1fETTSpTXgWZal1hs8lE7n7ovIPvP9ncZ9yEr6hlTkW0w7MXN8Jn5a_yr2ZvmtIlOKG07xi2nQNI1e_eWvX9Ga2Wu643-rIRYU28yhy4itqfX2lqbbINZxi5Nz0TsEKCwB51z13uPNZqbSp0c7j1xfqTU3BX9rzKnGBwoD7knav0HO_5QoHvdNSvm0WeE09knMIv6346fabSG7lezOltHWh949Z6l7PwxHO0HcGVk55dQqnvMwrazs2mhLNBkKe9xUikZpt0HxwubMvxQtiBV1mUMTxL09VdK_b6BXZ6a-1O0bCR9QR6yFuiTTUOl5kR9PxgviEJ6lk21K8V8TLlWhE3oS5G_FNfcPu_4XzGncju9_ugdVSXDEGCbXaMfjpoy1_woNIZu-Y8PwiKWZRUPHej4JtX6gTDdO8ciOIAVr7qcS0mnPUTaNUaeG-pYJAuxFi6pRwUyObobbW9DE3oEbsTYphTM0OZ9DfvGYoXfKtpIqG7wgADw==",
  "id": "rs_0be2927d6e244ace016ab45d24928c87d09c2cd9dfe56bc3f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The small toy is supported at the basket opening. I’m opening the left gripper so it can settle with the other plush.\"}",
  "call_id": "call_l1CLnfw1l4MbxgaHGWAUD2si",
  "id": "fc_0be2927d6e244ace016ab45d2553b087d091ec0cd657e4b1c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1CLnfw1l4MbxgaHGWAUD2si",
  "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]: [-0.8173, 2.4477, 2.0716, -0.0254, -0.7601, -0.3779, 0.9951, -0.0589, 0.8322, 0.6796, -0.4446, -0.0799, -0.1394, 0.9985]\nstate[eef_state]: left_x=0.5398 left_y=-0.3923 left_z=0.1694 left_yaw=0.0269 left_pitch=0.2748 left_roll=-0.0894 left_gripper=0.9951 right_x=0.2978 right_y=0.0002 right_z=0.191 right_yaw=0.0761 right_pitch=-0.0345 right_roll=-0.0585 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -15.788, 7.6103, 1.4676, -0.1636, 0.1392, -0.0513, -0.1983, -1.4154, 7.0906, 1.707, -0.0806, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd530c9ce262db5172d5be51bff372009753fc0dbbb0aff7d5a6926da5e2176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f1533c2eee72d92d6f6d78dfd34fc8e8ee6752c2fb5dfad92c8788e9478f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152c005f98bde9b90bc3704774f2f739f7a3cfdafe82470cea98fad401e691e1",
      "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 · 8.228 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]: [-0.7364, 1.2816, 0.6147, -0.1379, -0.5243, -0.54, 0.2098, -0.0658, 0.9424, 0.9142, -0.5045, -0.0822, -0.136, 0.9985]\nstate[eef_state]: left_x=0.3056 left_y=-0.1528 left_z=0.1001 left_yaw=-0.0176 left_pitch=-0.1105 left_roll=-0.0472 left_gripper=0.2098 right_x=0.3241 right_y=-0.0032 right_z=0.2538 right_yaw=0.0693 right_pitch=0.0297 right_roll=-0.0631 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -5.4222, 8.5265, 1.453, -0.315, -0.022, 0.7497, -0.2256, -2.0444, 6.9538, 1.8144, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8192, 2.4336, 2.0789, -0.0475, -0.7555, -0.3645, 0.2138, -0.0589, 0.8322, 0.6804, -0.4446, -0.0799, -0.139, 0.9985]\nstate[eef_state]: left_x=0.5378 left_y=-0.3928 left_z=0.1773 left_yaw=0.0136 left_pitch=0.2734 left_roll=-0.0768 left_gripper=0.2138 right_x=0.2978 right_y=0.0001 right_z=0.1914 right_yaw=0.0759 right_pitch=-0.0337 right_roll=-0.0583 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.9846, 5.8598, 1.6679, -0.1197, 0.2222, 0.7204, -0.0615, -1.388, 7.7197, 1.7558, -0.0757, -0.0317, -0.0171]",
      "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]: [-0.8173, 2.4477, 2.0716, -0.0254, -0.7601, -0.3779, 0.9951, -0.0589, 0.8322, 0.6796, -0.4446, -0.0799, -0.1394, 0.9985]\nstate[eef_state]: left_x=0.5398 left_y=-0.3923 left_z=0.1694 left_yaw=0.0269 left_pitch=0.2748 left_roll=-0.0894 left_gripper=0.9951 right_x=0.2978 right_y=0.0002 right_z=0.191 right_yaw=0.0761 right_pitch=-0.0345 right_roll=-0.0585 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -15.788, 7.6103, 1.4676, -0.1636, 0.1392, -0.0513, -0.1983, -1.4154, 7.0906, 1.707, -0.0806, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd530c9ce262db5172d5be51bff372009753fc0dbbb0aff7d5a6926da5e2176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f1533c2eee72d92d6f6d78dfd34fc8e8ee6752c2fb5dfad92c8788e9478f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152c005f98bde9b90bc3704774f2f739f7a3cfdafe82470cea98fad401e691e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0se__XNwlw1Id8lZGssn-AEOd8pAYIt6aT3ZuGPexi8P9l9BGj2pyZUdHp8hhjiZwll9CwScCVt3KMBrFEOK-M3xtyjZ545zPf3p5lXEnXG5rAk8UH2De0OduzHnjpfoqO8xEJWwarsTzye42qmBDGayNXYeqtpEqshYuxbkpP6U4_9Xz64jKsb7yeQ6Y8F_QRpU8EIPfHrGMnUD4G_Rg57y8vOQlkk-Rf4obUuQlDoZl2nOhx7l1w9zEg_PCBrp1VwH7dkaKkKxarqbucVHi8qKHdI5trn5jvqBl6wbskW_vUEwnihc-eNi9H0QykENtNOy5UiDnwxwBiiXyo-V60CB1tVtYrCzVypi7Yt1c8zvBqgeOknL34NHX03pPeGcYJfeZCxHy4A9YO1FSA8F3nMkXgNV9h4ap1jmtXRHupWKdLO8qoKB0_sOkiydkGZe6LupVGLSAVU2DLxvVi1B_mIuFnGmwHTt01jk2bWehjvuo8k_FM6-rI5r7YIkex7rvGaOV7WLfnDoI7xB56G-O4ncigU-MrImIzqvTOHgiT0k5WBg7IRLkciNaLrExRB7cvPR63Il3SuQ37u1PWyjDw53qxH-6jD3vLt7MlHgIM8q2G5VhJcQ_0mgC-k3B-dqedgP1nHA5laUWDzCXGwkP2XC_wRNWgjTQSycUuJvvO5obOTVord8l8G8CFfQgg1ZjouP4TRhYR6e1nPt1C7LAQtFmbIGzFBfk8XUHaQwfBm66bi-9TVh_AA6DzkgwzC4G2sC8phiTwfiVN5MbJXDV49ErVHqVPOGVrbV7Z0Z1kIpcVIHgHMEGkrUL4T3X9Nbno5pZ8VXsWXw2a7PasjF8k8Ywkor8liEXPFqaZCVSaiOjCTSQwGBUt0fooi8KlJpQGVbi30hkIpk2BkiUKdQ47WulkiCWeH-u7VOxZGHmhAbOjJvzuMkFmdsGYFsLcEuyYtwjw2hddty81v8uZelbYxejq8Yf9GWK9uX836dCY21V8UmE0S_jNgqOM93M2SbVdoA8IAS3hrCyIPCDPgJ5d3BD7o0LDiML6Y91Raw3cVjZfczvSTLGuK4BFGcvORoIL2tjewdcRygArjZQYys7x68GN2gSupn7uL-317ZFr7RR_Z0S7dsVWZ54YcnRtxNWJzLE1jUaGlPA1LUedg-eXexQQwjb2ppamriCtCxj02GubtcUabele9t91kW0OUbTwUCysLGWHL8O2t_qUerMjWYT17iSj0fEjrgbxWm-Jc45-z1L8CRnmOngF2fpj0KGjCbODV_IiDFoP9TllKyk8UBw3LQqz8v76q4T36xbK5KFjODQR-HfLpjiz_u2mY8IiCddQzL1Dpcz2xE2cqX6DesOQUx7jszYzVOOAnRTLp5AmXoNLbO66halG7hkHDNFTtmm4GDsIeU0dFJaox3Bpjm1ZjKjKVkZcKXhzL32eNhAU06QKtPpzbJLW7GM_hTo_3pufUVyT4FYYFMCTNhKEcjxKig4s_c74KqGrdMcTCV9KPs8UXjOGqpJN4yLFE0JORZ75RY7081NNBrbTdS0KV8yri_ORgp86op2-AJnjZQfmMAR6HeFN-6OdcbGZbJ3UbY94EANQcrGhBrhKlPbeZ_rzZqbDfMPhD0eN_yKHv8ST-Q3PHkGuedo-g7Spc5K8n__OgUg3hBnLk59fc1USz0Ka9xvLNU6eY03uMjYzmuybjo5uTIloT1TovVIk2aHzfI57LySPU_nINNAgifd6Spoh12q5PpBj5Jn9c0-nGI1ShuK-EBO6uspvPW5DD4jEpA_NspRnr6xiR28fiwk6zomoGuaYgOi4MUiAs5NJdo98Lflc6tUOx_3PY4UHM8qILpWZkuzX-9dJIltlwoI5TpUFGBqLN9WkLKN7Ifkrf8mNAivw9p6i1hViDKLGkXKTY3yuKTXFeXWT7FhkwfAQzOpX2C6oFwV4rM5eue-fsxUa7PLkAYubeXsipn3pL3EtdGrKN-TQr9hwkQaaJZKfhYBm-lGzRmxSORn9yxrnNKl5QljO4-L4wFPDg9vDgnRjWN4A_nN_AxzRZgK9kmI4jA==",
  "id": "rs_0be2927d6e244ace016ab45d27e34487d0b7da88e66c55a13d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.055,\"left_z\":0.09,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0.19,\"right_z\":0.09,\"right_gripper\":1},\"note\":\"I’ve released the small toy and am moving away to inspect the result. Next I’m approaching the yellow-handled utensil with the left arm and the far-right fork with the right arm.\"}",
  "call_id": "call_WMlSJNsE8M4GD6LaZcceesXT",
  "id": "fc_0be2927d6e244ace016ab45d2ad03c87d09ff34ec352d4abe5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WMlSJNsE8M4GD6LaZcceesXT",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.3695, 1.0077, 0.3058, 0.136, -0.3252, -0.3206, 0.9966, 0.841, 1.3735, 0.6079, 0.0776, 0.672, 0.4519, 0.9986]\nstate[eef_state]: left_x=0.3066 left_y=-0.0543 left_z=0.0957 left_yaw=0.0661 left_pitch=0.0281 left_roll=-0.1024 left_gripper=0.9966 right_x=0.311 right_y=0.1881 right_z=0.1122 right_yaw=0.0452 right_pitch=0.0416 right_roll=-0.0058 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.853, 6.9949, 1.7802, 0.0122, 0.1099, 0.149, 1.1282, -3.1248, 5.9009, 0.7302, -0.0708, -0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8be15078976939415034a0cd6c5011097db64da9c6f60c9acfc6429813629b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c338208fce00599a23d664db3e01ebe5fd1771c23cd55c2a133b338e8462e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200335fbd2a38c1619dbcd95722bbf9fd6a7b66e49f79d806b18fb2d9adbea84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.599 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]: [-0.8463, 2.3196, 2.2383, -0.3714, -0.7528, -0.4065, 0.2124, -0.0582, 0.8322, 0.688, -0.4438, -0.0792, -0.1387, 0.9985]\nstate[eef_state]: left_x=0.5093 left_y=-0.3878 left_z=0.2585 left_yaw=-0.0024 left_pitch=0.2374 left_roll=-0.0802 left_gripper=0.2124 right_x=0.2988 right_y=0.0002 right_z=0.195 right_yaw=0.0757 right_pitch=-0.0255 right_roll=-0.0595 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -14.3111, 8.1436, 1.3114, -0.3492, 0.3248, 0.735, 0.335, -1.853, 7.1316, 1.8877, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8173, 2.4477, 2.0716, -0.0254, -0.7601, -0.3779, 0.9951, -0.0589, 0.8322, 0.6796, -0.4446, -0.0799, -0.1394, 0.9985]\nstate[eef_state]: left_x=0.5398 left_y=-0.3923 left_z=0.1694 left_yaw=0.0269 left_pitch=0.2748 left_roll=-0.0894 left_gripper=0.9951 right_x=0.2978 right_y=0.0002 right_z=0.191 right_yaw=0.0761 right_pitch=-0.0345 right_roll=-0.0585 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -15.788, 7.6103, 1.4676, -0.1636, 0.1392, -0.0513, -0.1983, -1.4154, 7.0906, 1.707, -0.0806, -0.0708, -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]: [-0.3695, 1.0077, 0.3058, 0.136, -0.3252, -0.3206, 0.9966, 0.841, 1.3735, 0.6079, 0.0776, 0.672, 0.4519, 0.9986]\nstate[eef_state]: left_x=0.3066 left_y=-0.0543 left_z=0.0957 left_yaw=0.0661 left_pitch=0.0281 left_roll=-0.1024 left_gripper=0.9966 right_x=0.311 right_y=0.1881 right_z=0.1122 right_yaw=0.0452 right_pitch=0.0416 right_roll=-0.0058 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.853, 6.9949, 1.7802, 0.0122, 0.1099, 0.149, 1.1282, -3.1248, 5.9009, 