adhoc

completed
2026-09-23T23:32:24.953823+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
260.8 s
total steps
435
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush nearest the left arm.
move_to
left_x0.2450left_y-0.0650left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0231, -0.0296, 0.9995, -0.0166, 0.7986, 0.6106, -0.3786, -0.0124, -0.025, 0.9998] state[eef_state]: left_x=0.2963 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=0.2961 right_y=0.0009 right_z=0.182 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5949, -1.6479, 9.6479, 1.7753, -0.0122, 0.1294, -0.0611, -0.7316, -1.5658, 9.9897, 1.7851, -0.1099, 0.0904, -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":0.245,"left_y":-0.065,"left_z":0.1,"left_gripper":1},"note":"I see plush animals and slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush nearest the left arm."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering toward its body for a centered grasp.
move_to
left_x0.2750left_y-0.0150left_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]: [-0.6361, 0.667, 0.2794, -0.2966, -0.503, -0.3817, 0.9995, -0.0208, 0.8024, 0.6086, -0.384, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2429 left_y=-0.0691 left_z=0.0963 left_yaw=-0.031 left_pitch=-0.0227 left_roll=0.0064 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1789 right_yaw=-0.0049 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.0342, -0.6359, 6.8581, 1.6874, -0.3834, -0.0317, -0.0611, 0.0342, -1.2923, 7.2137, 1.8486, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.015,"left_z":0.025},"note":"The gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering toward its body for a centered grasp."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe gray plush is still ahead and left of the fingertip gap. I’m making a short table-level adjustment to bring the jaws around its body rather than the nearby yellow marker.
move_to
left_x0.3150left_y0.0180left_z0.0180
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]: [-0.1253, 1.0969, 0.0288, 0.4274, -0.1032, -0.078, 0.9995, -0.0208, 0.8059, 0.6083, -0.3851, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.2679 left_y=-0.0118 left_z=0.0144 left_yaw=-0.0122 left_pitch=-0.0726 left_roll=0.0104 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1776 right_yaw=-0.0045 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [0.0752, -2.0308, 5.4222, 1.8339, 0.0659, 0.0806, -0.0122, -0.0615, -1.5248, 7.0496, 1.7558, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":0.018,"left_z":0.018},"note":"The gray plush is still ahead and left of the fingertip gap. I’m making a short table-level adjustment to bring the jaws around its body rather than the nearby yellow marker."})
tool
executing move_to over 4 steps (0.4s)
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 jaws now straddle the lower part of the gray plush. I’m closing them before checking whether it lifts securely.
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]: [0.0803, 1.3945, 0.173, 0.5426, 0.0322, 0.0212, 0.9995, -0.0208, 0.8093, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3052 left_y=0.0224 left_z=0.0075 left_yaw=0.0253 left_pitch=-0.1143 left_roll=0.007 left_gripper=0.9995 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.0205, -3.1111, 6.1333, 1.8681, 0.3101, 0.1978, -0.0122, -0.0342, -1.4564, 7.1179, 1.6923, -0.022, -0.0415, -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_gripper":0},"note":"The jaws now straddle the lower part of the gray plush. I’m closing them before checking whether it lifts securely."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper closed empty, so the gray plush was farther forward than it appeared. I’m reopening and moving forward and slightly left to grasp its central body.
move_to
left_x0.3750left_y0.0450left_z0.0300left_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]: [0.0799, 1.3941, 0.1738, 0.5407, 0.0299, 0.0189, 0.0128, -0.0208, 0.8097, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3052 left_y=0.0227 left_z=0.0075 left_yaw=0.0281 left_pitch=-0.1151 left_roll=0.0066 left_gripper=0.0128 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.1436, -3.6444, 4.5333, 1.6581, 0.0366, -0.0073, 0.5836, -0.1162, -1.3607, 7.0359, 1.7216, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":0.045,"left_z":0.03,"left_gripper":1},"note":"The gripper closed empty, so the gray plush was farther forward than it appeared. I’m reopening and moving forward and slightly left to grasp its central body."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gray plush is now at the left workspace edge, with part of its body between the jaws. I’m trying one careful grasp here without pushing farther toward the fence.
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]: [0.1452, 1.5757, 0.4477, 0.4179, 0.0757, 0.0452, 0.9984, -0.0208, 0.8139, 0.6075, -0.3847, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.3648 left_y=0.0435 left_z=0.02 left_yaw=0.0399 left_pitch=-0.1434 left_roll=-0.0048 left_gripper=0.9984 right_x=0.2959 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0045 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.3897, -5.559, 7.2274, 1.6044, 0.0464, 0.1538, -0.0415, -0.1299, -1.4291, 7.0359, 1.7558, -0.0317, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is now at the left workspace edge, with part of its body between the jaws. I’m trying one careful grasp here without pushing farther toward the fence."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe close was empty again; I can clearly distinguish the brown plush, the beige plush, and three markers in the center. I’m moving to the brown plush and keeping the idle arm parked.
move_to
left_x0.2400left_y-0.1750left_z0.0900left_gripper1.0000right_x0.2960right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1455, 1.5784, 0.4484, 0.4053, 0.0746, 0.0418, 0.0125, -0.0208, 0.8146, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3628 left_y=0.0435 left_z=0.017 left_yaw=0.0429 left_pitch=-0.1579 left_roll=-0.0082 left_gripper=0.0125 right_x=0.2959 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0049 right_pitch=-0.0256 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.1026, -5.9829, 4.9026, 1.7167, 0.0464, 0.0171, 1.0281, -0.1162, -1.3607, 7.0359, 1.6923, -0.0073, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.175,"left_z":0.09,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"The close was empty again; I can clearly distinguish the brown plush, the beige plush, and three markers in the center. I’m moving to the brown plush and keeping the idle arm parked."})
tool
executing move_to over 20 steps (2.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe brown plush is just left of the jaw center, beside the beige bear. I’m aligning over its narrow body and lowering to grasp it.
move_to
left_x0.2500left_y-0.1500left_z0.0180
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]: [-1.0542, 1.2839, 0.6338, -0.4522, -0.7116, -0.936, 0.9987, -0.0208, 0.8192, 0.6155, -0.4191, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.2361 left_y=-0.1748 left_z=0.0829 left_yaw=0.0312 left_pitch=-0.1776 left_roll=-0.0085 left_gripper=0.9987 right_x=0.2924 right_y=-0.0006 right_z=0.1703 right_yaw=-0.0052 right_pitch=-0.0561 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.1436, -4.0821, 7.6376, 0.9597, -0.5739, -0.0317, -0.1441, 0.1299, -1.306, 9.6889, 1.6874, 0.0171, -0.0122, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.15,"left_z":0.018},"note":"The brown plush is just left of the jaw center, beside the beige bear. I’m aligning over its narrow body and lowering to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe brown plush’s body is centered between the open fingers. I’m closing the gripper around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9279, 1.4075, 0.4042, -0.0315, -0.6537, -0.8112, 0.9983, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.2488 left_y=-0.147 left_z=0.0175 left_yaw=0.0461 left_pitch=-0.187 left_roll=-0.0009 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.212, -3.6991, 4.7795, 1.2821, -0.3004, 0.0317, -0.0659, -0.0752, -1.5248, 7.1726, 1.6728, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s body is centered between the open fingers. I’m closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe gripper remains partly open around the plush, indicating contact. I’m lifting it a short distance to verify the hold before carrying it to the basket.
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]: [-0.9276, 1.4075, 0.4034, -0.0135, -0.6579, -0.8112, 0.1338, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.2509 left_y=-0.1487 left_z=0.0196 left_yaw=0.0465 left_pitch=-0.1744 left_roll=-0.0133 left_gripper=0.1338 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0479, -4.2872, 5.2308, 1.0281, -0.3004, -0.0317, 0.9841, -0.253, -1.306, 7.3231, 1.6679, -0.0122, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The gripper remains partly open around the plush, indicating contact. I’m lifting it a short distance to verify the hold before carrying it to the basket."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe brown plush lifted with the gripper. I’m carrying it high over the left basket so its hanging body clears the rim.
move_to
left_x0.4800left_y-0.1700left_z0.2600
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]: [-0.9276, 1.1805, 0.6334, -0.4824, -0.6506, -0.8116, 0.1372, -0.0208, 0.8211, 0.6136, -0.4191, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2495 left_y=-0.1486 left_z=0.0996 left_yaw=0.0441 left_pitch=-0.1861 left_roll=-0.0072 left_gripper=0.1372 right_x=0.2922 right_y=-0.0006 right_z=0.1689 right_yaw=-0.0048 right_pitch=-0.0599 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0615, -4.2872, 8.1436, 0.9939, -0.3834, -0.0317, 0.7204, -0.3487, -1.306, 7.0496, 1.663, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.17,"left_z":0.26},"note":"The brown plush lifted with the gripper. I’m carrying it high over the left basket so its hanging body clears the rim."})
tool
executing move_to over 18 steps (1.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe brown plush is positioned over the left basket with its body below the gripper. I’m releasing it into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4759, 1.8896, 1.8935, -0.8505, -0.3798, -0.4252, 0.1372, -0.0208, 0.8257, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.4785 left_y=-0.1689 left_z=0.2484 left_yaw=0.0654 left_pitch=-0.2051 left_roll=-0.0114 left_gripper=0.1372 right_x=0.2926 right_y=-0.0005 right_z=0.1678 right_yaw=-0.0045 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1983, -10.0718, 8.7453, 1.3651, -0.1636, 0.2564, 1.033, -0.335, -1.2376, 7.0359, 1.6679, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is positioned over the left basket with its body below the gripper. I’m releasing it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe brown plush is visibly inside the left basket. I’m moving above the beige bear next, aiming for its torso.
move_to
left_x0.2450left_y-0.2600left_z0.1050
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]: [-0.4732, 1.8908, 1.8954, -0.8516, -0.3805, -0.4351, 0.9954, -0.0208, 0.8249, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.4791 left_y=-0.1676 left_z=0.2484 left_yaw=0.0741 left_pitch=-0.2052 left_roll=-0.018 left_gripper=0.9954 right_x=0.2925 right_y=-0.0005 right_z=0.168 right_yaw=-0.0045 right_pitch=-0.0633 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4855, -10.2496, 6.4615, 1.4579, -0.188, 0.0611, -0.232, -0.1983, -1.3333, 7.0769, 1.6532, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":-0.26,"left_z":0.105},"note":"The brown plush is visibly inside the left basket. I’m moving above the beige bear next, aiming for its torso."})
tool
executing move_to over 19 steps (1.9s)
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 beige bear’s torso is centered in the wrist view. I’m lowering the open jaws around its body while restoring the tool to a vertical orientation.
move_to
left_z0.0250left_pitch0.0000left_yaw0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1675, 1.6142, 1.0603, -0.6601, -0.7261, -1.1202, 0.9966, -0.0208, 0.8307, 0.6132, -0.4221, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.2454 left_y=-0.267 left_z=0.1086 left_yaw=0.0455 left_pitch=-0.2122 left_roll=-0.0353 left_gripper=0.9966 right_x=0.2923 right_y=-0.0006 right_z=0.1656 right_yaw=-0.0054 right_pitch=-0.0729 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.3624, -6.1607, 5.4222, 0.7497, -0.6081, -0.105, 0.1099, -0.0479, -1.8803, 7.1179, 1.7314, -0.0415, -0.0366, -0.0122] 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":{"left_z":0.025,"left_pitch":0,"left_yaw":0,"left_roll":0},"note":"The beige bear’s torso is centered in the wrist view. I’m lowering the open jaws around its body while restoring the tool to a vertical orientation."})
tool
executing move_to over 8 steps (0.8s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe descent stopped against the plush rather than reaching the full height target. The jaws are around its torso, so I’m closing without pressing farther down.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2331, 1.7756, 0.7689, 0.0174, -0.9878, -1.047, 0.9968, -0.0208, 0.8307, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2576 left_y=-0.2776 left_z=0.0558 left_yaw=0.0508 left_pitch=0.0832 left_roll=-0.1134 left_gripper=0.9968 right_x=0.2922 right_y=-0.0006 right_z=0.1655 right_yaw=-0.0048 right_pitch=-0.0732 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.8547, -4.588, 3.0838, 0.5836, 0.1294, 0.1636, 0.0024, -0.1846, -1.1556, 6.9812, 1.6484, -0.0171, -0.0464, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped against the plush rather than reaching the full height target. The jaws are around its torso, so I’m closing without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe gripper reading indicates the bear slipped out of the grasp. I’m reopening and moving forward toward its narrower upper torso for one retry.
move_to
left_x0.3150left_y-0.2670left_z0.0280left_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]: [-1.2293, 1.7672, 0.7776, 0.0383, -1.0027, -1.0515, 0.0165, -0.0208, 0.8314, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2616 left_y=-0.2807 left_z=0.0648 left_yaw=0.0686 left_pitch=0.1052 left_roll=-0.1509 left_gripper=0.0165 right_x=0.2923 right_y=-0.0006 right_z=0.1653 right_yaw=-0.0048 right_pitch=-0.074 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6769, -6.8991, 4.4513, 0.9597, -0.2662, 0.0269, 0.6911, -0.0615, -1.3744, 7.0085, 1.6825, -0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.267,"left_z":0.028,"left_gripper":1},"note":"The gripper reading indicates the bear slipped out of the grasp. I’m reopening and moving forward toward its narrower upper torso for one retry."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe jaws are now farther up the bear’s body, below its head. I’m closing around this narrower section.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0592, 1.8919, 0.741, 0.4324, -0.9245, -0.8623, 0.9953, -0.0208, 0.8322, 0.6132, -0.4229, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.3175 left_y=-0.2701 left_z=0.0472 left_yaw=0.1149 left_pitch=0.1444 left_roll=-0.2192 left_gripper=0.9953 right_x=0.2922 right_y=-0.0005 right_z=0.165 right_yaw=-0.0045 right_pitch=-0.0752 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.253, -5.8462, 3.6444, 0.9499, -0.0806, 0.3443, -0.0904, -0.0889, -1.5248, 6.9675, 1.6484, -0.0122, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now farther up the bear’s body, below its head. I’m closing around this narrower section."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe gripper is holding about two centimeters of compressed plush. I’m lifting to confirm the bear moves with it.
move_to
left_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]: [-1.0618, 1.8969, 0.741, 0.4843, -0.9276, -0.8715, 0.2047, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3196 left_y=-0.2753 left_z=0.0527 left_yaw=0.126 left_pitch=0.1629 left_roll=-0.2709 left_gripper=0.2047 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -8.7863, 4.8068, 0.9158, -0.3199, 0.0562, 0.7692, -0.0205, -1.4974, 6.9812, 1.6777, -0.0269, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper is holding about two centimeters of compressed plush. I’m lifting to confirm the bear moves with it."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe beige bear has lifted off the table. I’m carrying it over the left basket alongside the brown plush.
move_to
left_x0.4800left_y-0.1700left_z0.2800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0615, 1.6901, 0.8402, 0.1532, -0.9195, -0.8753, 0.2071, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.318 left_y=-0.2739 left_z=0.1161 left_yaw=0.1188 left_pitch=0.1482 left_roll=-0.2527 left_gripper=0.2071 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2393, -9.8803, 8.5538, 1.5018, -0.4225, -0.0366, 0.2369, -0.212, -1.4427, 7.0769, 1.6484, -0.0122, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.17,"left_z":0.28,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The beige bear has lifted off the table. I’m carrying it over the left basket alongside the brown plush."})
tool
executing move_to over 13 steps (1.3s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe bear is suspended over the left basket. I’m opening the jaws to place it 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]: [-0.5003, 1.7363, 1.6176, -0.4988, -0.4557, -0.3618, 0.2085, -0.0208, 0.8368, 0.6132, -0.4267, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4782 left_y=-0.1687 left_z=0.2707 left_yaw=0.0564 left_pitch=0.0174 left_roll=-0.0375 left_gripper=0.2085 right_x=0.2919 right_y=-0.0006 right_z=0.163 right_yaw=-0.0048 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1026, -9.2103, 8.9094, 1.37, -0.0073, 0.2271, 0.1294, -0.0479, -1.7709, 6.9949, 1.7167, -0.0122, -0.022, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bear is suspended over the left basket. I’m opening the jaws to place it with the other plush."})
tool
executing move_to over 8 steps (0.8s)
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 bear landed beside the basket instead of inside; its body hung to the right of the grasp point. I’m reaching for it again so I can place its body farther left over the basket.
move_to
left_x0.4900left_y-0.2750left_z0.0650left_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]: [-0.4995, 1.7531, 1.6203, -0.5079, -0.448, -0.3691, 0.9955, -0.0208, 0.8379, 0.6132, -0.4271, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4795 left_y=-0.1704 left_z=0.2618 left_yaw=0.0548 left_pitch=-0.0048 left_roll=-0.0352 left_gripper=0.9955 right_x=0.2919 right_y=-0.0006 right_z=0.1626 right_yaw=-0.0048 right_pitch=-0.0851 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1162, -10.4684, 6.7214, 1.7411, -0.2906, 0.0757, -0.149, -0.0615, -1.6205, 7.0222, 1.6777, -0.0366, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.49,"left_y":-0.275,"left_z":0.065,"left_pitch":0.3},"note":"The bear landed beside the basket instead of inside; its body hung to the right of the grasp point. I’m reaching for it again so I can place its body farther left over the basket."})
tool
executing move_to over 13 steps (1.3s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe bear’s lower body is between the jaws beside the basket. I’m closing to recover it for a more centered placement.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7238, 2.2086, 1.2011, 0.601, -0.7319, -0.3187, 0.9967, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.4882 left_y=-0.2692 left_z=0.0695 left_yaw=0.0552 left_pitch=0.2657 left_roll=-0.0213 left_gripper=0.9967 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4718, -10.3453, 6.4068, 1.4383, 0.0073, 0.0562, 0.1148, -0.1983, -1.8256, 6.9949, 1.6581, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s lower body is between the jaws beside the basket. I’m closing to recover it for a more centered placement."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe recovery grasp closed between the bear’s legs. I’m moving forward to its torso, using a forward tilt to reach without pressing on the baskets.
move_to
left_x0.5550left_y-0.2650left_z0.0900left_pitch0.5000left_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]: [-0.728, 2.2349, 1.2003, 0.6136, -0.7334, -0.3218, 0.0137, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.4867 left_y=-0.2706 left_z=0.0579 left_yaw=0.0512 left_pitch=0.2558 left_roll=-0.0133 left_gripper=0.0137 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.2393, -13.7641, 5.4769, 1.5214, -0.1245, 0.0122, 1.2137, -0.1709, -1.3197, 6.9675, 1.6777, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.555,"left_y":-0.265,"left_z":0.09,"left_pitch":0.5,"left_gripper":1},"note":"The recovery grasp closed between the bear’s legs. I’m moving forward to its torso, using a forward tilt to reach without pressing on the baskets."})
tool
executing move_to over 10 steps (1.0s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe bear’s torso is now between the fingers rather than ahead of them. I’m closing on the body for the recovery lift.