0.7302, -0.0708, -0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8be15078976939415034a0cd6c5011097db64da9c6f60c9acfc6429813629b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c338208fce00599a23d664db3e01ebe5fd1771c23cd55c2a133b338e8462e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200335fbd2a38c1619dbcd95722bbf9fd6a7b66e49f79d806b18fb2d9adbea84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF02v_n0RpKjh9uOtRL3BP5DiPXa3ZFw2wxW8FyUrkH8cyq3ISqn8UFAAlkNyJnNaLlq0oWjzHVKoMi4acR0w4B4ctkPczf3y8p2piINvhErwwjKV0rKhWx_PW4C9-R47uN7ywtZpHQkYLniCtGdt10ZP4iduxJ8jgAsSgjYN7lwBOWUK3H5aTSshh1sjryClrf7BIqrT4g73ikhCBG12NhONGlNc8LxCE21gLcoyLy-fbjYI0aHEJReCPr0ugOnIZo2WW-qcTA77i59GkGlAx3nfRh8ATbY3k81Ko8Z2aIx52cds-HEZ6k_Yl337MA8nUAVoyqaupyfYAEtScCkUFrPIGfHuWihsho57-2FN6TR2WOavZCUNrbcoGzi7MPTAumHq-LHSMAMDrB98vnEXYGN4Ad7kisqSH9QT6cZ9VTxRnYeY9-7xKMRybJ4IznKHUgJPwDXtGSJHILvdmoXuVkUDH6cz5lbd2OF5klmrOh318WVql5qLVWyvYEqHwsXucHoq_QyPOz5CoLraR-TCkckX-QL3hg9XESCKVAfg0dJ6tGq9T_FRrJbvaYCOH5MyHeRhyxVDBNXajktNrwK2nGd_N64tuhr_EKdmUenBKsOc1UmlM-ctCw39brib1tAOH-mXwckhD4h1NCzLdnMU81IXHrpRp45koYyXw1kLgnt96oDvDbpTGygHBOTPTVrA5QeRqMDVfEA938ikqkaoBPzSiPOVst_kG3waB6egtVYhEQrqrKKZJYBewVrSVUsP-qa8QKttyitNSqCeshQ7EzOvOp2SLMBdg2mFUmtALpKPJkYx2GsSQ5Zw56jGa0X1jiqUUz6Hx3TSDaStx1o-tBWJ4OW8buEEDmqBrBp4hFc1OdcbLruMjK9kW8oYcZWNknzgg1O_N0V0DwgujBU4M8bRvRrWXIhoEYnmNZUNG0kqk_3vug5RxYfLjMuc1B7bJKinFEEEH6FkYZUsu_tIR5sKtfcHuQRszQPFUm1clDI0RfO3sFGp7EUMYQxpfOPZxT_NSrn-a9HhVQyMp4uecfBw2BFmQ4DdhfOoA-46h0oM6lK4w9ms5UGIDFHBJEUeN-fJMgZ43uwmIXmTs7SvHHS8KX-rBA9jGZAIZ3_DhSN4myIuv7B55iHmazQshjj-RjNZ_H-qp7BjuW96OqEcVSy_BG417jG0-wC4ZXxu8nPPTi3aSrG2OhefSrBne6Ue6h8eMxKPXPmOOEvUei9_vbvrjwDAXB4CQrj2JwRCy4e0D2MsIWbs1W2oftOK_8SLi8GODXZmHEPzk5oaQEy6VmkGUZFIA8yG8MECrggQJznPtF13bGveoSIIcwKbKlKaMkxJeLodd7J3wfZdCoE8hbGLiDor_O85r_UJFfLVf3kgkNoCRNoJmi9_Y7WYRMEAD_OZX2tVHg6wNPZPhbET9Y7mFhjWyGHRwyFlE0n526sKjbo_pDXLsYBu1cEu5kxDS0PvT3EMvVLnXF9BgxlMyhar4bj31xNU8urhaebhTibN9jolrrJEERDZUbjUtxBHpuDG2HYfE_wgHvPZ8wwTtcPv8oG-gayFGbCQ1FPEfeErplcVhk6s0JWwVJ81En0S45jOSEAOEFWGlWEpNJOYmkDja9HknMIMqpHPzSV97OJc-txRE1fdwjt0pPGZw0ILXPA7vyxC6Q9MNgN_Y0Z1QJ0N3vPNGok2AAjdcjuxhTt5w4s0yCxRECn9CN8Q27G9vpjZzNy6u-pCcNuuT92Wnb8uQ7iOQsUA4SoFdM_n_c5mcr18hTMWLS43ev8nTUiIjfZY_UZmx0nNBJL3MoLfLCP60tPzodekCX60oZ1bso4cW8Ey8fr_VyilMLXG7VnRLMfwGeeiXKuFJ46VOHeSjce9yNvZNQY-3HNZgbPwmZxrbOxzwE9QLfvxiVzdflGsT8-tMLGe3KCyHPEMIyVahAo0vCvTrsJ7IoeWU8LSW6fbMou5CYaJ6FLcfeOI5eeZ_q6yqTHgaAzQUdwPHqyclsrDszVwF_TtC68M4Atc14MpmYOCrz89lIzvPRM2gZlsqC2KBO2ObXAjahPNHuYjHPKJjpAWvKwTyd52Ze-uMD1gttm1POJygsTY_VeYavV9JsWa5isgqDaT1mW-9cQW7ztQryIrwqvtovF44q1qQAP9KYtOdHzKUzgXAGhQEdC9setIg9q_wvIDPXbeWTxrNpWKbMwhDiCTkbrtEZdFF-Smymdrwyb2CRJOMqx3irrt_koFcNHmqsR6tiI4D3FQDn2_4nwsIoDDljPgHRv-RI5XAFHAV2QqJJvTDMoRJOi_GLDF7WylZ6iUsmtqyAz94MM89c7GD7rjd07dZ5vZ1W2JaEnQ89ZsTdK7cahTHgasXNHKYEkA5dvBiGnPxDkkYHmmdZ-7Oyp7ALmp-S6gLtOHFZvIhCKDN8tq5UPAx_KWf6a3DM3aohAcFZjpw_9r0uBxarMtgQIxkxaFyoKVL30T52u948_a-DflN7y6q4tNYgFmAzL-kDImPUy-i4O1Y85292_YPH7F3QmvS3QS89VqTABTNrxSHtMRWX5Q9ZLa9cro3Z4bNLCc4yF_GQSuajQdy_9qjmjWe6ittos61t0wFEBXbwtM-I2o_cXSCP90iYec1FmXlZCv1mWri62D8vQ_RemKNFrbfPTOoryS7r2RPxLgdhhNVzM9oak332D0uC-5NnlTXKbK2F_DwuDaekzCOfLweQ3GTkIGv1GyCBMXxlSL2zeHYgDSqWiCootF2Rq",
  "id": "rs_0be2927d6e244ace016ab45d3090c887d0a3735b11281a01b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.015,\"left_z\":-0.008,\"right_x\":0.3,\"right_y\":0.19,\"right_z\":-0.008},\"note\":\"The yellow item is left of the left jaw center, so I’m correcting sideways while lowering both grippers to the utensils. The small plush landed outside the basket and will need another pickup.\"}",
  "call_id": "call_zRi1wXQq3LDxotikH9dQh4TN",
  "id": "fc_0be2927d6e244ace016ab45d35847c87d0826e046f93fce6f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zRi1wXQq3LDxotikH9dQh4TN",
  "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]: [-0.1493, 1.7126, 0.0555, 1.129, -0.1879, -0.1921, 0.9967, 0.8726, 1.7168, 0.4896, 0.9169, 0.8928, 0.3359, 0.9985]\nstate[eef_state]: left_x=0.3086 left_y=-0.0094 left_z=0.0015 left_yaw=0.1032 left_pitch=0.0445 left_roll=-0.0712 left_gripper=0.9967 right_x=0.3404 right_y=0.1972 right_z=0.1077 right_yaw=-0.1033 right_pitch=0.3659 right_roll=0.1107 right_gripper=0.9985\nstate[joint_eff]: [0.2393, -3.7402, 0.2667, -0.4029, 0.4762, -0.5495, -0.0024, 0.4855, 4.6838, -2.6188, -1.326, -2.1905, 1.9853, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330e1423b73edd2038f3c57cbad29b8e587c3979859cb298ef95773d6156dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e29d4c76a526cef2499ab25baf3517b1e5b63c1417ad6794cf23c38195658d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f31a9740deddb68add9991ede92eb01a58b2deee6c871037ab06aa9043eece8",
      "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 · 6.179 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]: [-0.8192, 2.4336, 2.0789, -0.0475, -0.7555, -0.3645, 0.2138, -0.0589, 0.8322, 0.6804, -0.4446, -0.0799, -0.139, 0.9985]\nstate[eef_state]: left_x=0.5378 left_y=-0.3928 left_z=0.1773 left_yaw=0.0136 left_pitch=0.2734 left_roll=-0.0768 left_gripper=0.2138 right_x=0.2978 right_y=0.0001 right_z=0.1914 right_yaw=0.0759 right_pitch=-0.0337 right_roll=-0.0583 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.9846, 5.8598, 1.6679, -0.1197, 0.2222, 0.7204, -0.0615, -1.388, 7.7197, 1.7558, -0.0757, -0.0317, -0.0171]",
      "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]: [-0.3695, 1.0077, 0.3058, 0.136, -0.3252, -0.3206, 0.9966, 0.841, 1.3735, 0.6079, 0.0776, 0.672, 0.4519, 0.9986]\nstate[eef_state]: left_x=0.3066 left_y=-0.0543 left_z=0.0957 left_yaw=0.0661 left_pitch=0.0281 left_roll=-0.1024 left_gripper=0.9966 right_x=0.311 right_y=0.1881 right_z=0.1122 right_yaw=0.0452 right_pitch=0.0416 right_roll=-0.0058 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.853, 6.9949, 1.7802, 0.0122, 0.1099, 0.149, 1.1282, -3.1248, 5.9009, 0.7302, -0.0708, -0.0366, -0.1538]",
      "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]: [-0.1493, 1.7126, 0.0555, 1.129, -0.1879, -0.1921, 0.9967, 0.8726, 1.7168, 0.4896, 0.9169, 0.8928, 0.3359, 0.9985]\nstate[eef_state]: left_x=0.3086 left_y=-0.0094 left_z=0.0015 left_yaw=0.1032 left_pitch=0.0445 left_roll=-0.0712 left_gripper=0.9967 right_x=0.3404 right_y=0.1972 right_z=0.1077 right_yaw=-0.1033 right_pitch=0.3659 right_roll=0.1107 right_gripper=0.9985\nstate[joint_eff]: [0.2393, -3.7402, 0.2667, -0.4029, 0.4762, -0.5495, -0.0024, 0.4855, 4.6838, -2.6188, -1.326, -2.1905, 1.9853, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330e1423b73edd2038f3c57cbad29b8e587c3979859cb298ef95773d6156dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e29d4c76a526cef2499ab25baf3517b1e5b63c1417ad6794cf23c38195658d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f31a9740deddb68add9991ede92eb01a58b2deee6c871037ab06aa9043eece8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF07mXArc7cbImmV0FFUA8Tjy9DiZSO-ru5V-c7rS2UDoz343jiyKCtjo8Avsghna-bYLe-qpks8-LgDHD6vgK4s1bJ1xwB7FSn7HFdGvVuuteJnmvSvLM43HMpkd75P02GlQEr88cEF5eHh16iMLMit-5etYcAEAp5Cu2w9im9-yvNjf_Ou1REA5ROUElaquwdgKfGakQepv587RcjhjrrvWh4gcUGsl8HaLWg43PqgezsATvWZj3wE3BDTSNv192aX6685yX-k6HeZpROMbUW1fT6-8GqeP0z8dTTmsD_O7pTrDr4fjj_ANzanRO7suYgV2283EqZNjYtw_ljSSRE8RIRyT_F3gRMK5D4dxBpDAbiQ0ZW9fMl23xS-UKvpZine9tlP1l-uEPFTKnzeZyxDSvOP56Kb0CLQBDZn5t1fYCBeaHadrw45AQ4qTKB0FhvxIiHgoJyOdnG9_7ua_0PeLN1GWlM7y4Fn4lleaeBqFU1SESXiDT7rT5T5be4BvTUC4UiwMuRW8VhS_6beduqNEUEbz2XpPKMr_YQt982IyIu_c9RxTM_i4A1EBblI2qbr_Mnm8qLVAW-wHOwiZ5nyiyP8geTjTGPZx13czZ8GGeFPHX6BbkU4u7HIaxlGUHbem3kFBg2QaUX-X_9vWbQqPY2ws-6tdBT9wLJZdlpQ0acgPu88kyazJyZN5kZC3LCggvZYkLkJzbhsJAAF56mNoBbYtKkIbU3lEQmEFMto-8ZyxkwDlLxyE33h3ByvxSOEIOH6h52iw8NA3SreYKpdo93Bl6Fd4Faa3JeeA4C0hUgQJ0Cq79ldvSydc07TNSmQCxyKvpVwvm7Z74huWJZcILskYbklLkqnYJHY1nkHFHCyVo__VejOZDWrIEtDJ-VbGqoIf8mFcORpT54ah6uBOs4aWQVhM6sY8X0fq7U9GsHkHntMegdij9B18HytHu_k2LhpG5XRE_ykKI5slidZeOwEl5hs8hmNjB6iPsL0DN2iiAIgi2QkFMOLOXYboX6WE8rPvMDqJQBanzfX0lQW9yCHI6CKKIEoTrEVxZThjjwF7z_iXJfh3n0dFEbGrA-v864DFVVkeGjhuUdRgrnUq8Zzqq10_kCTwgQvECfZgRJPTrHl0cEjus6BAjm4t5b9ZIbmZwd6F56VReopRTVnsbHdvVR_xLVSzQGWwyqebmEqz0iN73Q-Dfs2qpfXTWQfuvTHe4lGO9RzH8mkdILRJ67Q7p1rZ5_9h6kNSw7Inyort__TV8gPWCUQb-OPYo5htGfM5DH2a357tBAGEVZ4x7g5KoYMnHU-N3wXVWCSzAOvUO_3okkfG8MKwjQklJJhRCBZJ5FQj9iJQAHr9FSPvw==",
  "id": "rs_0be2927d6e244ace016ab45d3a2bf087d082991cec368e7b29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.28,\"right_y\":0,\"right_z\":0.3,\"right_pitch\":0},\"note\":\"The yellow marker is centered between the left fingers. The right arm met an obstruction well above the table, so I’m backing it away immediately rather than pressing down.\"}",
  "call_id": "call_hArL0SF5XF4g3zorqOvZjaH8",
  "id": "fc_0be2927d6e244ace016ab45d3aa7ac87d0bfaa839ab3c2b6c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hArL0SF5XF4g3zorqOvZjaH8",
  "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]: [-0.1482, 1.7199, 0.0498, 1.1458, -0.1833, -0.194, 0.1882, 0.4587, 1.1709, 0.6521, 0.3576, 0.5236, 0.2256, 0.9984]\nstate[eef_state]: left_x=0.3077 left_y=-0.0098 left_z=0.0015 left_yaw=0.1016 left_pitch=0.0476 left_roll=-0.076 left_gripper=0.1882 right_x=0.3784 right_y=0.0924 right_z=0.2503 right_yaw=-0.162 right_pitch=0.4151 right_roll=0.1719 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -4.9846, 2.7829, 1.6044, -0.1538, 0.0122, 1.033, 1.0872, -7.3915, 8.9915, 2.3468, 0.4811, -0.0806, -0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4edefc186e2eab876fdf77407fee4c53364756b977da10ba43df38a2149b712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ce18c8e2f6c28e2beaad78df4aee496c1a1b53b826f2b07ed345ca35bcfd98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3152ffee7a17aafca860051f8508b0eef18d7d53b19d5fdee3f8602e0c17872c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 5.532 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]: [-0.8173, 2.4477, 2.0716, -0.0254, -0.7601, -0.3779, 0.9951, -0.0589, 0.8322, 0.6796, -0.4446, -0.0799, -0.1394, 0.9985]\nstate[eef_state]: left_x=0.5398 left_y=-0.3923 left_z=0.1694 left_yaw=0.0269 left_pitch=0.2748 left_roll=-0.0894 left_gripper=0.9951 right_x=0.2978 right_y=0.0002 right_z=0.191 right_yaw=0.0761 right_pitch=-0.0345 right_roll=-0.0585 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -15.788, 7.6103, 1.4676, -0.1636, 0.1392, -0.0513, -0.1983, -1.4154, 7.0906, 1.707, -0.0806, -0.0708, -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]: [-0.1493, 1.7126, 0.0555, 1.129, -0.1879, -0.1921, 0.9967, 0.8726, 1.7168, 0.4896, 0.9169, 0.8928, 0.3359, 0.9985]\nstate[eef_state]: left_x=0.3086 left_y=-0.0094 left_z=0.0015 left_yaw=0.1032 left_pitch=0.0445 left_roll=-0.0712 left_gripper=0.9967 right_x=0.3404 right_y=0.1972 right_z=0.1077 right_yaw=-0.1033 right_pitch=0.3659 right_roll=0.1107 right_gripper=0.9985\nstate[joint_eff]: [0.2393, -3.7402, 0.2667, -0.4029, 0.4762, -0.5495, -0.0024, 0.4855, 4.6838, -2.6188, -1.326, -2.1905, 1.9853, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1482, 1.7199, 0.0498, 1.1458, -0.1833, -0.194, 0.1882, 0.4587, 1.1709, 0.6521, 0.3576, 0.5236, 0.2256, 0.9984]\nstate[eef_state]: left_x=0.3077 left_y=-0.0098 left_z=0.0015 left_yaw=0.1016 left_pitch=0.0476 left_roll=-0.076 left_gripper=0.1882 right_x=0.3784 right_y=0.0924 right_z=0.2503 right_yaw=-0.162 right_pitch=0.4151 right_roll=0.1719 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -4.9846, 2.7829, 1.6044, -0.1538, 0.0122, 1.033, 1.0872, -7.3915, 8.9915, 2.3468, 0.4811, -0.0806, -0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4edefc186e2eab876fdf77407fee4c53364756b977da10ba43df38a2149b712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ce18c8e2f6c28e2beaad78df4aee496c1a1b53b826f2b07ed345ca35bcfd98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3152ffee7a17aafca860051f8508b0eef18d7d53b19d5fdee3f8602e0c17872c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF1DkS-D9FZ3tuPuhW97StfBaepcdK-CY4KWKZoJZ4C_3RJBiDSKJh-16O8YiEOFNU4vTtbL3EQjIe0I0WWjyXkvCc0EWtWbfn8KAPEp1dkaRwoJ1xNKxobJzxyJ-0Nxe5VEM8XJ3iNzROXbOa-5OzWbgJG7oRLweZ6BgZ377VU3D9FaJHNTtOP9hJmiRQwCYl2ya8Lmjnq75qbph31ZWhI0ZUx55PrzBESh7uZIM8v5R6QrltJOQ8IoSA-sexQ9LkRG05Jt1DFEVxkXPZFqWsFeAhUrBrMjjA8In9cm10EKqXvwUMEKGzg3mISOIDZEoygInRCCRm4zqdIw405SlAOP0k4fTJlDH_DYC0CV3IDxjuY54350EfQ1eGnnKdQ8cGouNfgcTtup3Pc2eHKiNonAkja8k0-2OI-6cUcf2mmQX2YxsbTGt2HuX5fYs0ytTDFcsZXpk9am3kVDSpyx3iPiVHlDceVF2YAKouWTyaiZT7lNYcjVbO67sFbJQyy43LO5BbuvMdMrX5czpEy8vRqxHvL9S3MDeO71d8F737AxdSBoJR_5zgIdR0dafR7oCUaZjAC-CL4guxxpW4yBfGoYORqhoQrrBDo7kMpIMb9iR05otJ31DhxXtBs5nMwrUcrIW7qXBRAytOoYmFrsSBEP7qVTgLWiKc4CMVwQQKp3t2ewveIxpu5tls0tNskkJJvaEUeP8MYPeAwGjH9Rta2MWOv_HHeUXAnfiQ71_9wULflBTzmoe5TzeqHF_YH2pZ9snLMd56rl-M4rezU0deD77f7MePduXs_SNF_0zDEWbsiz2RptJHuPOOsR5WJ8qqIaUS0neu1d7W_SgNkInSi_wRjAWV-qvwO6-xxFn5LxaJLADxO8RdWfOgtOvQHIMLA8Tx2h_S-4BTh_NqVFAJG4kA6IN84rzuvTuZbeNdjFYoYX-tNnkuF7Bh6BOLT9xIx_UGBrkGoUxEZHeRxkr4-3KzmmoI132sbGN1OXW-pqvxpfaqw5z8zTSrOcLE_G1kk4MluQ-W4GDVCNK1hBCFp_8DwXz3Gklnw7BAt8zl1qLxfmVU80k3fNFbLpN8nFN6wOzzdE0QKkGW06pYGM_9PwCNSG4U4mIvCVcCLv4LFvasiocZgbuyxCrnU1w1ZkbkxXwFx-P9phPna5E52AUNk789bfZ_2jft1Tg52eho-NY5ZrZaxP753yHubgNAR2aCmQI2TKempcQhiwE3BPvPDXIOMTU6YF3QLpLTqc64Oeo_pR-QPkgpHuLOiGKMqs7twU5LB6SL0Mwlv64R4CpZJvz_AfNzpnzxB2ZsbWCYTq2pUXdM-3UxKRoUfdccDxqSdvDVte0uAVXbR78qbvQM-UIvBx4xAMJjMt12IYPAtMYZRPpRVmnwLfL50CVD0-kfaunt4_OLkeHMu3sEz1QfZvnKGx8ChygACBbi5y0OOphYr7bFgw6YHGFNZyskXCO4jHXWuUtHOKhAnciXrUtkPKUxJIeVycEToNfZJn7Yv29onMDbmtdGUG7mjiSTKPaQur_Xo0AtzcjPQAMHI8Vf2lomjjRzzJZruqaWKrBsJRNx347xwH16ld5rIjDdSIJo02xZEXrSAjzPvAhdbbjevqNDFa_elWuxG514R0Y13ZwLx8e8A9t9agRd4LGCG6VyPQbzyw4VGMO9RxhTQa7Lw1aoRhggFhOFU5JHNzn7Q2Z8LOwqFkk5MVYklihgGsGD8cb3b2AIZaUn1g26l0hollbUdKyYRYk-XbQV2lCOc0q5HC_D9XsQBOaFGhLGWsM5xJak7Y4FQAZ5m682fjatx6X5j8v1m0IoAXkl5fqjD4prJIxwNnsCgMKKnnijgFHnkFlhrYkAT5zb1YweA49kl6dcOjovUou6VBoYu7MLyA3CbOvXnrvbB3gc9Dqr3o1zzpW9lgBkxTGLAde0O3BrNw2CzaBeX75FkiuxX6xxIeV_EVzykJ87WE3t-3ppt8HXQ4J-XaZoW9aXdt3kVLdR_0XEdpjy-xygfPU_lWA_p4N_Xzjg9LsONBLTAQBeNMjhoiOE3XkWB9yKLEy3Wf9Vi1XFXZ8QL1zZv_ZeapFeH-yDquJFngUJ7HFDP9ynfnWYVf7fpSqGxlLNkhz-Az-LTzS6QoO9JZTiGgD1b6Jc1wIMSrRYu8k3Hr60JGH3hUR3tZXOKO_g5gasW5aggcKG1J-iteJaYy770O7kcNZSdMHerfFbZvOngWhTNAa07gW0mDmwKp9n2xF1oNWRQIQVXiKlb18Nwn93KoYuxgdFSSkkQQpML_p3-wUwsP5xDJU7KNStw29sX37K4r1tFFW2PSXX7FvNHicJQUwUfI-oNA-quyaWb7rd0NUgTVTD8ta7GQ",
  "id": "rs_0be2927d6e244ace016ab45d3ec02887d0af850dd7e2cc49c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"right_x\":0.38,\"right_y\":0.09,\"right_z\":0.34,\"right_pitch\":0,\"right_roll\":0.4,\"right_yaw\":0.4},\"note\":\"The left jaws have a firm hold on the marker. The large plush appears snagged on the open right gripper, so I’m lifting clear and gently changing the wrist angle to free it.\"}",
  "call_id": "call_4RWBITaDdo2Wogan1HQ3apmF",
  "id": "fc_0be2927d6e244ace016ab45d42217487d09e8681d6de2554d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4RWBITaDdo2Wogan1HQ3apmF",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1478, 1.0367, 0.186, 0.3309, -0.1833, -0.1944, 0.1882, 0.3058, 1.1316, 0.8635, -0.0959, 0.1699, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.306 left_y=-0.0094 left_z=0.0737 left_yaw=0.1022 left_pitch=0.052 left_roll=-0.0775 left_gripper=0.1882 right_x=0.3782 right_y=0.0918 right_z=0.2571 right_yaw=0.0079 right_pitch=0.1913 right_roll=0.2066 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -2.5231, 8.3214, 1.7705, -0.1099, -0.0171, 1.0232, -0.2667, -5.0256, 8.5402, 2.083, -0.0611, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd965bbdd952a7258c8183dccb9ee6b6f1d979936e1010cc56b95da6d400e740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8065edc445f145231f928d399513a8255ba0abb1e68fb80eb4fcad903d20eadc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12240086c8ac0729579f7d36e45ab1e6f5cad31de7b5c25b9420f7a08582aac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.487 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]: [-0.3695, 1.0077, 0.3058, 0.136, -0.3252, -0.3206, 0.9966, 0.841, 1.3735, 0.6079, 0.0776, 0.672, 0.4519, 0.9986]\nstate[eef_state]: left_x=0.3066 left_y=-0.0543 left_z=0.0957 left_yaw=0.0661 left_pitch=0.0281 left_roll=-0.1024 left_gripper=0.9966 right_x=0.311 right_y=0.1881 right_z=0.1122 right_yaw=0.0452 right_pitch=0.0416 right_roll=-0.0058 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.853, 6.9949, 1.7802, 0.0122, 0.1099, 0.149, 1.1282, -3.1248, 5.9009, 0.7302, -0.0708, -0.0366, -0.1538]",
      "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]: [-0.1482, 1.7199, 0.0498, 1.1458, -0.1833, -0.194, 0.1882, 0.4587, 1.1709, 0.6521, 0.3576, 0.5236, 0.2256, 0.9984]\nstate[eef_state]: left_x=0.3077 left_y=-0.0098 left_z=0.0015 left_yaw=0.1016 left_pitch=0.0476 left_roll=-0.076 left_gripper=0.1882 right_x=0.3784 right_y=0.0924 right_z=0.2503 right_yaw=-0.162 right_pitch=0.4151 right_roll=0.1719 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -4.9846, 2.7829, 1.6044, -0.1538, 0.0122, 1.033, 1.0872, -7.3915, 8.9915, 2.3468, 0.4811, -0.0806, -0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1478, 1.0367, 0.186, 0.3309, -0.1833, -0.1944, 0.1882, 0.3058, 1.1316, 0.8635, -0.0959, 0.1699, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.306 left_y=-0.0094 left_z=0.0737 left_yaw=0.1022 left_pitch=0.052 left_roll=-0.0775 left_gripper=0.1882 right_x=0.3782 right_y=0.0918 right_z=0.2571 right_yaw=0.0079 right_pitch=0.1913 right_roll=0.2066 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -2.5231, 8.3214, 1.7705, -0.1099, -0.0171, 1.0232, -0.2667, -5.0256, 8.5402, 2.083, -0.0611, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd965bbdd952a7258c8183dccb9ee6b6f1d979936e1010cc56b95da6d400e740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8065edc445f145231f928d399513a8255ba0abb1e68fb80eb4fcad903d20eadc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12240086c8ac0729579f7d36e45ab1e6f5cad31de7b5c25b9420f7a08582aac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1KJGfiQcra5XabaNcqdtQl880kU1nRACRUM9I1UFRB971XcH4BtDLoubhAYxskfXS-W8tmmKmkcE6daXjD86P28AEoRUZIErDwxBtgLQzIjjs4gFAsiUVgsggVXXdKjbK_OsbkVQomh8QL7Q_ggDD55fi2vYCm6wewf45_oD9iwF16d6WxV7GN2-sfuY5dMu-X-jMOlmTJStlpkxXMEajAVW9Ub_lB27db2ah2Rps6-p9dEp0vnhy-jGFdxSWG3OMVGo6FdHF8I41WBD-nybQ5eBxigkqO-JNOg9TRJomgHZEib1huD-m_TZCycfghyYQNTnMHo5cGEsNv_cRR8QA-JKyjCxIB6l53-Bqs5kTRkd5R36X130yCeh3Ih6gNsGIZSVao3uff6Ur9s4jLzhFKDVzOfuu-uty5cXya_RiAuJO2T7wXFCQVn7ZsHyAd_orMNM471DnNBt0MlXdKIw4NAE1nVMePiDSGvayipTsaDP2tPzuxRGCQ14gQbouWsKHWaqCkCJzNcSS0Z7QUdtH_uM4df-6amditN--LHm0S8C24X-WIzGR2J0rkiqzgbyjNrqh7Hxk9iIs7eR4QPqPpqrOYMgna5ecHkiqkJns8nl1eH3OcURPqUyTfZHsDV5MA-rTBM374fyPtlOuy7IjRW_HcD0CdImqKb5AXvY4t80K2CLtoJK3A2lmMb6jGI4_5hGTz8HhHZGyzDJcAAD3d710t90p0BcmAydT70fu5Inu2maiPT5y6yeAhr1LqDTpRiy9-7TAvVtuXCRqWKQgR1hp28SJKKzPNlWhhBQ5E5nngN1T5tHlge7zw1JFa6vXT_ALqMCDUjgA4fUe5uIowcwIqnFVtMmuzEiR3Vaq88kytcR1_hLMH2280cEKh2p6naqveWmvl_MZlQRByP3erW1ZBGcNr_Pd0RdABvFQNHXMwEB2YbRKejZJpszgAfPbjpNePbfNnJcT7J1vEvXiEanN8qpVmzKOjZpFD6hzqlBwOFRXyXkHvlH9PtuVAMKKwfQbvvYqZ-aDS_aUPwE4TueEaewa_fCNmURHddOfICq9NY_aot_GoKJPs9G2p99FCHYySYd5weIiHT5uQHW39wXS-e1wdtmJTnQWrXXDsbvsHngY9NpUj6-m0lqE7W3y2PGu5RowUu39HYCm4PvVcq68ofpdl8rzKblTRYjGLEOaywr5lLwCA3QpmpT2_h6e4XnZ4AnzWVR4SUteKiR7MVgsJE3-I2hs6OHxBUEt9vj53rltKJvJF3IRAAqd21eOO-vACGnmnHLQqGuj1c8wk4-mYz3ZFM5MYlN1dFv1dgWaJ9dajmL-mMFH8-_zk7L-8PT9BZk8bGfzNF7znrBlHLelrgoyhgTUw03feL6BX3o_ocOqrYb1dz2naQrbfRj4ax9SrLQlNEZqjEGSlyhgYLEhUTwcmFoVWut1cGZBTxAkVdxiKyNB5K6yk1NsvVBJTuh--CRsoaxXgaFPBn4Ggdt50ZYwJsWnr-r75-RHPyLYBxcwl-4rU_Kfkot1OtkpdE_-AImpjWg4BRrGuN1vgsjJlekENqYWbPiIJBcraeihwHHJHiTqzpXPPUtIocdvrtgsWJh__2Q1lC_pT_m1Zwl0XGuFhS3lsGFFpPnKq_8O8U0cJjQHyTgmrzs_epfgNiDLfDGfSNVKKMpAuftpb0VYX6jBp3cA9YS9wL32a_-XMpML6t2zdkfCeX5Jf2QqheBPPeD_KCCkILUUU2Mpa1h14UIp--mZ8iULkpHgG0HoET2XMgTJx8K8vaNCOHx5Koryb6caY0SJimeu0TW3Dq2T9vaFGm3m0Q3zZHLNbqKzzHYBORPSIA9r0H08IK-Rsoucqbc0XWHlU935vJGO6LLC2sMKFNNlyft8QgE-bh-z2ZqEOtk7FKCm2Wf2U-vZq68OORX-Fi2wLt_qvoP7sKSiqCOPu9tuoGS1g5RbB7p4=",
  "id": "rs_0be2927d6e244ace016ab45d4646dc87d0b76181d02da1d696",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.13,\"left_z\":0.23,\"left_pitch\":0.2,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.3,\"right_roll\":0,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The marker lifted with the left gripper, and the large plush remains in the right basket. I’m carrying the marker over the empty left basket and parking the right arm clear.\"}",
  "call_id": "call_oK6VxauI2qYScmaDltm6DCUj",
  "id": "fc_0be2927d6e244ace016ab45d493dfc87d0917abfd14e3ae6d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oK6VxauI2qYScmaDltm6DCUj",