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]: [-0.638, 2.413, 1.3663, 0.8902, -0.7055, -0.1219, 0.9958, -0.0208, 0.8436, 0.6132, -0.4305, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5474 left_y=-0.2588 left_z=0.074 left_yaw=0.0676 left_pitch=0.4452 left_roll=-0.0016 left_gripper=0.9958 right_x=0.2917 right_y=-0.0006 right_z=0.1604 right_yaw=-0.0051 right_pitch=-0.0942 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.2803, -12.3829, 7.6513, 2.0635, 0.1001, 0.1832, -0.188, -0.0205, -1.6752, 7.2, 1.663, -0.022, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s torso is now between the fingers rather than ahead of them. I’m closing on the body for the recovery lift."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteThe gripper has retained a substantial thickness of plush. I’m lifting the bear clear of the basket rims before moving sideways.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6342, 2.4165, 1.3697, 0.8837, -0.7109, -0.128, 0.1323, -0.0208, 0.8444, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.5486 left_y=-0.256 left_z=0.0721 left_yaw=0.078 left_pitch=0.4409 left_roll=-0.0029 left_gripper=0.1323 right_x=0.2917 right_y=-0.0005 right_z=0.1602 right_yaw=-0.0045 right_pitch=-0.095 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -13.1897, 5.1624, 1.8584, -0.0366, 0.0415, 0.9939, -0.1983, -1.6342, 7.0085, 1.7216, -0.0024, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The gripper has retained a substantial thickness of plush. I’m lifting the bear clear of the basket rims before moving sideways."})
tool
executing move_to over 9 steps (0.9s)
step 249
assistant
agent noteThe bear is lifted, and the left basket has shifted forward slightly. I’m moving the bear left so its whole body, not just the grasp point, is over the basket opening.
move_to
left_x0.5000left_y-0.1050left_z0.2350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6342, 2.2009, 1.4368, 0.532, -0.7113, -0.139, 0.1323, -0.0208, 0.8474, 0.6132, -0.4339, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.5479 left_y=-0.2554 left_z=0.1524 left_yaw=0.0651 left_pitch=0.3886 left_roll=0.0342 left_gripper=0.1323 right_x=0.2913 right_y=-0.0005 right_z=0.1587 right_yaw=-0.0046 right_pitch=-0.1015 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1162, -16.9231, 9.2103, 1.7705, -0.105, 0.0611, 0.9744, -0.0342, -1.6205, 7.0085, 1.6972, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.105,"left_z":0.235},"note":"The bear is lifted, and the left basket has shifted forward slightly. I’m moving the bear left so its whole body, not just the grasp point, is over the basket opening."})
tool
executing move_to over 14 steps (1.4s)
step 263
assistant
agent noteThe bear hangs well to the right of the jaws, and the basket has slid left during contact. I’m lifting higher and shifting to the left reach limit to clear the rim and center the hanging body.
move_to
left_x0.5250left_y0.0500left_z0.3500
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]: [-0.3771, 1.7279, 1.0416, 0.4255, -0.4648, -0.0906, 0.1334, -0.0208, 0.8513, 0.6132, -0.4339, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.5041 left_y=-0.1106 left_z=0.2054 left_yaw=0.0686 left_pitch=0.3308 left_roll=0.0474 left_gripper=0.1334 right_x=0.2915 right_y=-0.0006 right_z=0.1577 right_yaw=-0.0048 right_pitch=-0.1053 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.294, -12.2872, 6.9949, 2.0, -0.1245, 0.149, 0.862, -0.0752, -1.6615, 7.1316, 1.7167, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.525,"left_y":0.05,"left_z":0.35},"note":"The bear hangs well to the right of the jaws, and the basket has slid left during contact. I’m lifting higher and shifting to the left reach limit to clear the rim and center the hanging body."})
tool
executing move_to over 15 steps (1.5s)
step 278
assistant
agent noteThe bear’s body is now over the left basket opening and clear of the rim. I’m releasing it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.07, 1.6478, 1.462, -0.1127, -0.0658, -0.0063, 0.1349, -0.0208, 0.8528, 0.6132, -0.4355, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.5255 left_y=0.0521 left_z=0.3167 left_yaw=0.1145 left_pitch=0.2659 left_roll=0.0308 left_gripper=0.1349 right_x=0.2913 right_y=-0.0005 right_z=0.157 right_yaw=-0.0048 right_pitch=-0.1083 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1573, -9.4564, 10.3726, 2.2491, 0.1636, 0.2906, 0.5885, -0.1846, -1.7026, 6.9675, 1.6777, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bear’s body is now over the left basket opening and clear of the rim. I’m releasing it there."})
tool
executing move_to over 9 steps (0.9s)
step 287
assistant
agent noteBoth brown and beige plush animals are now in the left basket. I’m parking the left arm and bringing the right gripper around the two adjacent markers to try collecting them together.
move_to
left_x0.2960left_y0.0000left_z0.1850left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2350right_y0.1700right_z0.0250right_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]: [0.062, 1.6497, 1.4578, -0.1352, -0.0708, -0.0158, 0.9953, -0.0208, 0.8547, 0.6132, -0.4362, -0.0113, -0.0261, 0.9998] state[eef_state]: left_x=0.5242 left_y=0.0486 left_z=0.3084 left_yaw=0.1157 left_pitch=0.2376 left_roll=0.0245 left_gripper=0.9953 right_x=0.2913 right_y=-0.0005 right_z=0.1563 right_yaw=-0.0044 right_pitch=-0.111 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.0205, -8.7179, 7.706, 2.1074, -0.0806, 0.1587, 0.0513, -0.1026, -1.7709, 6.9538, 1.663, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.185,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.235,"right_y":0.17,"right_z":0.025,"right_pitch":0,"right_yaw":0,"right_roll":0},"note":"Both brown and beige plush animals are now in the left basket. I’m parking the left arm and bringing the right gripper around the two adjacent markers to try collecting them together."})
tool
executing move_to over 18 steps (1.8s)
step 305
assistant
agent noteThe two markers lie on either side of the jaw center, with their middles farther forward. I’m shifting slightly left and forward, then lowering to table level to pinch both shafts.
move_to
right_x0.2700right_y0.1950right_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]: [-0.0288, 0.8238, 0.6327, -0.3481, -0.0406, -0.0307, 0.9966, 1.0618, 1.4487, 0.3008, 0.1658, 0.7849, 0.717, 0.9998] state[eef_state]: left_x=0.3045 left_y=0.002 left_z=0.1916 left_yaw=0.0059 left_pitch=0.0254 left_roll=0.0075 left_gripper=0.9966 right_x=0.2284 right_y=0.1605 right_z=0.0132 right_yaw=0.0431 right_pitch=-0.0639 right_roll=-0.0645 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.388, 7.3504, 1.9512, 0.0073, -0.0904, 0.1245, 0.4855, -5.0393, 6.5162, 1.3358, 0.7399, 0.149, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.195,"right_z":-0.008},"note":"The two markers lie on either side of the jaw center, with their middles farther forward. I’m shifting slightly left and forward, then lowering to table level to pinch both shafts."})
tool
executing move_to over 4 steps (0.4s)
step 309
assistant
agent noteThe open fingers flank both marker shafts at table level. I’m closing slowly enough for them to come together between 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]: [-0.0341, 0.8295, 0.6151, -0.3725, -0.0441, -0.0376, 0.9968, 0.9867, 1.7092, 0.4458, 0.3977, 0.8001, 0.6693, 0.9998] state[eef_state]: left_x=0.2996 left_y=0.0011 left_z=0.1769 left_yaw=0.0071 left_pitch=-0.0221 left_roll=0.0054 left_gripper=0.9968 right_x=0.2753 right_y=0.1931 right_z=0.0112 right_yaw=-0.013 right_pitch=0.0073 right_roll=-0.012 right_gripper=0.9998 state[joint_eff]: [0.2393, -1.9077, 8.6359, 1.9414, -0.0317, 0.022, -0.0024, -0.335, -4.3829, 3.0838, 0.4762, -0.2711, -0.232, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers flank both marker shafts at table level. I’m closing slowly enough for them to come together between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 319
assistant
agent noteThe jaws are holding the black-capped marker; the blue marker remained outside the grasp. I’m lifting the held marker to confirm it is secure.