  "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]: [-0.3714, 1.7866, 1.3003, 0.0422, -0.416, -0.281, 0.1887, -0.0124, 0.9443, 1.0935, -0.7265, 0.0006, -0.004, 0.9984]\nstate[eef_state]: left_x=0.5216 left_y=-0.1227 left_z=0.209 left_yaw=0.124 left_pitch=0.1581 left_roll=-0.0822 left_gripper=0.1887 right_x=0.3055 right_y=-0.0003 right_z=0.2871 right_yaw=-0.0177 right_pitch=-0.0157 right_roll=0.0085 right_gripper=0.9984\nstate[joint_eff]: [-0.6085, -10.1675, 9.1419, 1.873, -0.0757, 0.2222, 0.4664, -0.253, -2.3179, 9.3744, 1.7558, -0.1148, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b77a3643f8c8c6a9c498bb0ba4dfabb5917db5356f586ab9f9ff545f74b3c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d72cf218950467533a22ed17073a070ebf3e29b8ff874c950f31603dbfcbf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5901de3bfd069959798f035d31ca7b7fcdf271836de5b771d55a3ea554e88c23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.65 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 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]: [-0.1493, 1.7126, 0.0555, 1.129, -0.1879, -0.1921, 0.9967, 0.8726, 1.7168, 0.4896, 0.9169, 0.8928, 0.3359, 0.9985]\nstate[eef_state]: left_x=0.3086 left_y=-0.0094 left_z=0.0015 left_yaw=0.1032 left_pitch=0.0445 left_roll=-0.0712 left_gripper=0.9967 right_x=0.3404 right_y=0.1972 right_z=0.1077 right_yaw=-0.1033 right_pitch=0.3659 right_roll=0.1107 right_gripper=0.9985\nstate[joint_eff]: [0.2393, -3.7402, 0.2667, -0.4029, 0.4762, -0.5495, -0.0024, 0.4855, 4.6838, -2.6188, -1.326, -2.1905, 1.9853, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1478, 1.0367, 0.186, 0.3309, -0.1833, -0.1944, 0.1882, 0.3058, 1.1316, 0.8635, -0.0959, 0.1699, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.306 left_y=-0.0094 left_z=0.0737 left_yaw=0.1022 left_pitch=0.052 left_roll=-0.0775 left_gripper=0.1882 right_x=0.3782 right_y=0.0918 right_z=0.2571 right_yaw=0.0079 right_pitch=0.1913 right_roll=0.2066 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -2.5231, 8.3214, 1.7705, -0.1099, -0.0171, 1.0232, -0.2667, -5.0256, 8.5402, 2.083, -0.0611, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3714, 1.7866, 1.3003, 0.0422, -0.416, -0.281, 0.1887, -0.0124, 0.9443, 1.0935, -0.7265, 0.0006, -0.004, 0.9984]\nstate[eef_state]: left_x=0.5216 left_y=-0.1227 left_z=0.209 left_yaw=0.124 left_pitch=0.1581 left_roll=-0.0822 left_gripper=0.1887 right_x=0.3055 right_y=-0.0003 right_z=0.2871 right_yaw=-0.0177 right_pitch=-0.0157 right_roll=0.0085 right_gripper=0.9984\nstate[joint_eff]: [-0.6085, -10.1675, 9.1419, 1.873, -0.0757, 0.2222, 0.4664, -0.253, -2.3179, 9.3744, 1.7558, -0.1148, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b77a3643f8c8c6a9c498bb0ba4dfabb5917db5356f586ab9f9ff545f74b3c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d72cf218950467533a22ed17073a070ebf3e29b8ff874c950f31603dbfcbf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5901de3bfd069959798f035d31ca7b7fcdf271836de5b771d55a3ea554e88c23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1OGGzOx5yinOzpPxooiIOaCDB2dKmZWoguFXAkAMjuOJ8XynZssbXvM8vull6PToHPALdxMSQ3PR28BXGuNfPaW8kZc6vBHHHEO-xkZIz1bTwM1PpMoZkZfhT6IL47qoxi2JdmjZC1Af7hsOv_h4kLa2FkgSZL0HCPyX303BGNPYWGxp7XDMKqi7nn75fZktNlbp24qNoVtgXNKjOYXo1ykv8P36_Nfm96bPmfZ-Kc4Y8TKsjIuUGE9A1cqJUauM-MerQzmHwjyec4ED0IsAeo6DioyAfRESZz9Tebz8VdeqHyVMD9Guuxm89U9fXuE5DetM9idx-9kTKe0KtiA0mow-rESTbsuVIPSz8rR0EsIxFaj8Xo3_BwLvyNVj2eSCLQhlCe29FV5wcS-HsEBwwmm6GWyoN-oMvOAUo7L9lAeQxyaSPZTHhPEtPXh5ylTmV8g5UPGztR9p743pZ2JUdrKct2LQtX1_WbDitwzTdOxiaFpPpPk2_WIauXKlXHHQBbHFcHi5I5qPnhsV_ZoxHzT3LDigh3pu6NcHokmm-ItVZetJvb5-XQPgdQoJFCxwTofR-epw_d2LfvBn1G1etBb8zpXZbXBevoMs-0aaj4IGWzshxV7vaUgIiTILIBxiUnJ39GEyseV632NGRZXjn2g90SHM2GKu3XrEWWVF8zEGLbdIER9oJJ2D_I5k17F1w3EWryQwKD4bg1G7r7C5UFDITXxUjT18Jyk8GpeXqgcKBe3kAPjzJYHkM6kLFBonbJKVdQXo_mBzpdPJicOqP1Iy_XJOiDEgrhbPi_uqTgbSCr3NmpXhoVM2FbZxN3i96X0Y7kiuImGTyc3jM62q7PxwXiKpKhFlHo9gXRuDzM5slmOrMvsb--7kLsnE7ygi5_kOQ_gOf7dzMpZyz3yYige48v3d4RNz6onuVRXZGiyypFM3bmur1LYoxclr7sZ04kXBfBQ0iQJKTr44AYClnQ7I6jVGQy3u9K0Y8sXhmkELwnfgueUk9ZvIITQXsYf7Q9v1IhcskRt7e42O6UkNT8nBp6jdSsNiYA9OOTTUJb3pa4CwZwtWbSdAdxW0OMYlSVDAdmgHBWrP7EZLM0ytBpZolR8hqxj0p0-WHvqJhDs-TLJ14cU33NVYSrXnaJSLrXIOlkl661mgBPzLTL6hZp-KTvACl1-RUWeR8gi916iOFUn_zwo5yyAK7RpdeQEUI2fMPXH0wXZw7mlwZ3HsgPwNiO_6gDjKMsjegRYI93IrzsJu-GdL-IO27arPyD1VrpI3YmcesXmjn1Yxoph5ZHBw==",
  "id": "rs_0be2927d6e244ace016ab45d4d737487d0a15106512559f7a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The yellow marker is above the left basket. I’m lowering and releasing it into the utensil basket.\"}",
  "call_id": "call_2sVLv1kUpCT2S0NqCTlUHmnO",
  "id": "fc_0be2927d6e244ace016ab45d4dec7087d09214ee4bf284b7e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2sVLv1kUpCT2S0NqCTlUHmnO",
  "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]: [-0.3706, 1.8584, 1.1625, 0.2241, -0.4194, -0.2886, 0.9954, -0.0189, 0.9482, 1.0927, -0.7479, -0.009, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.5192 left_y=-0.1207 left_z=0.1492 left_yaw=0.1298 left_pitch=0.1344 left_roll=-0.0747 left_gripper=0.9954 right_x=0.3032 right_y=-0.0006 right_z=0.2813 right_yaw=-0.008 right_pitch=-0.0416 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -9.2513, 6.2291, 2.0049, -0.1294, 0.0562, -0.149, 0.4581, -2.0581, 6.8581, 1.9219, 0.0513, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:832198be8d05b16a1135359b85050f8558a97f318d67a2f093e550c80236f712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05cfe58c5a70103e0351d8b660007cb6182199557e7b222ccb52fca5654183f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0f5fce570a1a23d02764371450138969a5d2dfd789a856e05f47af005f1a12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 10.92 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 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]: [-0.1482, 1.7199, 0.0498, 1.1458, -0.1833, -0.194, 0.1882, 0.4587, 1.1709, 0.6521, 0.3576, 0.5236, 0.2256, 0.9984]\nstate[eef_state]: left_x=0.3077 left_y=-0.0098 left_z=0.0015 left_yaw=0.1016 left_pitch=0.0476 left_roll=-0.076 left_gripper=0.1882 right_x=0.3784 right_y=0.0924 right_z=0.2503 right_yaw=-0.162 right_pitch=0.4151 right_roll=0.1719 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -4.9846, 2.7829, 1.6044, -0.1538, 0.0122, 1.033, 1.0872, -7.3915, 8.9915, 2.3468, 0.4811, -0.0806, -0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3714, 1.7866, 1.3003, 0.0422, -0.416, -0.281, 0.1887, -0.0124, 0.9443, 1.0935, -0.7265, 0.0006, -0.004, 0.9984]\nstate[eef_state]: left_x=0.5216 left_y=-0.1227 left_z=0.209 left_yaw=0.124 left_pitch=0.1581 left_roll=-0.0822 left_gripper=0.1887 right_x=0.3055 right_y=-0.0003 right_z=0.2871 right_yaw=-0.0177 right_pitch=-0.0157 right_roll=0.0085 right_gripper=0.9984\nstate[joint_eff]: [-0.6085, -10.1675, 9.1419, 1.873, -0.0757, 0.2222, 0.4664, -0.253, -2.3179, 9.3744, 1.7558, -0.1148, -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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.8584, 1.1625, 0.2241, -0.4194, -0.2886, 0.9954, -0.0189, 0.9482, 1.0927, -0.7479, -0.009, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.5192 left_y=-0.1207 left_z=0.1492 left_yaw=0.1298 left_pitch=0.1344 left_roll=-0.0747 left_gripper=0.9954 right_x=0.3032 right_y=-0.0006 right_z=0.2813 right_yaw=-0.008 right_pitch=-0.0416 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -9.2513, 6.2291, 2.0049, -0.1294, 0.0562, -0.149, 0.4581, -2.0581, 6.8581, 1.9219, 0.0513, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:832198be8d05b16a1135359b85050f8558a97f318d67a2f093e550c80236f712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05cfe58c5a70103e0351d8b660007cb6182199557e7b222ccb52fca5654183f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0f5fce570a1a23d02764371450138969a5d2dfd789a856e05f47af005f1a12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1X_aPAOUwV1X12Ycr81gGOtaDAC9NsGjqwvWUFERJTYt6OoaQrt0Di4UdorO80S-ch7Vst-_ubcqgTPIhoTEMTnZTv_NzpGcrBMnI3_zvk8HZx0kvQ6n4kvJ3XQeL0OBWml4ADvIoc_Jjy5iLzbLHG73GfAIkfthyCCwkDw8E8H3YI1NYVd6v02_9xizMW6wFI0_oBUQcy8279n-2TVmOni8fg1FNNdHBn7P_ukOMxo7Ddu2La4cdcPusDmve8tuH48F8RI8pXXoP1Ae9We5R_QRoz-GpTruc5AI14ZdswaVeXq4rL7zvH-7_h7HnBHIwIgnB1qQz5IyKkEDVX8Z90uSMqD1JH7cZWFMzgy93b7ncmTy3ee96kwXVF2dMhEJEuZVdLm5_nu1jX4JY-rCGIM9M1hiNuvBvv5DKKxzMmLMBNhM5tDcHP7Gl9LksadOvXtyaZOw5m7yAOMCfKQlODhdEYpFd-QKd46v-QphQrYr84nSP_1ra2-i8bN1JUVlOImQnQT27B0vO444Ho7eJ82lPadz4zrOEi0aIVmYh75WwIF-uFvRyGryYpNruGZ311EqW0vmUNz43eV9Gv21jcKlp4li1DtnWUgoFIC905F6YC-7G_zxIbS80v1u3Xz-ZKDmtGoflhxkLGMk1VS8QM_y6PFzvJlMX3iTc63MyjsaqTdgFn7GomCTnbwxPIviYXi5EundOXjjda0YnnpBC-nJUI9xIuhf3z6jV07aHfG7IRJnVJYitKsBtyc9pQNNrtulnmRp0vPPLaZBg5nTjr4nUHy4s9xuxVm41gID-oG-diPiwxUfIL3a-UWT3qH0LLldp7zjq7HvyyOaPz7kJaFg1VuXMLuiApJWfPiNe-hPjDKy3xbA03iMdOWP-0AWSnYpkz97ngKxjDTjBck43MOiTalYYCXPS4ortJAr1-FhICjI111Kkei002P7vaWlDaio39tX95QIXKSn-ssEg_ZPZHCJ-sz3IOHYoY9OEKYSp2Cyo_clSpHnIZAWI2K1DDgSPixO25bmzAQC7LTwJt92OV6YSpZ_HDwR86XkIOoTseQXkiQT9qmSx_4OWW1ai6LlJtd0wWfsMwcVlXbiODIXnp_VQga3HbJPWRpXy56jrOPWiyj5IP_ct0YjDOqLh2ynbTOuKipgGpUhXblANUi2zBFMCLFbEtX1izBXtcAzT4ot-1leQmE37Gn-gT-zRBj7VQCDIm_D98NpSpLRvItJ9TVp8vql8t7Pb7EFR7_ZHwv4-CHREp0m2s7phglw9Rv7iN0cg7l39QT_KN78gWvTdiovEoOf0bWSn1PxON_dNIM84SJt5zDOsz9-sygWDtofe9_ULTOpfhNCg9yn6XUApWCIooisAOc4M-7sRKJsaVhcQWN_VlNenLiFb7AP8EeYy-yOqeaBfosN0XrBO2HA5Q2o5pgFmoUnBnlZbrwSCIucC1dl7U3rSH2LtLdIxGOglsFbH1cA8r5-lNaI4yMPSHVLld0kc3wvf4ZcosRpCrz4elH4nSMzjNHg5pyGm1phIAp4oJUZxeAEp4OUEmgjBu-ibCns34FabGIo9PorMOgdj2V9iOjvojjMjHPualfNcKIK66onM5Uz25Mi6eCnQReASQd78LyXA4ebj99wuoZFcAYzgcYE1IaT4F5gJFFD72mUoJiQnGUHv2NRRxFyTwUhnEd9ygkTKfr9HiDzKbvIasnBqMm_VhFojkg5dTWEsWjA3Ct4rJelqRq8lzjTupEVOllwyeGOJDV8y_z-hQ5pZEMJ5TQ9wd0xTPWiaXSFUYFoCiC-YsrTJ3y5MK27i6MKBiXhACRnRCisMjnmI1VlfWgFkVe_WnF4tIcZQXdUfdR09mYFIRkM2jYUexxMkZcDjDR4Qkvtyb0jRLm1DKdsbcARZfJqDDaq_tNJi3PSGZDxaJoG8B8haClIsjimydx-YdWgQCd_4Asb_Q3ahpMFo5TAvj0sBhmL9aHCmfrWGQuLgGzKeEZ0o0jHONXlihAUf9Zn1-Ji7hH_IfMfW3PHO2nLrudaeIUkefiMPrqB5f6TKoud8nbcE55yF_bjkzpXaJ81Ji3Hv5YHyi_6yBF6aeB5_-nZ9JrWJHM8X4xrSYny5pSqpT8qIC8mLrr1PmymV_jQIJ0AdsH-DaMIstEg0wozxzKRoUabuRcuHaH--OVFs0iy1-sRbGi61xMvkRoUQk4-9nuO2lZ4XyDKi95pgiBH65KMcxQeuVcV0nlDLJhSz-idPFAXskfNxUh9iGL_e4xHL6JEHor-AqyNokqkaGbdNegLwOo8KG0fZgXVAfQL_8d8uHjZFLPyFA-FoVlekGdaw3dJKS8AsVvab84ANjUryB1k_PCmK-luHj9Sy4OiI4LqP5GGwefj9KFbQQdXe3jUFrp05jrY6ZkB5UL5IRWd7u4Y4Kf_tant0C35dzy0-zd6HeUaoPAqCU1eOFaBHiss9r_1EB1boqYfcUYXR_IkPegqY3OGr3x3shI6V2OBy-Cn4SX93_g59JnDye44c0b5S4e2vvLjEIX1RBNLrJXRhn6pT1ZrmcSNUxIzo4R0UMbI336zwS1oC6V6Juc_IFUmRE24WNSa-Jw4XYdqenyHPLz6-8I2OdaEDx7Y67AE73ZSeUvlM1YTyHZcIEKiIQhYTNv6RvkE6XXi5fwkkxcHup5A3AmXO9b6CpYYlg5JO6I5TK_fkVT68lw0GYS9NKSh257ef1B6EMMIszzXH9Xxu6BDElo9I40xf8k19fWmyBBMvzdDh2oYFCY467fzNlB5J-bCjIlFHX-KnnGxhSC07J8d6Kez9dG5Lv",
  "id": "rs_0be2927d6e244ace016ab45d50b1b487d08e908b657185ba36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.32,\"left_z\":0.11,\"left_pitch\":0,\"right_x\":0.46,\"right_y\":0.38,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The yellow marker is inside the left basket. I’m approaching the blue marker with the left arm and the small plush beside the right basket with the right arm, keeping the grasp points separated.\"}",
  "call_id": "call_wjSEUXPGs1iL401vyzuYKwIB",