move_to
right_z0.0850
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]: [-0.0341, 0.8303, 0.6147, -0.3748, -0.0444, -0.038, 0.9968, 0.984, 1.7206, 0.45, 0.4088, 0.7818, 0.6659, 0.144] state[eef_state]: left_x=0.2992 left_y=0.0012 left_z=0.176 left_yaw=0.0077 left_pitch=-0.0255 left_roll=0.0054 left_gripper=0.9968 right_x=0.2759 right_y=0.1966 right_z=0.0085 right_yaw=-0.002 right_pitch=-0.0023 right_roll=-0.0041 right_gripper=0.144 state[joint_eff]: [-0.1299, -1.5658, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, 0.0342, -7.0769, 3.7538, 1.2186, 0.4274, 0.0073, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The jaws are holding the black-capped marker; the blue marker remained outside the grasp. I’m lifting the held marker to confirm it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 324
assistant
agent noteThe black-capped marker lifted with the gripper. I’m carrying it above the center of the right basket, which is reserved for markers.
move_to
right_x0.5200right_y0.1700right_z0.2050
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]: [-0.0341, 0.8314, 0.6147, -0.3775, -0.0444, -0.038, 0.9968, 0.984, 1.4448, 0.5545, 0.0723, 0.7738, 0.6651, 0.144] state[eef_state]: left_x=0.2989 left_y=0.0012 left_z=0.1751 left_yaw=0.0077 left_pitch=-0.0293 left_roll=0.0056 left_gripper=0.9968 right_x=0.2781 right_y=0.2017 right_z=0.078 right_yaw=0.0035 right_pitch=0.0171 right_roll=0.0351 right_gripper=0.144 state[joint_eff]: [-0.0068, -1.5795, 7.0359, 1.7314, -0.0708, -0.0464, -0.0122, -0.1709, -5.6684, 7.8291, 1.3114, 0.3932, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.17,"right_z":0.205},"note":"The black-capped marker lifted with the gripper. I’m carrying it above the center of the right basket, which is reserved for markers."})
tool
executing move_to over 19 steps (1.9s)
step 343
assistant
agent noteThe right basket slid forward during the approach, so the marker is not yet over its opening. I’m raising the gripper and moving to the forward reach limit before releasing.
move_to
right_x0.5950right_y0.1700right_z0.2900right_pitch0.3500
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]: [-0.0341, 0.8333, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.4274, 1.8538, 1.4456, -0.2184, 0.3313, 0.2424, 0.1487] state[eef_state]: left_x=0.2987 left_y=0.0012 left_z=0.1741 left_yaw=0.0077 left_pitch=-0.0339 left_roll=0.0058 left_gripper=0.9968 right_x=0.5088 right_y=0.1726 right_z=0.1844 right_yaw=0.0126 right_pitch=-0.0212 right_roll=0.0236 right_gripper=0.1487 state[joint_eff]: [-0.0752, -1.6479, 7.1179, 1.7118, -0.0562, -0.0562, -0.0122, -0.6222, -10.4821, 9.7162, 1.6532, 0.2906, 0.0171, 1.033] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.17,"right_z":0.29,"right_pitch":0.35},"note":"The right basket slid forward during the approach, so the marker is not yet over its opening. I’m raising the gripper and moving to the forward reach limit before releasing."})
tool
executing move_to over 13 steps (1.3s)
step 356
assistant
agent noteThe black-capped marker is now centered over the right basket. I’m releasing it into the marker basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0341, 0.836, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3752, 2.0075, 1.6981, -0.02, 0.3271, 0.0895, 0.1487] state[eef_state]: left_x=0.2988 left_y=0.0012 left_z=0.1733 left_yaw=0.0077 left_pitch=-0.0366 left_roll=0.0059 left_gripper=0.9968 right_x=0.5853 right_y=0.1734 right_z=0.2572 right_yaw=0.0344 right_pitch=0.2553 right_roll=-0.0033 right_gripper=0.1487 state[joint_eff]: [-0.1573, -1.7573, 7.1453, 1.707, -0.0611, -0.0562, -0.0122, -0.9368, -11.2068, 10.5778, 2.1758, 0.1245, 0.0122, 1.0281] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The black-capped marker is now centered over the right basket. I’m releasing it into the marker basket."})
tool
executing move_to over 9 steps (0.9s)
step 365
assistant
agent noteThe black-capped marker is visible inside the right basket. I’m returning to the blue marker on the table and lowering the open jaws around its middle.
move_to
right_x0.2700right_y0.2650right_z0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0341, 0.8379, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3717, 2.0094, 1.6966, -0.0193, 0.3275, 0.0822, 0.995] state[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1728 left_yaw=0.0077 left_pitch=-0.0385 left_roll=0.006 left_gripper=0.9968 right_x=0.5861 right_y=0.1714 right_z=0.2555 right_yaw=0.0349 right_pitch=0.2528 right_roll=-0.0115 right_gripper=0.995 state[joint_eff]: [-0.1436, -1.6889, 7.1316, 1.6874, -0.0659, -0.0708, -0.0122, -0.0068, -11.7949, 7.2547, 1.8046, -0.0024, 0.0757, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.265,"right_z":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The black-capped marker is visible inside the right basket. I’m returning to the blue marker on the table and lowering the open jaws around its middle."})
tool
executing move_to over 25 steps (2.5s)
step 390
assistant
agent noteThe blue marker’s shaft is centered between the fingers. I’m closing the jaws around it.
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]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 1.1088, 1.8931, 0.717, 0.2737, 0.8417, 0.767, 0.9963] state[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0077 left_pitch=-0.0392 left_roll=0.006 left_gripper=0.9968 right_x=0.2795 right_y=0.2737 right_z=0.0121 right_yaw=0.0308 right_pitch=0.0164 right_roll=0.0232 right_gripper=0.9963 state[joint_eff]: [-0.1709, -1.4974, 7.0496, 1.6777, -0.0415, -0.0708, -0.0073, 0.5128, -6.0923, 4.0684, 0.7399, 0.2857, -0.0122, 0.1148] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue marker’s shaft is centered between the fingers. I’m closing the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 400
assistant
agent noteThe gripper has closed around the blue marker and is holding its shaft. I’m carrying it on a rising path to the forward-shifted right basket, with extra height to clear the rim.
move_to
right_x0.5950right_y0.1700right_z0.3200right_pitch0.3500
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]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.0376, 0.9968, 1.1107, 1.898, 0.7166, 0.2813, 0.8265, 0.7635, 0.151] state[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0075 left_pitch=-0.0392 left_roll=0.0063 left_gripper=0.9968 right_x=0.2781 right_y=0.2766 right_z=0.0096 right_yaw=0.044 right_pitch=0.007 right_roll=0.028 right_gripper=0.151 state[joint_eff]: [-0.0752, -1.5658, 7.0906, 1.7118, -0.0757, -0.0024, -0.0122, -0.1983, -8.1846, 4.547, 1.2088, 0.4811, -0.0122, 1.0037] camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.17,"right_z":0.32,"right_pitch":0.35},"note":"The gripper has closed around the blue marker and is holding its shaft. I’m carrying it on a rising path to the forward-shifted right basket, with extra height to clear the rim."})
tool
executing move_to over 25 steps (2.5s)
step 425
assistant
agent noteThe blue marker is securely held over the right basket, beside the first marker. I’m releasing it into the basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3805, -0.0444, -0.038, 0.9968, 0.3664, 1.9965, 1.7939, -0.054, 0.3008, 0.0818, 0.1559] state[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1725 left_yaw=0.0077 left_pitch=-0.0396 left_roll=0.006 left_gripper=0.9968 right_x=0.5891 right_y=0.1738 right_z=0.3016 right_yaw=0.046 right_pitch=0.3218 right_roll=0.0212 right_gripper=0.1559 state[joint_eff]: [-0.1299, -1.4838, 7.0632, 1.6923, -0.0415, -0.0464, -0.0122, -0.5949, -11.6855, 9.6342, 1.746, 0.0708, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue marker is securely held over the right basket, beside the first marker. I’m releasing it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 434
assistant
agent notePartially completed: the brown and beige plush animals are in the left basket, and the black-capped and blue markers are in the right basket. The gray plush and yellow marker remain on the table. I have reached the action budget and cannot finish this trial.
give_up
hindsightLift fully in place before transporting: rising diagonal carries can let the held object or gripper assembly push a basket forward before clearing its rim. For these large plush animals, use roughly 0.30–0.35 m carry height and account for the body hanging up to about 10 cm sideways from the grasp point; placing only the grasp point over the basket can miss. The large plush body may remain visible in the wrist camera even when held. Recheck basket position after contact, since these lightweight baskets slide substantially.
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]: [-0.0341, 0.8391, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3603, 2.0079, 1.7912, -0.0757, 0.2855, 0.0746, 0.9952] state[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1725 left_yaw=0.0077 left_pitch=-0.0396 left_roll=0.006 left_gripper=0.9968 right_x=0.5904 right_y=0.1731 right_z=0.2883 right_yaw=0.0608 right_pitch=0.2864 right_roll=0.0065 right_gripper=0.9952 state[joint_eff]: [-0.0479, -1.2513, 7.0222, 1.6777, -0.0659, -0.022, -0.0122, 0.4171, -12.506, 7.3915, 2.0733, 0.1148, 0.0366, -0.1245] camera 'top_cam' (step 434): [image omitted: streamed camera frame] camera 'left_cam' (step 434): [image omitted: streamed camera frame] camera 'right_cam' (step 434): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: the brown and beige plush animals are in the left basket, and the black-capped and blue markers are in the right basket. The gray plush and yellow marker remain on the table. I have reached the action budget and cannot finish this trial.","hindsight":"Lift fully in place before transporting: rising diagonal carries can let the held object or gripper assembly push a basket forward before clearing its rim. For these large plush animals, use roughly 0.30–0.35 m carry height and account for the body hanging up to about 10 cm sideways from the grasp point; placing only the grasp point over the basket can miss. The large plush body may remain visible in the wrist camera even when held. Recheck basket position after contact, since these lightweight baskets slide substantially."})
tool
give_up: Partially completed: the brown and beige plush animals are in the left basket, and the black-capped and blue markers are in the right basket. The gray plush and yellow marker remain on the table. I have reached the action budget and cannot finish this trial.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.529 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0231, -0.0296, 0.9995, -0.0166, 0.7986, 0.6106, -0.3786, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2963 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=0.2961 right_y=0.0009 right_z=0.182 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.6479, 1.7753, -0.0122, 0.1294, -0.0611, -0.7316, -1.5658, 9.9897, 1.7851, -0.1099, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8933116a25a14ddb3344cae8ef1b080fa97d2eacbea6509022a2e8e31449c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023d8b1d4906e0a16044a86ee8b0a5a96ae58f05010e5f1a97024fdd65c55595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bca594b4eec0ae6f093cd7bbab419c12bbfc8d5fdcd184a20b1537996d6e86f",
      "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 · 5.072 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGduD_wdC7X_G_ijJp_rW-9FyCvMe9R61ovOhAeGPR94HScLAuT986kr7236P-ozaR89w6QrWTCtqj2GZ8zHjPHESXh9LmqzHyhdZICwDN2kIhelFy8IvVUnW8nujmPntnullxArSPXhn9mg4jQvJoB860eBJK031pCYu30HRaaPDnuew_7worymt3kJfX_bTTAsAb1lpRhfTPolGxsE0tUawOS0GVYm3GBOetyS2zIaHXX2R8mi9FnqpZXuU-fAFzQAGtzBlZAPN1-Hzapt9STbd-60Z2bvUUC7guTOrD5to2fvHybYQKUsrGCHq8qJn5dX14-aY75fY4JOArR4d_VjvSuT_g4nzk6lVl_1hUj8ui8CFPsmoyWbO7u8h2kWk9aE0rN0gqZHFBOGByiV77ZrEs2veUBjKOBAZnuuWZ_kUKSa65-u5nkYXFc8-YGJ1bkSHDbp3M8zxtVnAcJ1wuVGdVaZVuhpVT8lKY8qRAYOP8FM9DzW9As9lxLE1e8kFzZwQ_CoOogZN2DLcGkkwrCb_LSKNap9hcvUV7LVUJklcwJvbpouXl459fhoFSD4bR5R0BlGfrqvibN1Z4lftgrUAlWCdnkUT_vJKOJhuupvpuIYs_DG6DoAROh6HIPVuPiDk4lLbf8KmY27NZj6rbT4fJ8Wdtml7dj0ppjxWR2vnqzy5ZiG-d2AIiHOhzkAJZBD0ZF8MyRepCvEI13a2CphnWlN1mIcxOjuI2pz0Mf7RMWdHN0jtMGgvYmiccTyPgcVIOGigDuWvGDZoIbxsZhzhagAA-Ps9qJF2N5_gWynJO_L0znHL0fGxKaVdFODQUYI8EsJ5GpCZDPIlUYTM_eSk73ZzrjrqJxx-h8O9oaf1DkXodkr2Gf1VsMUdFBeSkuE-fMbXQUu76l-PHWvZ1_XotXrF3LujpLu7QKbZ35MP-urLwhHLpi1lDIbUHVdQQXyEisMLlP09u2EARwc34wZFMH2Q9qNjbTAwKPKQ_XNVLuJSbw-QveS7brJ3KFoOMm1cgkMY3pmRAPr1qkvcJmXxk76FCAln8UCbXxlEeVeYC3ldHox_4Uy166dIRARF_k4xw6HEC0A5gVbdWUPVLcWXIGLpZ2qAjYygdkI5cfWP7IAF_zraoS5IS-Hpq3JMxxD2IM3uhLhSHLi3cRpY0cHwhfaoaO8eU8waz6t67PlA5uxZ2aIOxMHFuML8ilyleeTXi06rk5CFCSTbU6tYN2paWbwfdHGNeoT54fWmIcFezSaDLcyqMWmeHtYzKEsRmIFR6ISn3UH_yi-jgmIWPP-WlUbC_zMceBHTRFEcTAyq19ft3jOmWrbxSa8pYMcnqGYCuV0oZJCKyInoN7D7Lvr45maGtynAmnqFXaDLD2fGs8k3TAG1VAnUA_ARsypzpnuW62Me7Iu5e6M5Y9lIFMGSU4FA5O9J6qc2OFLwIzCySwmkR8NEpAZD2Ey3pQ6_t3BC8G6BUo_p0s0lRjgBe7yjgOpCe1ZokXr9Coi2OYHhy5J98SCGK-B0FW62-Q3dtq373--xCcmHDNOuB7ScTisHrbwQpRAYzu6Vv1T0EhXBVxz_-hmrLYXQMgqSnOBEaMzabh1aiEJzqndZbcOLuYvI7N9hzv0CE61nLXFVKMH0x5MLiCSGFvXFQtvj-dpOUHCz7AYlMOFNZpR0NEesEdG_ZicJfUSvg2UhIilgt1gL1mPdDUJoEa1YwJTir3EFVwK_TZkVDPspQULPzusGPECa1HNuPstb917uwB0nwgKHuWdlP0Y6PYLfa6QLAOAZ1j6JmhOkTJVlW44KGLMwtZ3ZLr68OfExMxuYjJPJEO0AKkYxU5PckexTsPPOmVDvaPoZtz8WAgCAzP5cnYtozPpDzHhfN-ZRjdPPRbWRXbuHH6ibV7ldFnjJxO5B0V5TfwL5b1arHwFvSrEUSWv4fV1zuDFPyIlK61aOAgR55JY5pG3sKFFAVHElKA-s2j-_bXWYIzxuKOohP_bMQkhCFvR0EekxJO4In0kQYgOUhoNgqlU-uvZRFN3wfLPlC-jbekqKFXvgkkndO-TuKmC9YlYyge96eKcaGu84uRUBDXsoSX-nRyuwIb7l9WLTaC7q0UAb6GniWm_CuzR7Pjhj0RcBijIagH2nuGd76IUmZUzKjskm9drRbOvfpYGF3Vu9RuNgEsn1230GOT8rYqVxTB0wopsa_ApY44QXskC-jDyPouRPzVzv2bDmQTi5y7omgTBESIKru0h5oEbQKXsipd0Mlj6pCr2rAamtke3LlgZaLlUs70mJZCDht69IqjHP8J0TwSkcRAl_p_JJU34vgUO07akhk9H5vZmVwq1N3zhteYkRg0xe8eJ8ntLeLvfF4Kj2oPIuo-lYVm_xNyDNbaG0NGSrXy25AFopP3rBTAdL2Osq-cW6MWXTTUlZy-uM_M1Ic1oILUdVtx2QveHaJ9PQ1JegnYSk36s2dUgjXgzAg=",
  "id": "rs_07346563d9cbf888016ab46198272887d096d02055aafa44eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.065,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"I see plush animals and slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush nearest the left arm.\"}",
  "call_id": "call_Speqbfk9sj4jd2ohUB2NUKGF",
  "id": "fc_07346563d9cbf888016ab4619c642887d09a5b64b49fb9fe5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Speqbfk9sj4jd2ohUB2NUKGF",