  "id": "fc_0be2927d6e244ace016ab45d55e4f487d089fab11fd10958bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wjSEUXPGs1iL401vyzuYKwIB",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-1.037, 1.9186, 1.2491, -0.3561, -0.8665, -0.9901, 0.9966, 0.865, 2.2387, 2.1052, -0.6674, 0.7208, 0.5255, 0.9983]\nstate[eef_state]: left_x=0.3403 left_y=-0.3042 left_z=0.0976 left_yaw=0.1589 left_pitch=-0.0244 left_roll=-0.0754 left_gripper=0.9966 right_x=0.4593 right_y=0.3647 right_z=0.2007 right_yaw=-0.0042 right_pitch=-0.0088 right_roll=-0.0486 right_gripper=0.9983\nstate[joint_eff]: [-1.7709, -9.0188, 10.0034, 1.1355, -0.4908, 0.4225, 0.1245, 1.3607, -11.6718, 8.0889, 1.3895, 0.2564, 0.3639, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4a1970a12a3c8a6cb2680146a12558ea3b495d9019a7481b7a73483d385f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0050e5926db1c830993ee8465b8c32e548df0bbe2da16b67422fc377ac4d291e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83621382a569126cd3c0b804dcf6891418398c4d69a5d703caddbe2445342df8",
      "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 · 6.288 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 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]: [-0.1478, 1.0367, 0.186, 0.3309, -0.1833, -0.1944, 0.1882, 0.3058, 1.1316, 0.8635, -0.0959, 0.1699, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.306 left_y=-0.0094 left_z=0.0737 left_yaw=0.1022 left_pitch=0.052 left_roll=-0.0775 left_gripper=0.1882 right_x=0.3782 right_y=0.0918 right_z=0.2571 right_yaw=0.0079 right_pitch=0.1913 right_roll=0.2066 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -2.5231, 8.3214, 1.7705, -0.1099, -0.0171, 1.0232, -0.2667, -5.0256, 8.5402, 2.083, -0.0611, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.8584, 1.1625, 0.2241, -0.4194, -0.2886, 0.9954, -0.0189, 0.9482, 1.0927, -0.7479, -0.009, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.5192 left_y=-0.1207 left_z=0.1492 left_yaw=0.1298 left_pitch=0.1344 left_roll=-0.0747 left_gripper=0.9954 right_x=0.3032 right_y=-0.0006 right_z=0.2813 right_yaw=-0.008 right_pitch=-0.0416 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -9.2513, 6.2291, 2.0049, -0.1294, 0.0562, -0.149, 0.4581, -2.0581, 6.8581, 1.9219, 0.0513, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.037, 1.9186, 1.2491, -0.3561, -0.8665, -0.9901, 0.9966, 0.865, 2.2387, 2.1052, -0.6674, 0.7208, 0.5255, 0.9983]\nstate[eef_state]: left_x=0.3403 left_y=-0.3042 left_z=0.0976 left_yaw=0.1589 left_pitch=-0.0244 left_roll=-0.0754 left_gripper=0.9966 right_x=0.4593 right_y=0.3647 right_z=0.2007 right_yaw=-0.0042 right_pitch=-0.0088 right_roll=-0.0486 right_gripper=0.9983\nstate[joint_eff]: [-1.7709, -9.0188, 10.0034, 1.1355, -0.4908, 0.4225, 0.1245, 1.3607, -11.6718, 8.0889, 1.3895, 0.2564, 0.3639, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4a1970a12a3c8a6cb2680146a12558ea3b495d9019a7481b7a73483d385f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0050e5926db1c830993ee8465b8c32e548df0bbe2da16b67422fc377ac4d291e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83621382a569126cd3c0b804dcf6891418398c4d69a5d703caddbe2445342df8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF1lC1zlEqU4mdYeJ1s58hPjDKUFZE6sXLmzKJ-PbvXyp9eAwUUIMc8K_78TM0EMJXEqQfGgDnSj4Ny82GZoAbU6lzrFp6vV1lnpmIey_shQCmQYW1BQOvV6HTQIwnHfV_YzVRoLVlBos0UVYc9XrpbEBTwj46BH7Cwh7MJltQwbXfQSRgdenuaA64FtsgDlWHxFxguFwP81BBRZfbUgclvbjo8b5vyJIO5M7gOU4Fbd7poSasvqbPgNqNM6VTmx90WrTwBZii_h7JMG2HAHS1ESOq5WgfVmH-Z2Bd5xSP8-bLSt7U3r6HV3evszGSeslTDwLcOmhnYNueWE_sKiudSTR7zDHu6nEGv68bDQWg8pW9vigirEOir-yNmtJkoHygVWslrQfTU2-BQ26SeFGsH75zTLZa4PIZQxpk_00rRTfdkh81GmzHdyrcx8ypM5uQaTRzJVXmRgD5_ygHmi8X3WvTy1UjDFwTSNQ28nTFu2lffO4vLhlYHKkZWxLY9iQvSnKvyQuLzzW2axdwcCZclEVW-sV51X_Drp0vUp-bufXfkJzSoa5D7eXVFEaF03hcQecV5P_31YKBPZZHMCi0znOOLgOd47HHBcuGWqPUJRK3WoI6TJSGJDTvk6EUI8RDiV20bcLhIndum3YVUHsGfcxhYRUuGFY4SXYeb-m8-UWVMTe1ut-yRSfBhPRdRoThav-zodTYyni2PTxdwiHIDDcezCnisrmEN_fAfNroAwTGJyLLU7TzvtJEyAAgcb4DLE1pH9RRrMDP97brHl1Tvm1KrcXHT1s5uVcGpomO3pmfwG5beFyEk1e_jYvDoZ6cwycD2ylP5YCAt79uLI_ytA_rI_uJKcjXRmQ3xiympm07DlZdxvLKg4AdO3zbpXDNJhrXOFrNeRQweG8jPlTtKmLEqaATH4bN1DhdBSYZ9cNpWpnnpnNUPHyLb3ullV_6lvDfrWw63yqniVtgsRu0IIFNk7CaixvsvioiqNfZWRn7AdZz1U66nA7wj37PyZIKN0Uz7fhJ2d4mz-KoV1t9qIwgYQWptEpuCBUWfTsEvzL72X3SI7qcNujhK00Y7VP3xGKsqDqPLRruyVEh0z596Ukjz4K3KA3XdRoNDFji6gdxO89HQeGSXNgZraDkRgrn_cDufAbR6xYuUT9dE8wCSdO6giTibKAAcC9xG65COqO7siwze-tbaF4wC6cZ1-YvyrkbOTrE-uFz1BEdzU2EYrmgffcQfORaJ9DY0s_SeGY9_RSMDJzE8EwVV77uTw1rlLavLacKz-r3c7YEGY_A1hvZjg1QV0ZrLosH6lB7pdU-bQD5ZBZ-w4NoFzIDI13PjGQxbfVXVU74fs3u8LNHyeyFYNbGGJqOxlVZ_YpxyqQJ6v1Byt-nl3izwcUVSAR7cGrNrQCM3x_7rnXRSGyRneKAinNTYkFqCFVE3Fokm2iqgpBkdTZ4gTwbHlX3Dka4RBBsYD0iEJpFmTckZotppbi-tegPEJiXZvGv3FACE9CcAtUalZQ6JxfrUmdaQmMXcyQrJIudgYHU0DIuZlaOX_T2k1ihuxwasKm_F9Kgq1yDvicFZrPAg3ssEJIP7YCcTpY9YjQA74cwdKTsbTYyxhQpih5nZJwmdwY30hKifM_RxaPoMyTpHUe1GpxAJVRzU4xjnn3g690szo1k5c-uzfugDAPQNysYVECUqcl1nZoMxLDJ-BeWgrf6I8E0B3T6nOUGGtSUWKpBqLRqftnWmhkE-PBUmp5LidT3iCsHWsCdGooDvA1JMtaMSxWXCqNb9k0kQ4zJdif68svpFVHcUw8VlzE9VvNfm7Ltf6VCEo50RvR3tBjDRDiTMO5Teb2xayeW-MR82D-t6XsRlYze9g_jtWhhycGQ-BcXsfOaTTeZJl0o7FiYihmYekVJEIvRdBUFqZ2T2DjeyYM7F4oV1yGncoUGBqaVg5gk185itsTHTsUGHnHA15ts9UuaPm-_-0nV8mk3nh5FNucrpxiyp8Gw9jw1TsqiPQi41nw7Ifz84ru6L-USUAp79gW64Sz-RgrU54Gj2VSh_oU7xipcufftGo9pR7WM-VpgKkueagfrk7BIL3CCaI0haB8AR1XcLwko_OpuLUBiZ78Rz_jQaO3uYkO_pe_LwyWMrp5a5M25vxO5hglEevMBhEEe5uc8v-MaTXZjYAJsS1jFsWqOn3ds2E2OZcEbDvGqW1ainVS9jqCZxY8r_bbhuq6SnuG_7rdhxwzXWisH2JEMZsNTt6ti6WxeFvnjeYgbVtyqa2HwRMd-WF9zbau-Ff1Gj19XPCqTFB9d7clVd8clSED4Axg6uHJZDFDaHsm7ey_tnNWsRiGia9YlUEA0xQUjdtjyPAebQ9XSJr_sQOQ5sun5CmbZ5MUOHFWUQmhqC5j204BUoCiE-0q6X2beXvrpGbPiaqpEsHwOiyXdQhVk5OYFcs3GEEDTbEOtIPg7CUn_GwA32TwsWMOlSUOAs6bfJVJLIrPx2TipMpHBjJMtx6Kofrs067zBlPp67NgZ7Ey8iDi2ZiE6XviWddlvcXMbpQ0Io8T57CKa8HF6qz18iQcJOeMx5iPafow6dmZ5s4_mi7gm_bxGF1XQcOreAJxtUn3CGkoZQp8A-JaoJf_xjFIrpIClp4ED2FIyIIiwiPE7easGNuBbAp15nySu0I2FudLysBzET-nHgFcCeUmN1La1lgMNaJuH_j38_otOrzivEORzS8_S5JcS5aoRQ_tX4WyV5nvMwx2xlUc87l4anGtMhn8-AM4lacVbtnwzr69J_BQ7u1Jn59owwYoyA0nlBrs3RDY1jn1TCZM6bbR84RSXwLo-aRaSvPTLREps9wsdFTGyCOaC2LExhiu4twhtH7hxDAyKhkLhpDMpqqeJqbPElJtcqfzh5NmSO5rhil0_TnfwajBnQS4-gB0kWnO9rPbca8TGL4r8mAWSZJQc2KOASqs5CGYPYqMKgYxGI7B-D4tanGUwL7SwmqJIRAYX-8ZCYy24eOeOtmqeNm_RXdCZalYxbGR_Qfuxbeil4WsNmKN3sdwhFFz9geuPv0kREkxZ4WcaEj40N2WDx92pUr38QBrKfR3LZVB2EzoOaUUXHurNnGyp2YsG_HkQsqa7BzDAEk6ccVhDVXC6mNwRMDEBlIjEz2PO9HYfzg64YzT27CbSa1nLxRRCL5j1xIAHmJbD5ClfbzXwDjGgVJR9CIKoab68uiWLVLUvfMGCPXqNkiwtPQBSE9CFRp0m04XiiXVTLCL3g_6zulPkwY74b1yBF8vZUcJTgHx-wC1HWHKYkmNAuUJsIRc6vQytyvkLf_PrnoieiG-6SjrKQ6wOeLIOAtWqA1cXn1IJ_ZbloTe8afJwrr9EdWJPLH_sV8n9sZLZPsPpcWFePKlIcMUXsfiHZ4Cphar85mF0vAegeRHX_BzhIm19xml1pjNen_QJkPDs9sm7wYvhcjdOXKB14r7zMSp0MeX7TPe3H9Z_kMFY7J37lAdyFKVmxcXlBPUNNoGIIejOS9L4OGSIL8c98Ntu5S8KAg18LSQRta5bMfN0OOwNrGj7MkUau-NnZuNrd2ra5ewAR23xtBIPMUMCmu8NjLcgT9gniNJmafOyqzkR1XVdw=",
  "id": "rs_0be2927d6e244ace016ab45d5b8b5887d089083ba5127b0c9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.355,\"left_z\":0,\"left_yaw\":0.6,\"right_x\":0.47,\"right_y\":0.38,\"right_z\":0.065,\"right_pitch\":0.4},\"note\":\"The blue marker is near the left fingertips, and the small plush is below the right wrist view. I’m lowering toward both, angling the left jaws across the marker and pitching the right tool for the longer reach.\"}",
  "call_id": "call_0bmWtF8iZZnQwWeMrkgYOpDy",
  "id": "fc_0be2927d6e244ace016ab45d63ba6487d0bdb521153dc0992b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0bmWtF8iZZnQwWeMrkgYOpDy",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1385, 2.6179, 2.0499, -1.1824, -0.9951, -1.8179, 0.9968, 0.8589, 2.3798, 1.5501, 0.5777, 0.9508, 0.1852, 0.9983]\nstate[eef_state]: left_x=0.3295 left_y=-0.3518 left_z=-0.0005 left_yaw=0.5571 left_pitch=-0.0019 left_roll=-0.0276 left_gripper=0.9968 right_x=0.4904 right_y=0.3538 right_z=0.1111 right_yaw=-0.1022 right_pitch=0.4163 right_roll=-0.0077 right_gripper=0.9983\nstate[joint_eff]: [0.8684, -13.2855, 7.6103, 0.7009, -0.1197, -0.0024, 0.0024, 3.6581, -6.8855, 3.7128, 1.072, -0.3004, -0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5526c833d3efdf1583d67729167d08451869d85ee80cb504e88e9ad20bcd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfed1b9fba78f015e1a737cffbb2d16ad5991e725a073616ae88114c51706a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa49c68bcc00dfd3bb02110dfb2094cbbb6d0429165c65eaea554d4ddd2df036",
      "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 · 4.737 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3714, 1.7866, 1.3003, 0.0422, -0.416, -0.281, 0.1887, -0.0124, 0.9443, 1.0935, -0.7265, 0.0006, -0.004, 0.9984]\nstate[eef_state]: left_x=0.5216 left_y=-0.1227 left_z=0.209 left_yaw=0.124 left_pitch=0.1581 left_roll=-0.0822 left_gripper=0.1887 right_x=0.3055 right_y=-0.0003 right_z=0.2871 right_yaw=-0.0177 right_pitch=-0.0157 right_roll=0.0085 right_gripper=0.9984\nstate[joint_eff]: [-0.6085, -10.1675, 9.1419, 1.873, -0.0757, 0.2222, 0.4664, -0.253, -2.3179, 9.3744, 1.7558, -0.1148, -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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.037, 1.9186, 1.2491, -0.3561, -0.8665, -0.9901, 0.9966, 0.865, 2.2387, 2.1052, -0.6674, 0.7208, 0.5255, 0.9983]\nstate[eef_state]: left_x=0.3403 left_y=-0.3042 left_z=0.0976 left_yaw=0.1589 left_pitch=-0.0244 left_roll=-0.0754 left_gripper=0.9966 right_x=0.4593 right_y=0.3647 right_z=0.2007 right_yaw=-0.0042 right_pitch=-0.0088 right_roll=-0.0486 right_gripper=0.9983\nstate[joint_eff]: [-1.7709, -9.0188, 10.0034, 1.1355, -0.4908, 0.4225, 0.1245, 1.3607, -11.6718, 8.0889, 1.3895, 0.2564, 0.3639, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1385, 2.6179, 2.0499, -1.1824, -0.9951, -1.8179, 0.9968, 0.8589, 2.3798, 1.5501, 0.5777, 0.9508, 0.1852, 0.9983]\nstate[eef_state]: left_x=0.3295 left_y=-0.3518 left_z=-0.0005 left_yaw=0.5571 left_pitch=-0.0019 left_roll=-0.0276 left_gripper=0.9968 right_x=0.4904 right_y=0.3538 right_z=0.1111 right_yaw=-0.1022 right_pitch=0.4163 right_roll=-0.0077 right_gripper=0.9983\nstate[joint_eff]: [0.8684, -13.2855, 7.6103, 0.7009, -0.1197, -0.0024, 0.0024, 3.6581, -6.8855, 3.7128, 1.072, -0.3004, -0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5526c833d3efdf1583d67729167d08451869d85ee80cb504e88e9ad20bcd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfed1b9fba78f015e1a737cffbb2d16ad5991e725a073616ae88114c51706a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa49c68bcc00dfd3bb02110dfb2094cbbb6d0429165c65eaea554d4ddd2df036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1sQyZSTq8eUfAsSfJlESFUVZHrUzB_dWSgvY56ITiFf7Eqsv9v7WLBmsWvN9SwEyQFmFkrxqWvj_Nf737gkS2aRfLxL1OyrEJ9TwSoErJRYNxz9EKCak4Q1-q7fE1GWWULvU3a0nCJUfoFaDbJR29UHoCYw8j0TtNpwHPhUYi9ZkYkYAZUN-oKco_VkfLSPX3ezAk-lAd8Pt3hPvf-7-gPzobfmClTiPldbjt_Zh18bmY_6itIytBLN69vpI8Cc1e6aObpYZ9PfIrsjxSUhuaNIilOz7JKCf4dbXRX9D3DM3f68JMnzvEkqsiuKIEvJXibG0coxbMCHiZR8aUWuF2sIiIEn2UV3QXd4e9gsopi7E6N80wkyNgnxqpHtlJyXMZATYVFrYl5oYDb04O1BKlxq7Lz3vmkIC5mV-Sy63JiFCIggyVlMqwdku5zFp8r8kTaHuRwF4-0l73imFMMs-DGKSy7XVno8RHyBd-TtDZeb6mOm7VVgL3lkWJPeYnigKnF6YCXKluCspafzM5Yfd6pmwlxoqY3B8NK-UzuWSKi6oMJrOoU9uAcBRxmm3YYvTMZ-iGPEcwOIWZNMUpA8OohYHxKafpwbLO4OOay1Nrs8A0BYSMUTMnqPzY3rZIIR2pG4lALdrdjSptCtvFcNkWH1w7jee1GLk0MGHS3hQryJmSw8-IeeTlxOsk_3duIvSQROxwqZjVQx2NmyRNWnyrmT9jU9ReXnna8YYrN11NlNAYF1Wd2IVBI2fcroytt3nPizwVJVmFjjcfRAwrBPKamsE70fcTvXqugVVm1IgnbXDhRfCYi6wHnBtyvtwfF9uOW_0n0z7jxXoUr2OsBRqLQk23V7I_MMpqr8YQi-RLSR-03e6TEpJIMhwmScSw2igmYeVjyaQOv5uloC4ZhPIahxt7zNLaNkTwTjEK5e_fe5qnTFmIH7D6DB8lHS6DlHQJ9tFRCyMqK-mzdZm7fpScdf_GSnmIUPkUDg-ddVWqzVQ_BqmA1UJnmhnz1N6nNgwVU4_6_HTc65LjvVY_2jq_vRvo0j1N1gXljWJBGARWpKkAbBu9PxVdvfebz3EMMyFTmONorxF4rTMJ9RELdaeKqLBHJNYQ-nvHY1zO9zhKn7mGs3JWYbdhPDD0iKJtDDG7_HBflDOLwbIUHPKqDfTGdkPzDh5Aw_USrwom5DDngoHUiLA51WwYkD7WCjpYnlihIHoH9-U8yN0NiiSPD3t1Krd6aFpBE1xnLVjaKWeL0yDixJoaD7nYH9tHc630GylQ14CMEJGTReisTK2SDEJqf3tHIFbWKrHgxP9nGjQtEVRGCEyD3spKlWgL-Mi4by4lYOSkg42zRlwjqUbQQjV0naBbTLNapg-E5bkrZusvoDew0MPUidMtNpzpbJtCAo68IuPO_k1tADlUY1gncc7jbLfd34-2Bb6yTBQ_0fvgppCYEVpWLZERoplSqA0z4oTA5fdDzmZs4nXMiltW0emfLLlmcZALgnNKXIpkedJybmSPoL5CKF_0dqQ9jybIJUW8PD0cm0-wAIUyRy3gvc3clJcL7bbhh-z-xyhyY7wckojRmryiYMrHmmUSsuq3GR3e0tteXrYC4Hkl4rtqQFUyhB5irwPG6khHJHZuf3kKgpZ3X4KUn9eXCaKSG87ddh8skybIic8_W3Owf9AIPrUP2AvTfgiWVoX124avEGJppPPSnjVKdLKfzWJIW0tfY2dfDTT3FFF-YmabniUpLLa6vPemAAOSGcMj0PfjI9jw4WdOvjxHa5Kq7aelFvgNuTA9XUnz-gqDoMmUe3buaRC2fTT_HLVhdoyFqgnJ8iVMx1PWYpEfAkyItTivbYypvvpERW4TVNpJqCbPFTHfgo5yYFUXfFR9QmdAYVa7Mlseq_3OhjYwVW_s5BqxHedMGF8KLh5flbIWFsv82Kn65Bash9LYvu1q2iCIC4k1XhBDbiGXSu2dT2n5WeMtixltYjxJP2WI9w5G--SFz-x3x8L2qimhS7EWox5rQHWi7jpgPtiT0PPdzUUHP0XtdeDK3ZQYdGc4tSoa_vn2crDIjpuyunmubsq3u1Q4iZUYE7Riki9XVFWVBYj9Yl_-ylZf7yaya0cRSJClmMd1cdHY4gjgF8rhPlA3Bh79z5TK4IvQdEm4MNY5kJn8iBrzboqqEnggW",
  "id": "rs_0be2927d6e244ace016ab45d67ed6887d088f9bd73d42b3da2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.34,\"left_gripper\":0,\"right_x\":0.43,\"right_y\":0.37,\"right_z\":0.05,\"right_pitch\":0.5},\"note\":\"The blue marker is slightly left of center, so I’m making a small correction and closing on it. The right arm stopped short at long reach; I’m moving inward toward the plush’s body instead of forcing the same descent.\"}",
  "call_id": "call_pqFASHeXN1qxxOfMA3hCh56N",
  "id": "fc_0be2927d6e244ace016ab45d6b53d487d082b57a032f09b71a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pqFASHeXN1qxxOfMA3hCh56N",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 2.5805, 1.953, -1.1229, -1.0271, -1.8786, 0.1478, 0.8894, 2.4134, 1.4528, 0.9234, 1.0908, 0.0883, 0.9983]\nstate[eef_state]: left_x=0.3161 left_y=-0.3531 left_z=-0.0014 left_yaw=0.5491 left_pitch=0.028 left_roll=-0.0837 left_gripper=0.1478 right_x=0.4707 right_y=0.3373 right_z=0.116 right_yaw=-0.2442 right_pitch=0.5431 right_roll=0.0811 right_gripper=0.9983\nstate[joint_eff]: [2.7419, -15.1453, 4.3009, -0.1685, -0.1685, 0.696, 1.0085, 7.5556, -3.9863, 1.347, 2.044, -0.2857, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fd35cfbf2dc4ab89caf786259c6b535a82691da8226c14eb7bf687455a404b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8833aa595ab7437d27429828d7a01152a6165fe7833469f0627f7857ec00c790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a977be560743e6a894427fa789fc23dcac3d389740a485571763f0cccdcac7ae",
      "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 · 6.555 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.8584, 1.1625, 0.2241, -0.4194, -0.2886, 0.9954, -0.0189, 0.9482, 1.0927, -0.7479, -0.009, -0.0193, 0.9984]\nstate[eef_state]: left_x=0.5192 left_y=-0.1207 left_z=0.1492 left_yaw=0.1298 left_pitch=0.1344 left_roll=-0.0747 left_gripper=0.9954 right_x=0.3032 right_y=-0.0006 right_z=0.2813 right_yaw=-0.008 right_pitch=-0.0416 right_roll=0.0012 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -9.2513, 6.2291, 2.0049, -0.1294, 0.0562, -0.149, 0.4581, -2.0581, 6.8581, 1.9219, 0.0513, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1385, 2.6179, 2.0499, -1.1824, -0.9951, -1.8179, 0.9968, 0.8589, 2.3798, 1.5501, 0.5777, 0.9508, 0.1852, 0.9983]\nstate[eef_state]: left_x=0.3295 left_y=-0.3518 left_z=-0.0005 left_yaw=0.5571 left_pitch=-0.0019 left_roll=-0.0276 left_gripper=0.9968 right_x=0.4904 right_y=0.3538 right_z=0.1111 right_yaw=-0.1022 right_pitch=0.4163 right_roll=-0.0077 right_gripper=0.9983\nstate[joint_eff]: [0.8684, -13.2855, 7.6103, 0.7009, -0.1197, -0.0024, 0.0024, 3.6581, -6.8855, 3.7128, 1.072, -0.3004, -0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 2.5805, 1.953, -1.1229, -1.0271, -1.8786, 0.1478, 0.8894, 2.4134, 1.4528, 0.9234, 1.0908, 0.0883, 0.9983]\nstate[eef_state]: left_x=0.3161 left_y=-0.3531 left_z=-0.0014 left_yaw=0.5491 left_pitch=0.028 left_roll=-0.0837 left_gripper=0.1478 right_x=0.4707 right_y=0.3373 right_z=0.116 right_yaw=-0.2442 right_pitch=0.5431 right_roll=0.0811 right_gripper=0.9983\nstate[joint_eff]: [2.7419, -15.1453, 4.3009, -0.1685, -0.1685, 0.696, 1.0085, 7.5556, -3.9863, 1.347, 2.044, -0.2857, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fd35cfbf2dc4ab89caf786259c6b535a82691da8226c14eb7bf687455a404b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8833aa595ab7437d27429828d7a01152a6165fe7833469f0627f7857ec00c790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a977be560743e6a894427fa789fc23dcac3d389740a485571763f0cccdcac7ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1ywOLxURRW2Oe7Dr2xNhUgsgBRxbCpMHxmOLT-F3nmADgOI9260XJv0rsXvH7RRMQL0h9SWZSTlSFVLKP1ONcm7lvE8R6mK2IR_nP2MsPHd80dyChAvMMLfHbiSiUb3rwFEmLpJyw5feYtv1jc2-YI94XAGIXZwEAj_Ex9yQTFbB9DL0C59wMphL2Gu6eGS0rHhx_tOQLplb3qC5DVObNemlpVTs1PTlZY16JGjfycmTv_NRr0V7Due_jvTOShzJ-B0c2IGh4uwD4YCSSVk-hY0aIEFZn3k8ox-rpRLpAFquj47IkF8yhku6uv0ni18wOVnSAbx4scW3EArsdbZMjIHbBBYKDtC8ta32pwP3CWXVTJfEUULvxZ1CLoPpsJjl_pCLr4fMY8fOcEgq7Iii3kTcQrLcshrat4ii8Tti2YOOBFT_UD6SL80hO7AzjDUQXagnaMfZ5p3RVUE1DJT4u78-qD9UVsYmNrCdqOg6NAIQR7MUwnWYgvN8ocxFq-V51K8B1ep6xTZDswcJub9J9aNFQHwFR3wL5w40orW6kbZaj9cGnfK-PiycFNe2gTrQfXYGSb-XDtzbIj4nMs2En1p7u-3JwZnzRakVdPytyfcwww1Yp0pRC-jQ9NuvrygeHu4E0nuHLzXpQqxcszUkwYioOo0snUzV49R96zry_QctjrFVlmPXhKnWPty9G-2BItOAWL8gNHdiHuG78-Fo_1MrRG1jGlcf97lsgIL4KpsOTjo3Ov_BgmQzm2MiV-3cLGhFrZ04ZwYgf112dMubRgtNUuvhq8DWUupCOuyp8pDrNP_zTZlU37MJMvkp-e4IhZvXelzlUrQzGVQyrXKMrSNleNG6dfWaxtj7qcTBZRDVamwKJeWDezNhbrtkLpd-bsgnm36bxnLoim9TIQM3wT6_vA0Hs0Gz0WjghEzy-MJgnk2S51YntWGPXQOmS4aqccZvm3iCdL8LqNEB-W-N-XTFvB-aZPmqVS5rWtm43Lbc9WFqbaHq9REvDiVeF8ny5hwpP85ovS_P46aenAbgjNWv72HUy3-FO3j-Z0X0s3vkNBytlyaivWDNByCEmbCiSZraxbVmOYL4-ygp1_JevqgGscchEEpimBBzIWyCVlkU1OffqPchAQcgxgcSVekVFUkEbGjgU-5x78O3gGNLP5bJkw35NxRMBFM4SBFAzBNWJbEK0IagvnTobAYKVeOjOSJbNjX8_zTXWm_dVSpLWyp1x2Jt15jYEDUpNlEVIw6XeyS6fBGYiI3AGc13LbwPWaHOT2DiseQdL8XDGVgnXHvkDDoz3JUV1mJePnmyMOhiOj7o2njvgl6AadfJC3Yesd2cbm0VV_X4IxC_H4D-1HAKhjyhutruvuRvM5D0QzOG18BzBWYzf4ILhDhaQzzIz8syZZpSOA75ys27_0Kzj2XzVwYnR4iV7wF1hrJUhSwiSq51ZW2ehYY746wPDCAlD0YhW1wNDZnfymf74fUp7OnGtkLoZVEJMdJkKQWRHg7m5kcm6vGTjso5pQKPRDJ9s_RP7tqMMGdZ88I7ojlaxjTNC-YBa7xqlZTkix782IASuvePH1SoS_n6oTPx7XpZBInPAR7ARXBLm1UW6oSQR_4lm4nzshy4c3r8KDnwil0xyv7fBpwIMTuor9osKIzH9rdPMPUhpaz4694J7y_NRt0Q==",
  "id": "rs_0be2927d6e244ace016ab45d6f461087d09b2d5ce5f80267c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.3,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The marker is held, but the right arm is not tracking and the arms are too close around the center. I’m withdrawing the right arm before lifting the marker; I won’t keep pressing toward the small plush.\"}",
  "call_id": "call_36d3197iCPoSs4qDtQyZuZgF",
  "id": "fc_0be2927d6e244ace016ab45d7105ac87d09c7f852d95730f89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36d3197iCPoSs4qDtQyZuZgF",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5771, 1.9518, -1.1126, -1.0367, -1.8786, 0.1483, 0.0074, 0.9421, 1.0855, -0.6807, 0.0708, 0.0277, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.3559 left_z=0.0009 left_yaw=0.5437 left_pitch=0.0354 left_roll=-0.0976 left_gripper=0.1483 right_x=0.3104 right_y=-0.0066 right_z=0.294 right_yaw=-0.0741 right_pitch=0.0259 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -13.4222, 5.2444, -0.1099, -0.4518, -0.0464, 1.0281, -0.294, -2.5778, 9.1009, 1.6435, -0.1001, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd0fc7063a9e054f152ba1f8912789495b1e560311b1c9c69c4f023a59bed67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759d4539d3bc434ce77166eab84200b966cc2c050d117338f71db463506dfa77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de22cbea9bb549a587e7763ec58e84f80b030a2e7af876c375fe0d50fb520cc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.014 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.037, 1.9186, 1.2491, -0.3561, -0.8665, -0.9901, 0.9966, 0.865, 2.2387, 2.1052, -0.6674, 0.7208, 0.5255, 0.9983]\nstate[eef_state]: left_x=0.3403 left_y=-0.3042 left_z=0.0976 left_yaw=0.1589 left_pitch=-0.0244 left_roll=-0.0754 left_gripper=0.9966 right_x=0.4593 right_y=0.3647 right_z=0.2007 right_yaw=-0.0042 right_pitch=-0.0088 right_roll=-0.0486 right_gripper=0.9983\nstate[joint_eff]: [-1.7709, -9.0188, 10.0034, 1.1355, -0.4908, 0.4225, 0.1245, 1.3607, -11.6718, 8.0889, 1.3895, 0.2564, 0.3639, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 2.5805, 1.953, -1.1229, -1.0271, -1.8786, 0.1478, 0.8894, 2.4134, 1.4528, 0.9234, 1.0908, 0.0883, 0.9983]\nstate[eef_state]: left_x=0.3161 left_y=-0.3531 left_z=-0.0014 left_yaw=0.5491 left_pitch=0.028 left_roll=-0.0837 left_gripper=0.1478 right_x=0.4707 right_y=0.3373 right_z=0.116 right_yaw=-0.2442 right_pitch=0.5431 right_roll=0.0811 right_gripper=0.9983\nstate[joint_eff]: [2.7419, -15.1453, 4.3009, -0.1685, -0.1685, 0.696, 1.0085, 7.5556, -3.9863, 1.347, 2.044, -0.2857, 0.2125, -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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5771, 1.9518, -1.1126, -1.0367, -1.8786, 