  "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]: [-0.6361, 0.667, 0.2794, -0.2966, -0.503, -0.3817, 0.9995, -0.0208, 0.8024, 0.6086, -0.384, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2429 left_y=-0.0691 left_z=0.0963 left_yaw=-0.031 left_pitch=-0.0227 left_roll=0.0064 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1789 right_yaw=-0.0049 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -0.6359, 6.8581, 1.6874, -0.3834, -0.0317, -0.0611, 0.0342, -1.2923, 7.2137, 1.8486, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327b99d695c3281422769cf3f78f68cd0a74420d0270ca4d6d9697917ce11590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0ca3028eada7d0bc3e94bc8257f67c1c27f9609227fa597a61393889079739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e8b312514a9ac47414e709e3dad0f1ac68169383dbd9d52c89e0f1171a4c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0231, -0.0296, 0.9995, -0.0166, 0.7986, 0.6106, -0.3786, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2963 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=0.2961 right_y=0.0009 right_z=0.182 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.6479, 1.7753, -0.0122, 0.1294, -0.0611, -0.7316, -1.5658, 9.9897, 1.7851, -0.1099, 0.0904, -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]: [-0.6361, 0.667, 0.2794, -0.2966, -0.503, -0.3817, 0.9995, -0.0208, 0.8024, 0.6086, -0.384, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2429 left_y=-0.0691 left_z=0.0963 left_yaw=-0.031 left_pitch=-0.0227 left_roll=0.0064 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1789 right_yaw=-0.0049 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -0.6359, 6.8581, 1.6874, -0.3834, -0.0317, -0.0611, 0.0342, -1.2923, 7.2137, 1.8486, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327b99d695c3281422769cf3f78f68cd0a74420d0270ca4d6d9697917ce11590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0ca3028eada7d0bc3e94bc8257f67c1c27f9609227fa597a61393889079739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e8b312514a9ac47414e709e3dad0f1ac68169383dbd9d52c89e0f1171a4c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGkTp959QwUJaeBdqiYc_dl3ujKi_eZOdxwfZfxFAKxB4uQM1X3H7mGrdYVKAn_f7PV7w0-FPXBgLRo_pn3LsnBjdQjg1ueCTC5DzLtFjXgJo_4CCDlkA60g8dkR9USbaPSLxSAHZrfcGeRMYakBrFD1Tgd0peuCByrMCZ5MyXerNPYeE_3r7522zeLS4LFvYAIwWh7UTJnlKMW-WCkEerUKX-T9-9l3y7cj3RZ8U2gDX0A8uueo16lJ3nN1r3tIZSQRKkeEDgGmHKELuMi6b2r1vP9EJIv8Z7xiQl-IvlAMPW3yrpG7jZPc348OQOI_eY4lDEke4YTocjw2P0n5TyIXWKxwm3dVwvdVMAuknm8SBoTYIC_4EsaBShbKV5efJ86c8peQ_py-bSjOBYyB9h2DfS95D_b7Ma0GKEfqvT1ZQctCp2aeba_wpwJFmnZR3ofnsimsmpAHUuSZ-xpeFy31HbdUJgqyMgzez10LRWoEjUKM3RTVhVR_ps0JqhIE_gJj2M8TBzZM-Fb4XBzwQlIsMItEt5hCMaN67d1fPUvPcNAHlDoooOhj459IbNFWJlTSS79qtzGAQ6CkRyk8uu_AyZ1jrZOGUHk4XLQqQwSTowhXQkyXeFtQLTU6csOoS-_B0gUsps_YRI_giCxnHd3TQF7W7DDczl9w3wGFRzNwrbAxSvfawWhmB7H5aiiENyy8B3VKiigQc8zsxTyVjY1g5xEAeO5qvLJRNMQMRe0cgf29NVQzktJlf6srjF-FRYph3v8wZ3o14bGMsA32vZJTVDGyIW5Gv3N4jldOYfK2l2NredYvfaGVPBl1gJ4_CGn-FJ_3_ZiJBmj7VFW-OeaYofwggccUTz70Zep-dqLI_eitiRy5YjlsTuvW8_YADpIgdhYPINautv1ReRCAxTMtGR9v2FycVx59lxcrUBTQFb3Qo-_4pc4PmK_ha66thKxyOek2NY3IlIABjco5bNcKQaZIM2QzIH5HY6VHu7GR4ZiO-9GS3DO-vpu-0IFUb1SUyOZmRCISoYVfFbt_w3BlIebJqIlqIYcd2MWuV5o1pa-MuVsHzzJEKfVHdzWtKa3Ur68DWoIaZTs9Yp9WTM5_KR965j77LjzgplaPudBOGMsDrSwjRNGr2vhwS9VMqyOuSjdEcYDtlI38zAdYojYHW1caxdPW2pD1drlPy2bDKZoUu3ZxWDAkXxLh6d9egGN5slDS8eM6jaufiH3DI4aHrpTjlwM3SMehCleDZ2B5ZCa7iFla7xUuC99a5uxqZsBiMNsTj2HHrsam5-pS0R9D3xAA1tPNWhxxrA-GMNu51puwpN6KGWxzJX_S94qTsHR_SbgMJDFDfxc6TORLaNtw7j1omrp32MP7KRIzIOqMNSBesOfnF0ijBSIVgGXK9-UThYMJYgJEhN4Q1iLBco2KS4-pdF96R_-AUQkQqqjU1wMvj8S2tIuEnLhB8N1e1QdhJWjqCeIIK_anhWBoioiPUKIugXucvxPmi-9gMV7mikI93L6-BlmkymgK3iwgG2M8NjdXOu5wGlbDl1Dh5c9L0bbBBtOszBIg7MUcMWkrjlvNISYapKk-DAKvGVE3nv4imiPEJ6eIhKwSqPJyTBRllZcGcOmTt_FHnCs3MpWd7WVK9Ih67N7CnI-9CEZS5lgeGhi4nOq1lDdNLwvpmnIWdQBAoGn-UmcbEJVSSqcfmlRv2MTquStvJqye1R7YfGw6Z9Y29OmtfvZpxdEXUIeknI8WYsbIiHD1HWY08rQIm11AbWAwTUKfFO_rRP9Os73g5mxjuUyRox_i9wI-lbKObMbzjXJJXPLNTVkBU0zEo1S_d1M6lnidn1MZObZqKWfhR9fDTZ1hdcNeMkHR2KahzIMeDOLyVQ-1JbO63SDwh3M4VASgn_7VyWfQzl6Zb_UN1ptJTaCRD0praF39K6qAu-QDwvO4JZKJSE6WZLculTsGJUP7Tyy_4KkVqBFcKvPaVVw-1wF-sF85rk0BeqzoW6QZJSgbsWKXpeZ7BOM9L-AWz2HjpG3Xf-4F8no2GGA",
  "id": "rs_07346563d9cbf888016ab461a01f7487d0931eabd089b4b8c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.015,\"left_z\":0.025},\"note\":\"The gray plush is left of the open jaws in the wrist view. I’m shifting left and lowering toward its body for a centered grasp.\"}",
  "call_id": "call_MstcqwUrJDwsqxhLCherX0Li",
  "id": "fc_07346563d9cbf888016ab461a31e9087d0b3259e6f791fe4a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MstcqwUrJDwsqxhLCherX0Li",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1253, 1.0969, 0.0288, 0.4274, -0.1032, -0.078, 0.9995, -0.0208, 0.8059, 0.6083, -0.3851, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0118 left_z=0.0144 left_yaw=-0.0122 left_pitch=-0.0726 left_roll=0.0104 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1776 right_yaw=-0.0045 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.0308, 5.4222, 1.8339, 0.0659, 0.0806, -0.0122, -0.0615, -1.5248, 7.0496, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91529bba49826127e641f17f8b1efe5fc072fe3c9e9631207ad3ee4ba4af7eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b59f646904b4ffa0e1a81131fe100046a9a70b35acae2f38391838971408c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae48b0a244e0618494e4b1fdabe9b85826caa5a836c4268dbde12efd5bf089c",
      "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 · 3.368 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]: [-0.6361, 0.667, 0.2794, -0.2966, -0.503, -0.3817, 0.9995, -0.0208, 0.8024, 0.6086, -0.384, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2429 left_y=-0.0691 left_z=0.0963 left_yaw=-0.031 left_pitch=-0.0227 left_roll=0.0064 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1789 right_yaw=-0.0049 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -0.6359, 6.8581, 1.6874, -0.3834, -0.0317, -0.0611, 0.0342, -1.2923, 7.2137, 1.8486, -0.0366, -0.0708, -0.0171]",
      "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]: [-0.1253, 1.0969, 0.0288, 0.4274, -0.1032, -0.078, 0.9995, -0.0208, 0.8059, 0.6083, -0.3851, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0118 left_z=0.0144 left_yaw=-0.0122 left_pitch=-0.0726 left_roll=0.0104 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1776 right_yaw=-0.0045 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.0308, 5.4222, 1.8339, 0.0659, 0.0806, -0.0122, -0.0615, -1.5248, 7.0496, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91529bba49826127e641f17f8b1efe5fc072fe3c9e9631207ad3ee4ba4af7eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b59f646904b4ffa0e1a81131fe100046a9a70b35acae2f38391838971408c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae48b0a244e0618494e4b1fdabe9b85826caa5a836c4268dbde12efd5bf089c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGpUycaKg6YukNosgThRh8TkDhBTtx7iy0HV_NtxDskKzIgRxgqnI82mD8fcxONBQtf_23WUd1LPBTplGC8nYMU1F972XyrsQH2Du_FjJM83-IUsxLBTFN40G-PnVFd3KfCd5JsXto1furGNqVjxs2eGwSOqn8sV3j__hacZr_ekGDQdIIDDyV7hpqszV6VyzDCKrsuCwTGP_JyJDff5lEdkqsRQDMVZqQOp15ADvI4tsxBLHUMcXZ5bF6STNLLnEVYDbgspDe4Vjk99-afkfjsOfbt5gg7ZDnvFmCQ7ipAWxip5SnmwUshj1kM_A30FKhVNeUa9s9DrvA12PaJ1-1TTDU7TRSIfzQg9M77mGiZovENHPLQHreoRbBBwpJ6oNnVFBVcGFdj18K2Iie3qGHYYmVO2EO7R4XEHCzZPp3nR1ajDwO8w3r1cZphs2_pcelyZRuLYFnCzIlmsrwFzATBtjiUPriFuecnOT1BLL3zQEHZjX_R5YpqtuAPKHEI291FhOyJCSe3P8sDJl83u9qIrR_9mGSd8pw_6qG310-v_7S1mTcdnwqgTmEqwgqCZXhfQBLqz_j_dNRE1RmVFWuCRsZG5qMILkdizxPiHeXi4jt7wcgHUhNsrnd0i0u4vUGDcBBx1QZA_wCkx3o9XmzZEfOz_pgrq51xCue6fRQ51LxBg-sJFSqxdgKtnAPOhL_qMxadviZmPDVgXLfgTwXWZtBjN0AGYLHxwODPJeUy1_fPiR7p2Y4oPQCO2cXmbs_CVtJtZ7W1dfwNqly1AJ_0NpA-bkbFIxMVaq1tQ487cBMJkknM_H89HqX1opQ5iGrdhuWQtf_tnZgMeVX4RC7luCRNcNMKOIZmN5Mr_YMAYZo_MdvtTlytsB_AS135XXMKZTXgrjMjHnrQ1JUsHRe-XZqr7TralUrIvc7_P-pNzFWECRYT4M0NCF4Qa1Ufy6-G4Gnk0igXANo-WBFaw625AU2Icd9vXAUVX7-wMd5TpLC3jc1XW3JXofiGivf0qo0zQJCt7-0YF0E_DRaOqIA5ilENCcRkUKiRGVWSHe2EgzP9DL0qDm7Rl66xjTkNbwyrHkmjD9NOYMBAfVE0VLPOJcmOLTo9SckBz-gbairii_BAMfX0edsdpXG30MHoUgEEjdLkEtrZOarkIdu_ACuoBeL7slhROtoObvd4bmSwvZq-t3_uIy66Wn3qFCopTyU0o4I50Ni4aE_9vfnh1GMl-7vxG1zzpsgqiM4_nDcDU8xbLmqjVpCeS5Xq2LtJM97HfqSVaaWAKwsEfGg70pJRHUqGpbJ3stV_kUCpbF5YCl8GjskM7_P5DG1WGp3Eepskq5W4TIMluYPOeMVCsLiUuOT5yjD4zi7l7Z_8L_ccnEL8q1kBijGQ4dIAgAq3w3QNq4-wHlHIFVxIqy1fbxwPbHa_S4yOXgy9qy0kkbw8KQSLHd1hLc-nU6ax-OP5LTZzRLrx2mcVGvRwsT292I8FmZVQgEjyv6Ir7TZ77Ec7axRDJQ-Jo-w3xt0u_zm1Zl4DR_W8_hfCQmy5geGQ6BZRqjWACNMrSoCUhsmEGnx6l0WVm3dHcWp7VOwJTMFzEym6gZ4gFlLHahEmMOwWFeIeRkB8HbAiA1xbsnuEjRHw2ZoyayzrdF4uTOxZWpalQ-tN",