0.1483, 0.0074, 0.9421, 1.0855, -0.6807, 0.0708, 0.0277, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.3559 left_z=0.0009 left_yaw=0.5437 left_pitch=0.0354 left_roll=-0.0976 left_gripper=0.1483 right_x=0.3104 right_y=-0.0066 right_z=0.294 right_yaw=-0.0741 right_pitch=0.0259 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -13.4222, 5.2444, -0.1099, -0.4518, -0.0464, 1.0281, -0.294, -2.5778, 9.1009, 1.6435, -0.1001, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd0fc7063a9e054f152ba1f8912789495b1e560311b1c9c69c4f023a59bed67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759d4539d3bc434ce77166eab84200b966cc2c050d117338f71db463506dfa77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de22cbea9bb549a587e7763ec58e84f80b030a2e7af876c375fe0d50fb520cc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF17a_BUMhOjp29UEYC0F4ZO6ESj93tbizY94VVqH_SsiMQJSTCSoKX1gfpfl5BY0OhSx3jelBNrBUCUdpDDx-HewqUfaMpVR6VuwquRu9CBjNxlJcnLlgELU6dCbERc85Slqfzyr8qSM1TP354MMqtsDIqt3Hy7jKOvz8LwVdJXbMeRsbkqePJvgQhPCaQc6oy-Yqv9DM4zjHcBadqyGdR43-dbLTm0EighhtisczBWj5M5nojgf39Dyprp6idxnndjeaY7wGlExviHOMJc6IZK6X28PDldpu4G3QTCZ6DGF12g6OXgvY3mCesu9uoj1R-hf6pL5WCLd6XZvBq3bdk13xWRB470uMcY83UEt64AuRC0eW_WawtPBejzZOBJfkh-COYZNGK4DmCxD421drqVe9EwRCN-KakqW3SuT87S_HaLaZbhyxnXEbuTihtBj2vHBwMW6P4JWOKmSBx7RdYbViDxhf2abO01RZV9OsoBlQSgIaDvU1GGUKYzkCfeh7pNoYD1yaLxsowEznru1ODDuOau7hvZm-1nNUH_0pIz8V0zUKetG8LSLG0p9Y8urQFfELjVTJoRbIlBjTWICUCtZhcLyRBN8niaSKBmnxF7eRq_u0aPn5m_GXiWrudSjeZnFnbW6S1lpSx2VPlmi-Our1onAD_ZH-1grM-_znzJlza2mku7MqKWdqTuthaowLg02OTDycq17lmXqU_0ZnhymC0LN9zC1PE3dcAhJ8dm3I_mjTtDotsvMp2Lq8G9KK8tO6iGnifOOZrIpzRNWF4fQ4oXn9Ke0tWRtSTxRHcpx4uz4xInud5TZfOz5OPurUkTB8DZfKbs4UfZglTyFCu2q1jCfsCty8LW7u0aJqfQoEg6A37q72ML5zHuKkNVz6D_DkJt0RvTrIMyJlPav7NA-JZ8oA2zJEtUVJ0PocABqrJlIytz1UH9Q_q1eUHRsA2mCgswyHP6NjNsvVek_Sc1jqxaeoESESKZ_HEGjAxxMZqpsPVICKgzIBO6kHYMS_BZo0sGUa-iJDK1ZMQ0oGgjWJv5Btj9KLIYmN1wddBhEtmMFZiIO0ur4PtghOLcss1p-fMNMys-wasRWuB6vOQkVQMG4AVspgSaF1JAOnmlrpYMnZvsD-lHp6nQzHb8fiiDM4KKl6txeW5j5qCs7dWmpe8s2Xm4Aesdhn9ENlLI6OKUUamp0hVFI06UUDJlq9qjk1sIZeXPb-b0_qJg7yihNjZjYazzc3AvPNYtR0WjXKLSsTL4189V7ieHgGlGp2pXX2TYHy7JYPKJY2BvR4woGQxDlKzYlDUjLQqLYngaqPwa5RQ2K_iYuwDfTsZFRi-tHrj8ytEJf8NJ_827XHW1tGiWta_7V79anp1KhvETct2hdygRNtTXQEPMMTY5qdNHeOY01jKmShqWaQY25mzFK1NoLgE4YXdkOe3BMUaSEtR88E6driKlvzZ3BpaJVLr7B1YtyQlJ1sAgogKHVfWQhTnLiSEJ0ybzIxQt-5wDsdUoC3WDHmNNf0zW9dFtOw5jvJArN0dmiu0QuTRBMafyKro67SRXYFOzb5VLDe3NnRPZOOuwg6WJcYiAtq4Tndi-5ZqwbptGAJ82RhDQUkaPIPuYe7b2NPvnmRaXmDDev4PzQi3qy5O_WoyES6CLNwq7tWS1EDWDhj_nBWqdDFacB2N5pDft6TkeMWqoH6O9fsdOtpN4Tdeo6A2qA7Mj7FzBeY82e7MGgaGj_8bUPv2KhJyxkzt73YPqNmyLEZrpqyqG7Q_k1ZPKpKJ1RetdzBj1WykIFutXMrkbwojSwPUyS6eZ-r-aM1SY9ubgKX5_PzKsO2I6hdNqP7SHLJAUr69QA2W-MnKSFPqEwS1ixGQRJnUS-kIqHykKeI6JJKyy4qADzoJE5kzBmP-w-4-CMf2qsd77w4o20RsmLXddP2HpEzm_ffNiIDZ9e6NfsMhhm1ju_10PsSfVyZLXG-3rZ6xzwz2yHrOl1_KGqkBd5PKYTD8blvOO8bmn__6X4mMFUnl-dqpJQgdQ5VkWP-EjOf45kzUPThi7TzslLbkVqxJw0JKKJcSAaKtfH5CH1xsPHhNkFuZfJh0VWAeAmKjBL3aSNE8QGSu52fRKE2ANS6Ct4z8pe6kxm1wJr1S3KzNF00Q7mjI-FeGO7a9OjZ9n3ZuVCPDbL0Yz9Cvjzz24UzEBClMC4vsdqnyQXxACJRca71JRcLj4Bua9ZzL6O-1cmxr-mXd_8JYq6qkOVWMCSC45J-8GtHavjbsbavspdmu21gTbB6jZd4o7myZiWPvtg84kAiBTkyBn9TBOlTQ44-luRy4ShLS3E52mW7Asp5hT82rLE8Lyh8DtmeOrhfCImPcC5JVa_o50YPirlXIH4xZEdrf-3OlwRKkyLUDhYwyJhBjX__nqs4GdfoAw70znNY5ir-IoKlf-MlyQaTu6SUBp8Ut6fQAQQhLScTD_dTj1zTmeFzZFkbeQ1_Npn13JLer5WTc7qEqWynSNZwJ-89AC53p0n7L_4f0xDUHKUkcxgtSMHBOAbTk8cytulR-2UGt6IhIq7bJ5wdAvBMTpeb_wlplvZuSpBBAdYBH1OnAXucQ6bUYCALSTm28zAwO0pYYWAlLm9Iz0RwjpZiAb9dfz9RUDRMOtzVAPPFgbDJxQEzbfqvhbhQa8N3Q3O2w96fRJ",
  "id": "rs_0be2927d6e244ace016ab45d76b15487d085786d89b07eabf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The right arm is clear, and the blue marker is visibly pinched between the left fingers. I’m lifting it off the table before moving to the left basket.\"}",
  "call_id": "call_b7ho2pRiWCJnvwlFun4GHxze",
  "id": "fc_0be2927d6e244ace016ab45d7af7e887d0a459273cbd719f90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b7ho2pRiWCJnvwlFun4GHxze",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5298, 2.0708, -1.3155, -1.0168, -1.8866, 0.1484, 0.0036, 0.9463, 1.0882, -0.6907, 0.0597, 0.0189, 0.9983]\nstate[eef_state]: left_x=0.3142 left_y=-0.3559 left_z=0.0495 left_yaw=0.5506 left_pitch=0.0214 left_roll=-0.0653 left_gripper=0.1484 right_x=0.3101 right_y=-0.0058 right_z=0.2918 right_yaw=-0.0639 right_pitch=0.014 right_roll=-0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -17.5521, 7.6786, -0.2418, -0.652, 0.0366, 1.033, 0.1436, -2.1812, 6.4752, 1.8632, 0.105, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4044e25177adc19e29d9506b617d0345939eb7d1afa5f6ef0c94f1b0fe7ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99906067dc94dcef99347875120dc2a36bf9f908e0bed081c9e9c3eeeab19a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47ddd6be8a2a65f74a8e7a783fb289e23afab0662917592307e6933503c72c1",
      "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 · 4.814 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1385, 2.6179, 2.0499, -1.1824, -0.9951, -1.8179, 0.9968, 0.8589, 2.3798, 1.5501, 0.5777, 0.9508, 0.1852, 0.9983]\nstate[eef_state]: left_x=0.3295 left_y=-0.3518 left_z=-0.0005 left_yaw=0.5571 left_pitch=-0.0019 left_roll=-0.0276 left_gripper=0.9968 right_x=0.4904 right_y=0.3538 right_z=0.1111 right_yaw=-0.1022 right_pitch=0.4163 right_roll=-0.0077 right_gripper=0.9983\nstate[joint_eff]: [0.8684, -13.2855, 7.6103, 0.7009, -0.1197, -0.0024, 0.0024, 3.6581, -6.8855, 3.7128, 1.072, -0.3004, -0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5771, 1.9518, -1.1126, -1.0367, -1.8786, 0.1483, 0.0074, 0.9421, 1.0855, -0.6807, 0.0708, 0.0277, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.3559 left_z=0.0009 left_yaw=0.5437 left_pitch=0.0354 left_roll=-0.0976 left_gripper=0.1483 right_x=0.3104 right_y=-0.0066 right_z=0.294 right_yaw=-0.0741 right_pitch=0.0259 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -13.4222, 5.2444, -0.1099, -0.4518, -0.0464, 1.0281, -0.294, -2.5778, 9.1009, 1.6435, -0.1001, -0.0513, -0.0073]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5298, 2.0708, -1.3155, -1.0168, -1.8866, 0.1484, 0.0036, 0.9463, 1.0882, -0.6907, 0.0597, 0.0189, 0.9983]\nstate[eef_state]: left_x=0.3142 left_y=-0.3559 left_z=0.0495 left_yaw=0.5506 left_pitch=0.0214 left_roll=-0.0653 left_gripper=0.1484 right_x=0.3101 right_y=-0.0058 right_z=0.2918 right_yaw=-0.0639 right_pitch=0.014 right_roll=-0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -17.5521, 7.6786, -0.2418, -0.652, 0.0366, 1.033, 0.1436, -2.1812, 6.4752, 1.8632, 0.105, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4044e25177adc19e29d9506b617d0345939eb7d1afa5f6ef0c94f1b0fe7ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99906067dc94dcef99347875120dc2a36bf9f908e0bed081c9e9c3eeeab19a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47ddd6be8a2a65f74a8e7a783fb289e23afab0662917592307e6933503c72c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF1_kOG-FvbgdhRgmC5dCSWsABN9aBfisBOy4ngvBjWh3EcCe4ElaH7OprU0VNUDMX_0kaFiSG1JFWUCaQLVY4-Gc4opx_B1FnDLCcI3XI1CKCTwLMeDk_F1KX5_WeucFWUG-mppjjsMMHM6SpEHdXs8DavgUpU0D50F8YiPXO6gvuvtDS4y7Is0UBqBap1InvVKls5zWJzLNh7a9d4uYZOZ5sLrBxr9SOs_Lo5X5oNIhbFMUemJYmP8AeDOKdp7iDVKZsXWvvdzVPlFnPT9yVq6O0IvdxrEDT-mwub5kb7jkReQDk92WhMmAsmZMgSvSrcGli4c-zj-it7d1ToJBpHYFLUzQ1CKCiTiFxvWL3DRknCJcW8pi7B4RtrnCGMGnE_ba2RUpQ7Tja-q3yhl9JLnFRy3HGkWXFGVVtaEd2_umOk-jv0Mw3TuhNt6Qc7ANDh2wGGvYos5urLKDpUypMoK4o8tf13Zv57LNDROitVwT6kTE-VdATH1QvRQfTdsx9xsJRGMebzMkDr3GGHyqiMH7WA1RXIT9JPTi0Th-O6kxoOdgKjUPyqDtSC4V9xsXn9VQkQM_5MqoGUff-3kMxUJnmgSTWvgFIdQ8QB8DwIGdecGuHC0n8T_KOzF80cRV2xdZOJ4NL1Ouu4R4yWYcnjE_PUufuloUCjesWdGUWBCeSGhrQWpdM1SjrRZfqpFNhY96bzHP3ruazOI6NdtUrdlNJJo-fEBvgXgdXCzIIINk4Uf_lIP0xVC8tyy3J9HFVVFshnhSnmyULKLS2Jpym7CyiMIq39uOdlXfUOio17V3bN7AZp_PnQiV3EETVSC_kHza_FKTNram21iQS-9oY5mn81Agt3mWV30G9WbhpNVQE0w0p14GmxBtAK3ayPpTI2ds0VklliTaKzcI-kyD-uTB9m3iu0XU1vOnKdb3xfwaYMlAg8WEZpOUTKBH0fNRHqVHA7iFzL_fZjV0ZEgfW-AiZBmlN7p9qsJfxz-QPblj3WN4MxP3yL4XasBzIgpMSATQvwuWUz5qQJSvZ4nXTWMQwA93LaCMZQ4cUDhn-sx_nVTy3645VxWpZvKxngK5jSZXRUJU2-o5XOMFXbNEoFeVHo-jTAWuLPOQkObQyzySF8Dq8JpTtY5WSVDU6u1MQUVhFZalvYLpDJHHINZhCi4BvTdFHtJL9EWWh6Hm5sIS-KhnTJWs93D8WGgVZtPYUwNV8tVcEmm-vpTkDReugDOgouP8pgSO5xmGT5QF4ylRO4=",
  "id": "rs_0be2927d6e244ace016ab45d7dd83087d0a7aea778891b1867",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.13,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0.2,\"left_roll\":0},\"note\":\"The blue marker has lifted with the jaws. I’m carrying it to the left basket with the yellow marker, keeping it clear of the rim.\"}",
  "call_id": "call_XbAS2RjIe53VHCxbCIXqtGEd",
  "id": "fc_0be2927d6e244ace016ab45d7e47e887d0a07bfea5c3f95696",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XbAS2RjIe53VHCxbCIXqtGEd",
  "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]: [-0.646, 1.8153, 1.2613, -0.0364, -0.4583, -0.2333, 0.1545, 0.1043, 0.9993, 1.0714, -0.664, -0.1596, -0.1547, 0.9983]\nstate[eef_state]: left_x=0.4595 left_y=-0.244 left_z=0.1633 left_yaw=-0.1482 left_pitch=0.0397 left_roll=0.049 left_gripper=0.1545 right_x=0.3152 right_y=0.0649 right_z=0.2753 right_yaw=0.3147 right_pitch=-0.0219 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [21.9009, -15.0769, 9.2786, 2.674, 0.3004, 0.5739, 1.033, -8.3624, -6.2017, 8.1983, 1.2869, 2.2295, 1.6532, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56d2fcef53b7700a2da5e372f0319fe3e25c2740ebdc071b64d9683242d5820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d3e0eee076d0bbdde5e814b0c5ceac3db7e2fde18ca1bebccd7d6c12a409ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cbf454d8fc9d98d9053f49d6ddabeec0b2ef006ff657bc4fede3d76fa2684e",