  "id": "rs_07346563d9cbf888016ab461a7051887d085fbbbfc1bd6d831",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":0.018,\"left_z\":0.018},\"note\":\"The gray plush is still ahead and left of the fingertip gap. I’m making a short table-level adjustment to bring the jaws around its body rather than the nearby yellow marker.\"}",
  "call_id": "call_3cD4gIrSZGmS66DxOvY2rsqp",
  "id": "fc_07346563d9cbf888016ab461a8b16487d081788ac419ffdcde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3cD4gIrSZGmS66DxOvY2rsqp",
  "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]: [0.0803, 1.3945, 0.173, 0.5426, 0.0322, 0.0212, 0.9995, -0.0208, 0.8093, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0224 left_z=0.0075 left_yaw=0.0253 left_pitch=-0.1143 left_roll=0.007 left_gripper=0.9995 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.1111, 6.1333, 1.8681, 0.3101, 0.1978, -0.0122, -0.0342, -1.4564, 7.1179, 1.6923, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3442fe5f0f29a30ee75950aa5277b7991f6d644e7a2d8b5caf01bc021194e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1721e304520c5f4eeb73437b0e0e35b04e4fb3c9e4ad6e18cb598f6b94a80c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efa2bf58f71bf1eef9acb3449e3170d024bb1daaf2a86220ef9e16f304741d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.863 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0231, -0.0296, 0.9995, -0.0166, 0.7986, 0.6106, -0.3786, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2963 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=0.2961 right_y=0.0009 right_z=0.182 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.6479, 1.7753, -0.0122, 0.1294, -0.0611, -0.7316, -1.5658, 9.9897, 1.7851, -0.1099, 0.0904, -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]: [-0.1253, 1.0969, 0.0288, 0.4274, -0.1032, -0.078, 0.9995, -0.0208, 0.8059, 0.6083, -0.3851, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0118 left_z=0.0144 left_yaw=-0.0122 left_pitch=-0.0726 left_roll=0.0104 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1776 right_yaw=-0.0045 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.0308, 5.4222, 1.8339, 0.0659, 0.0806, -0.0122, -0.0615, -1.5248, 7.0496, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0803, 1.3945, 0.173, 0.5426, 0.0322, 0.0212, 0.9995, -0.0208, 0.8093, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0224 left_z=0.0075 left_yaw=0.0253 left_pitch=-0.1143 left_roll=0.007 left_gripper=0.9995 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.1111, 6.1333, 1.8681, 0.3101, 0.1978, -0.0122, -0.0342, -1.4564, 7.1179, 1.6923, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3442fe5f0f29a30ee75950aa5277b7991f6d644e7a2d8b5caf01bc021194e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1721e304520c5f4eeb73437b0e0e35b04e4fb3c9e4ad6e18cb598f6b94a80c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efa2bf58f71bf1eef9acb3449e3170d024bb1daaf2a86220ef9e16f304741d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGtH-fUko6OR1UuRD_qNdWJD1omCbbDJM5WayFrrM-l_9uOqwyk00ri5DmD_ny9BJZiPr4TWuxTXJFAz--K4cnJ_kVlmgvHR-lfNh-KKCD5h5r32kO8bD6EZz1yxOOEDInLgul3B5O2cpIPz4Z7mDczeQn5WuttWYDPxwLJU8pdC6ZFZ8XhVSf-5nm_yW62t2cD4rTqlMnHGUqHtrQaGQ5XuuNPCfRBwab8Zt-ngJ4bOmilZzxwjJgOSwggeqT1qku4p6KItts9l1IKX8tG3sXc3oqw9gDvxLpYdQGtXGv88tfU7dZsB44YsWmgyAR2yhz7-btNe4zKN_WrRMcAEgHbeSENvcS8xx3sh2hrZlGwWm-iaaMlcAvKQPuSol_sJMxAnQrEdF06CoZOLN408NOIR8ggennUsO43Hb2N9UL8tfBNba8AVy9Y2KduX03kHwGpUj2_qHyqMxWvyqofEcnxEPpbXrNmAhhr5pLdXrvUKtBBDPQqSGI9RAcvN558LpB5Iz160dqyPZtEUsJ2OGT9H_F06RtuiF9rsQfxkJdfhqPbPwB3ft88tfnoi8X040S7hp4zhmLPTgbQbLUM0m1lLA_-7hQU4-1nRy1LHPvjOXCN79h5mnTQgrUtEcFtyz-A_mWWpwbdVyZCwEuxoRqHP9jvif5qBuIHkM47FXhsKRAbwA0fCsAL6dlBE6mF_XUU5D5GiV6xkAESjCBT2A_XU0qtsdOK3ZOmav_bL56GHWFtTSU0H4q2_hfoMfXk6JeqbgCuazZ_JJBd_q-H_atzj0CYh2rnoIpYeR0EgbiEn1QwcJxGiLNWFG9HDg1uhPdoawBWh07CzP0x1cctbu9ecWjzt7PLrim2dfyxFhea6nVRlNA7ztsjAC5JOEPcwJoxDWHZqnP9wC04poP_IhQb8Kjadhk2e0YAQRT1sitO_XsAOlFtB1KK7r7lHEGpf_Y46mrx-DNp8sJAo4z1QD2chN_SYyZFuW9IUX8SFCrNJS31VQogXUWw7vKN16wQLwkeHSm7OmFgfSmeJV83WfQ2uwH7Jx5oCDQL9yqPp5SOExLTrTn8G_8uko3szGmKdjSb6fkv7FdjB3kZ_mrXXPeLQFv3GsW4_wMXjiDl1P926Ogf_6e4BwsgdEhaZYtLU_M_8f3lhmvWjGlfh4ypVDiHd_eYkbG_lgGL--HwdBHzp_Vqs8tQ_NxCkawrIYLIBfYhefPN-QMCVcKVxWlAV3PhGZyrsjvu2R_W4Nt3-sPMIntfKyLtTx52HLyth5_-k03bHYsokJaXvg1W311eStKW5IOujebfJ8vhoOfNxDRqKXRQnfn1QjD4Sc_NafOhfQwJGcOLWwEmSh472qrtg-Ajlg==",
  "id": "rs_07346563d9cbf888016ab461abaca087d0adf103b6086b4df7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the lower part of the gray plush. I’m closing them before checking whether it lifts securely.\"}",
  "call_id": "call_ElAoRFL4fuX5K77ZDrooxyht",
  "id": "fc_07346563d9cbf888016ab461acb15887d0a5026c38e9909268",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ElAoRFL4fuX5K77ZDrooxyht",
  "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]: [0.0799, 1.3941, 0.1738, 0.5407, 0.0299, 0.0189, 0.0128, -0.0208, 0.8097, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0227 left_z=0.0075 left_yaw=0.0281 left_pitch=-0.1151 left_roll=0.0066 left_gripper=0.0128 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.6444, 4.5333, 1.6581, 0.0366, -0.0073, 0.5836, -0.1162, -1.3607, 7.0359, 1.7216, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1685d3ba2fb830c9377e1ceef2cddda567f698109c2b1ebf2f186803f199b1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a1f50d2c8c10350d1430c05f3a20f41da8353efbc70968025f1fad6d8eb4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31db82a92e58f742f9c0a52325276ae95916dbbd210009593d178f59245314c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.255 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]: [-0.6361, 0.667, 0.2794, -0.2966, -0.503, -0.3817, 0.9995, -0.0208, 0.8024, 0.6086, -0.384, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2429 left_y=-0.0691 left_z=0.0963 left_yaw=-0.031 left_pitch=-0.0227 left_roll=0.0064 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1789 right_yaw=-0.0049 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -0.6359, 6.8581, 1.6874, -0.3834, -0.0317, -0.0611, 0.0342, -1.2923, 7.2137, 1.8486, -0.0366, -0.0708, -0.0171]",