      "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 · 8.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 2.5805, 1.953, -1.1229, -1.0271, -1.8786, 0.1478, 0.8894, 2.4134, 1.4528, 0.9234, 1.0908, 0.0883, 0.9983]\nstate[eef_state]: left_x=0.3161 left_y=-0.3531 left_z=-0.0014 left_yaw=0.5491 left_pitch=0.028 left_roll=-0.0837 left_gripper=0.1478 right_x=0.4707 right_y=0.3373 right_z=0.116 right_yaw=-0.2442 right_pitch=0.5431 right_roll=0.0811 right_gripper=0.9983\nstate[joint_eff]: [2.7419, -15.1453, 4.3009, -0.1685, -0.1685, 0.696, 1.0085, 7.5556, -3.9863, 1.347, 2.044, -0.2857, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5298, 2.0708, -1.3155, -1.0168, -1.8866, 0.1484, 0.0036, 0.9463, 1.0882, -0.6907, 0.0597, 0.0189, 0.9983]\nstate[eef_state]: left_x=0.3142 left_y=-0.3559 left_z=0.0495 left_yaw=0.5506 left_pitch=0.0214 left_roll=-0.0653 left_gripper=0.1484 right_x=0.3101 right_y=-0.0058 right_z=0.2918 right_yaw=-0.0639 right_pitch=0.014 right_roll=-0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -17.5521, 7.6786, -0.2418, -0.652, 0.0366, 1.033, 0.1436, -2.1812, 6.4752, 1.8632, 0.105, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.646, 1.8153, 1.2613, -0.0364, -0.4583, -0.2333, 0.1545, 0.1043, 0.9993, 1.0714, -0.664, -0.1596, -0.1547, 0.9983]\nstate[eef_state]: left_x=0.4595 left_y=-0.244 left_z=0.1633 left_yaw=-0.1482 left_pitch=0.0397 left_roll=0.049 left_gripper=0.1545 right_x=0.3152 right_y=0.0649 right_z=0.2753 right_yaw=0.3147 right_pitch=-0.0219 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [21.9009, -15.0769, 9.2786, 2.674, 0.3004, 0.5739, 1.033, -8.3624, -6.2017, 8.1983, 1.2869, 2.2295, 1.6532, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56d2fcef53b7700a2da5e372f0319fe3e25c2740ebdc071b64d9683242d5820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d3e0eee076d0bbdde5e814b0c5ceac3db7e2fde18ca1bebccd7d6c12a409ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cbf454d8fc9d98d9053f49d6ddabeec0b2ef006ff657bc4fede3d76fa2684e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2Gg0e8WySGDwrNfQrT07ZRLZwIfT59KOU0ED20amgF8t_JM4jGrkOo7XibX6RVMyFTebGqPomCcuQRXNyCWyft0bIF3jm-LLI3xnl20OkZoAPJLZM4b4P1DUqK3-0Vextgvxyw9F6yvEoLFjLy91DBaQN-SxvvrpaxBJFBb3K0lYUUuIA8B_aweeffdhR3c84Bh4Gpa7uBCFlRA8DgaqgdMIurnvkK7CRSqWXp3TTIRSLxvkFy1ZE54n_gjQ1g3DAW9defiNAE2rLwJO9Fd2z4gNAVoB6Lrjvyql1tdDO2EyCJ1EGMIQ1ok082011Q6qr7FnFc6TmCVt0KmIXjdXkcC5aWiDDiBqeea36EO6fhwLiygV-T0QyrhzKoJNVieDJytdKJtRcfAhR_Q5L76l8sFFqOQDd16LaIOvt7JtEIWBmXxJHXPhRi7GCLx5zE3AqL_2sZzpqm2EN6m8pfkN6KHwk7R6KPjLsdkFN-e1Gam5ssqhQDu60jTlDMjLptGCMWD70tJPwzr9O2PmIfsnHnDE1gk0xTLMekxDiOLT4exgcuGIPsOp66dLyPGfevBYIIvrV1xvPzhzJEqGOM9W9R9-XIWI16eiBhdvaMNK319huMU_YUXmjAnaBS1pB9NfJ9NB3zuePQOgnTlexhSRFQ1BwLT14M7fzDiPujPkG9gJYrNRvMTaij2Y9e8qJD6Xzoec11W7uTO-M-nn1MpAK3Woj7tuj53fPHrpVWZWbpMdxJgQbAZqT2kG5xZrczP1JUyc27ubqXE8NQhlHjxA2vMewnYlUMwI7NuYFeAeFggTx-xwvV31EMHfUNyE8abf79_NvmFukx5ipHVPIv5VpINb_3samPQ5CBOy23wt99QUP-CB1BWPf-O9PyNpVy3DB1bcGyFMDcRhCL13q2LIkufXN6Mn8k3uKwkDNKlNfzrpkqIqg5UoKvtBnlNDuNyZXRAEve54LY9sRBrXLZxsgH_lSmbwcf2X1TnmfrZYQfbccZCwiYOfG3rDSyRj8bliy5DMAG8QDiBPWCTc9r5fkSjNxtJH2UtuaD9asbK-mTzuM9-hWNPwQqmSRQi9F9mreADASEQeaugG_ElMXfqAW-zqnLtKl50zR5nr3AJfbtBKbp1w-RGGaRuToiPbQSvyw28zVV-PBiz0jQ04AOQ-NCkq5NqxDmoN8oz22AoRJiOd1ZCh6oFPDFgeGnHfaiRA5ZGpd96lwFoQb4vkkc3gUTPTwrPCmjbIpCOea4hpt-c3cFk7GDWKEcyfaheVTP49Kakq-ELhTGqLwDM2UcYKUU88hgC8mPGB3qOwhZ4mDsLrUAivI_NEm0jry8zNcwS7tcu5P_g7jpfIyYRSjpLuekPogJxoPicsZKZeqqggtI9yriJ8WMgALkaizTcJkN9fBBPT0nB4N0gCTQeTxuI4ie43B7k5c4QZNa3PbDUG2mO9q9e_Mn9L-7epsc5Uryx80Amr39eK028jhpHX_AKr3Z-tq_Ve4qta1SFbzyeImXSwFlLHtTkUR55Um0efo6a7Nvy15__eN_DG9yJLsoVrApAdCdH3onPUnIpuEwiGG6hWYLRSSi1YWdSKMlJ8Hf3CF0GvscV4CBsBAGpKn038jKvxWTtagk3y4JknAK-zMobhLomYvhtxGTBQm31ipVZLfiteXi3YUJc5DGa4B5dcMffw5SJKWfoU-ooYEMJyuJD7XjQVImEGfly_KtwitlV36ILqaeDc8qz-iCeFwxGRd9hlJJaiNRE9IDoZrAUgK72kv7vl2yutDv01akqKl8Isk5wXk_GzWNR4g80_l5mojhUhC4-Suig5kQ_69J1eQp3AJ3dUEED5KyXuKmTgszZHixUjQvS8JXln8xl7ak5TtSuZKGIksCrY42HRzQ-H-yf_KlkrdrjRr6UlFxda1nv9CY",
  "id": "rs_0be2927d6e244ace016ab45d82eac887d0adedce2188e7418a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.34,\"left_z\":0.10,\"left_yaw\":0.5,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The carry motion stopped short and pulled the idle arm sideways, with a large effort spike; the visible cables may be snagged. I’m reversing the last motion to relieve the tension rather than forcing the placement.\"}",
  "call_id": "call_l4qM01eeMHSJbxErMJz3g4AT",
  "id": "fc_0be2927d6e244ace016ab45d84ae7887d0a736b9a92d600584",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l4qM01eeMHSJbxErMJz3g4AT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1141, 2.3783, 1.977, -0.9936, -0.9585, -1.449, 0.1588, 0.1009, 1.0061, 1.0626, -0.654, -0.1577, -0.1562, 0.9983]\nstate[eef_state]: left_x=0.3489 left_y=-0.3741 left_z=0.0852 left_yaw=0.3749 left_pitch=-0.0393 left_roll=-0.0753 left_gripper=0.1588 right_x=0.3175 right_y=0.0636 right_z=0.2713 right_yaw=0.3105 right_pitch=-0.0278 right_roll=-0.0292 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -15.2137, 6.9128, -0.0317, -0.9304, -0.0415, 1.033, 0.1846, -3.0017, 7.4188, 1.5751, -0.0611, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dafdf889b9f290c4eb605b6519004a00cf36d0ff1faf787aadbfd4499b2ac93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f8222e4492a815d4da50f93f5ab2a654175b5cc622b4a49476d8ee60168405",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec17706cf1346b7b1121ca819b0e75385aea98b3634e4d256096c149da9b5f90",
      "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 · 5.933 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1774, 2.5771, 1.9518, -1.1126, -1.0367, -1.8786, 0.1483, 0.0074, 0.9421, 1.0855, -0.6807, 0.0708, 0.0277, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.3559 left_z=0.0009 left_yaw=0.5437 left_pitch=0.0354 left_roll=-0.0976 left_gripper=0.1483 right_x=0.3104 right_y=-0.0066 right_z=0.294 right_yaw=-0.0741 right_pitch=0.0259 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -13.4222, 5.2444, -0.1099, -0.4518, -0.0464, 1.0281, -0.294, -2.5778, 9.1009, 1.6435, -0.1001, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.646, 1.8153, 1.2613, -0.0364, -0.4583, -0.2333, 0.1545, 0.1043, 0.9993, 1.0714, -0.664, -0.1596, -0.1547, 0.9983]\nstate[eef_state]: left_x=0.4595 left_y=-0.244 left_z=0.1633 left_yaw=-0.1482 left_pitch=0.0397 left_roll=0.049 left_gripper=0.1545 right_x=0.3152 right_y=0.0649 right_z=0.2753 right_yaw=0.3147 right_pitch=-0.0219 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [21.9009, -15.0769, 9.2786, 2.674, 0.3004, 0.5739, 1.033, -8.3624, -6.2017, 8.1983, 1.2869, 2.2295, 1.6532, -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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1141, 2.3783, 1.977, -0.9936, -0.9585, -1.449, 0.1588, 0.1009, 1.0061, 1.0626, -0.654, -0.1577, -0.1562, 0.9983]\nstate[eef_state]: left_x=0.3489 left_y=-0.3741 left_z=0.0852 left_yaw=0.3749 left_pitch=-0.0393 left_roll=-0.0753 left_gripper=0.1588 right_x=0.3175 right_y=0.0636 right_z=0.2713 right_yaw=0.3105 right_pitch=-0.0278 right_roll=-0.0292 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -15.2137, 6.9128, -0.0317, -0.9304, -0.0415, 1.033, 0.1846, -3.0017, 7.4188, 1.5751, -0.0611, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dafdf889b9f290c4eb605b6519004a00cf36d0ff1faf787aadbfd4499b2ac93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f8222e4492a815d4da50f93f5ab2a654175b5cc622b4a49476d8ee60168405",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec17706cf1346b7b1121ca819b0e75385aea98b3634e4d256096c149da9b5f90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2PNckSGpZMaU6Dd2a1jLMcO5BI8qE1fKNstAdNy9MfIYoiTc2CNgk20Bivj1-lxWQOzqg0nWwxKlj_Liw_fAu_1SObDFJGNvyq0Gll4Tc7MWsurH9omsnd2wG9P8AHlBwo56W5uZqz_cD_OUuyHvApePLx6L8hwl7cwhWFL4AEXmFWnq1gDMzpEvuOGFaim4cXJ1uHowUmp2vcYHkNViIIwm-K6jUQfk_2u0UcX1r2bDd4s3z90HXn2m7DA_nOtjJKEDtl1noB8RW-cmrmIQxeR7E4rqcL5FdXc3PMtoc22bJKt5Mukcr45awOwdCyKZhQcGE2D_sHXJ4v-XQgxs1WR03hEAM3Rwy2Poc3rPHR1kLkS1gWHhABlDHgIJ0i1syLjJ_JaT5bRnnhrvnbTSIN40m2aZpXAHdLmKBG1mAIne9of6I6oyto5px2Q6zSI505ECw632Ji_qjZMJmgOoUp5-iozVqCmIVQ9Qws5l8qLbw3wkDR8z5sA4198nZatxE0VfgwNetFgmmrQMOlWgRrQPiHTxS8XJiRFmlcoRBcVuSfGNPQJaBUPLgXOAd8xNBIW-o3Dd9neF6YmufNTCu5X0nbEKk0rXDyzMxn3jdrA-UPktnnZ5eD7edamKrJfxuiW5-pQwebDQ_3v2z8ztb8Jp35C3OOUnx9HcVjzElFq7qlYGaOn3qSQsLIB95dDv0QQy1pSt419FImFzYnD9K0Kh38Ih5Vd-cOnaKuHxkOahTSYn9LBQeidkVkyx2uDVu4P2yMchF4Zz2H-numHfVwRz7WvLLxC-CGEgStgv8gHzLs0IJaY3hf7XNvnj5A13yXg501ipQ8yLfANvrsUx9Z75VNtHOBf5upyZq6EuON09wQlY3hibBd05aJQu_fExUXQ5taBYDbxKqd1obUGAyplj-CHJUm9e7B33yXSQOCWO-Kn635mHRZG5UZrECgTRpqUfAJTXMvkqT-M6tX5tcN6MoTAtSBtyDSGC7Qf0cxQsC1Pg9GFTgwuC5BST0VKHY0P_z2NcwAQJEwV7hHUOyhTwixMorVbJpTwcwtriGeo4mPJ1a-f5EdHH1XKpsR1JM3znLF97DHEFjRKfAKkb0cGoViQni0Emlfn_YyZ1FHS-Iye61gpy5RfkcDTk4xyv23E-ou-VYPMhLRwfnFuHlWGJA0u1F_VwVoJVf6C-zviUEoaNalU7fOM8IA4Y2eU60DGibPhyU1brkK7aYOx80kHKVESfqRWO9Cu-8D5ddtpJbVU347yKFv_sIShkeRvSVgjMN3gW68_j6D7vQOpbY3KeQC3878qf-34JRbrQn-py2lylGLJ8f7KN0hPc8cGQOHro6IfPPBJDv-g0Axy-j9imj1ntaEXogxozFnCLbHM1UsBH_N3p9u3YLz7lgda_nd9MsiMTW468CvfDkpKQ_Av8JuvLH6NJQ1oLjmTzVAjKgWu9r4pCBgWDzSCE4pthKWGcLqmpa2EtFje2MCGyqYzvmon9NcttYnOSg9J9P7DShxi3lZo2eyJqPSvxmlDXbUkc2w-sbtZNe1iMbK3N5CROdgl1AUce7ZjnGo7I5RZad9DgWBwlo612DqxgyLaV0umDJDPpQg-VLVGJj2a6bNKTtIV_f8YsZ-gwUTZvkE1QaU6ESgwMgHuV4k9jkXR1LlhN80bpZssR41vh-t30p1ttS8X-n-1eFkrM8M53AxEwM=",
  "id": "rs_0be2927d6e244ace016ab45d88d48487d0b1c797a8e79ed409",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_gripper\":1},\"note\":\"Reversing the motion relieved the effort spike. I’m setting the blue marker back on the table so I can stop without leaving an object suspended.\"}",
  "call_id": "call_as3yFlYh1LRAcjHaHrOz1AEF",
  "id": "fc_0be2927d6e244ace016ab45d8b0de487d084579b8e37b41629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_as3yFlYh1LRAcjHaHrOz1AEF",
  "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]: [-1.116, 2.4016, 1.9347, -0.9535, -0.9424, -1.4689, 0.9954, 0.1009, 1.008, 1.0607, -0.6533, -0.1577, -0.1566, 0.9983]\nstate[eef_state]: left_x=0.3454 left_y=-0.3728 left_z=0.0615 left_yaw=0.3822 left_pitch=-0.0576 left_roll=-0.0673 left_gripper=0.9954 right_x=0.3177 right_y=0.0637 right_z=0.2701 right_yaw=0.3108 right_pitch=-0.0308 right_roll=-0.0289 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -13.9692, 6.2974, 0.696, -0.6862, 0.1441, -0.2418, -0.3214, -2.5231, 6.8718, 1.707, -0.0952, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:782b5625a6a6872d619ccbf3f7103b1f1299ffce2aab803800dfd747cd8051bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4e7b35c84528655d18481d24679dd7abbfa238f3c97329e01d9c4ec2b0ab51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960bf1ac430908c331b525bf267d3982c56a7aaa95d36bd28618b39fb0e4f376",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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