      "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]: [0.0803, 1.3945, 0.173, 0.5426, 0.0322, 0.0212, 0.9995, -0.0208, 0.8093, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0224 left_z=0.0075 left_yaw=0.0253 left_pitch=-0.1143 left_roll=0.007 left_gripper=0.9995 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.1111, 6.1333, 1.8681, 0.3101, 0.1978, -0.0122, -0.0342, -1.4564, 7.1179, 1.6923, -0.022, -0.0415, -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]: [0.0799, 1.3941, 0.1738, 0.5407, 0.0299, 0.0189, 0.0128, -0.0208, 0.8097, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0227 left_z=0.0075 left_yaw=0.0281 left_pitch=-0.1151 left_roll=0.0066 left_gripper=0.0128 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.6444, 4.5333, 1.6581, 0.0366, -0.0073, 0.5836, -0.1162, -1.3607, 7.0359, 1.7216, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1685d3ba2fb830c9377e1ceef2cddda567f698109c2b1ebf2f186803f199b1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a1f50d2c8c10350d1430c05f3a20f41da8353efbc70968025f1fad6d8eb4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31db82a92e58f742f9c0a52325276ae95916dbbd210009593d178f59245314c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGz0_fBI1pG_cHDcKFTrC_VlEtp5IkOgBybMi8Cm7De8oqrivUJJenx8xRWJUMFV4nRvjck6X1UcejuSYuHu4zUpFjWJywlr5vqcQ1n8k1XwAcPV4t-FDPgx8a1Er_nv8MLxJg8wBoDRVieRZXPH41GEeoFvhxY3sg5li0Rb0QtdryqPDsrV7Cs-tqSYtxtUp8MJAajNN82OiozA_-UgqS8yVCq1KkYRKwGjdo_3WFLsD5H64nte9MjK74hutgqLNPKGN1F9d0fl_eo3W-QZwJO1_OHnqIhfzgu8sDsRB3qpc6o9MSqFDSDBJtV1DSOb0PIENuGLfrJWXEQXiUi_08CL0tyYmpVJvpgDUtT0DsSfCkUkj-D2ll4RaEfGIIDH_KKPS84tsvRNcMzt9cfQQzoqB7T19SVkVpzqBHh2TgRzPMnqDJDyPLuNE3lWhqrRdLugMLDy2gqCjH2rmDQOREtCxO-nJKecw1PhJEe5iAoXRT7fJTBMDY_EBBgEsBQtqnyTzbUeAIulgv_J6ACwgPwyaW6d8QGUQptG2ZD69LQDuvN3QsIU8P864yeoI262ORHaViOwaKnd84nkGSFQ-VcOUa6otiXlgokYa8lfD9lc1U1fvWdzTXXxOV0ORC4mUWTgTb2suQbg-k4lxP1lUlDubwx7cxJ3JXDOxR0PxQ1GN_kE40EHSn58C8Epm7jrhgGPR5JYQjmJSdfRvI-sWTjEx2bxOAfXVmparV92WX4fTmSbiibfgTDZX76X9xtX-cAZMypG8g474P_AZ6hXUa3JOX272yBBVtoZBSBBBtW8T5CGNF3uheCfSggzQah1FM9mWHAjBKQHbIg6V8mlujF7sfIINN01Rg5iZDxEC_dV7BH6CH0Wyb6U7pkv9-Ia4qm9J9l9GgIRVkKEJldJkIx1tixGfkNZ59SRjjrzMvpBagXwHrCBobscRD8nFXROG8ySR22nut8nH4YuY8KM1UZwHyspuOJpLTmZBhIsZAzY1gFl8WSsaMWerBbl0y37uJp--pDGCjzrHpqu9VGEHu5l7G2wRtUnJRD5mHPvH2XSRSc3MnfZW3HiHWxQt1Oi7cITUvC25O32QnD9wa44oWoVGP9OgNsh9_P6lEv5RPRgEcLi32XbKvzwAMndcAbDVh19yoVIoznyXYsUamAMlIZ9SnIzRRkFFk2iGQUUlYjKhCcM9xjBTeyvWHZprEHL_7ht1_e0JRb5FJPQCC_MPher-hrbr1hdo3jFaYtpDSW95gl4_ieIwZxMt1mZ9KuGVOz3oGWgWoZcdsABMI-Od3gP2nM-v9u1E1tcQZKSwETLs5DWm3exFJVX2p4JFiERJvv8rAN5RRILzstoxylqyWx2RyZoyN-dHIe9TqyJ8b6VCGrtAzWuBLpeRrQsDYuugSpQoNVCdeZQdbVowwIOuISJBpuSsdoMsDVuenFaNfuZVE51fvx8Yx7_zGU3WaG1c3C08U7SSa5BFYyWyxSGmYkfOcXO3QoOPW0KCaGNVii8d0NMWzNjZwTtppwGYQ0h7RQ_MmxMpzso4Is171ZbLtEmbc4hwJFHB7OPKGMxOJANAvMvjou7OT0WeBDUhRTMI8y",
  "id": "rs_07346563d9cbf888016ab461b0067887d09442ec6fb018c559",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":0.045,\"left_z\":0.03,\"left_gripper\":1},\"note\":\"The gripper closed empty, so the gray plush was farther forward than it appeared. I’m reopening and moving forward and slightly left to grasp its central body.\"}",
  "call_id": "call_ERxNTW3nnnzVHpjBDYDvbOEU",
  "id": "fc_07346563d9cbf888016ab461b1d9e487d085d511f7e0448bba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ERxNTW3nnnzVHpjBDYDvbOEU",
  "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]: [0.1452, 1.5757, 0.4477, 0.4179, 0.0757, 0.0452, 0.9984, -0.0208, 0.8139, 0.6075, -0.3847, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3648 left_y=0.0435 left_z=0.02 left_yaw=0.0399 left_pitch=-0.1434 left_roll=-0.0048 left_gripper=0.9984 right_x=0.2959 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0045 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.559, 7.2274, 1.6044, 0.0464, 0.1538, -0.0415, -0.1299, -1.4291, 7.0359, 1.7558, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e4a59cac022c9cbbb45739bdfbef98fe3f64e461dfb3a2fe7af20d86988fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aec25d9614756243d29a32805ff44cccd165dccaf411f3485c42984cf905580",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a33d4c0c7f41ae0ef3f4d47413e33612a3a785cc75a1245f10aba014d9c19e",
      "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 · 8.049 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]: [-0.1253, 1.0969, 0.0288, 0.4274, -0.1032, -0.078, 0.9995, -0.0208, 0.8059, 0.6083, -0.3851, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0118 left_z=0.0144 left_yaw=-0.0122 left_pitch=-0.0726 left_roll=0.0104 left_gripper=0.9995 right_x=0.2954 right_y=-0.0006 right_z=0.1776 right_yaw=-0.0045 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.0308, 5.4222, 1.8339, 0.0659, 0.0806, -0.0122, -0.0615, -1.5248, 7.0496, 1.7558, -0.0366, -0.0562, -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]: [0.0799, 1.3941, 0.1738, 0.5407, 0.0299, 0.0189, 0.0128, -0.0208, 0.8097, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0227 left_z=0.0075 left_yaw=0.0281 left_pitch=-0.1151 left_roll=0.0066 left_gripper=0.0128 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.6444, 4.5333, 1.6581, 0.0366, -0.0073, 0.5836, -0.1162, -1.3607, 7.0359, 1.7216, -0.0317, -0.0269, -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]: [0.1452, 1.5757, 0.4477, 0.4179, 0.0757, 0.0452, 0.9984, -0.0208, 0.8139, 0.6075, -0.3847, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3648 left_y=0.0435 left_z=0.02 left_yaw=0.0399 left_pitch=-0.1434 left_roll=-0.0048 left_gripper=0.9984 right_x=0.2959 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0045 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.559, 7.2274, 1.6044, 0.0464, 0.1538, -0.0415, -0.1299, -1.4291, 7.0359, 1.7558, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e4a59cac022c9cbbb45739bdfbef98fe3f64e461dfb3a2fe7af20d86988fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aec25d9614756243d29a32805ff44cccd165dccaf411f3485c42984cf905580",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a33d4c0c7f41ae0ef3f4d47413e33612a3a785cc75a1245f10aba014d9c19e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGG502qWxW4I13yEhIdnzrg8HhO4RqsJxS5iShfI5pwytpLdSzYoYBqw_14wIq_jooVCxK9wLODvN56il2c4QOOAWpIPCgzGZ3wnkBk1uxR0ayXcqko7yW9NGOb4W2az3bx8UdLAXq4jIN5OtAOJDGaQJ6wzZxQ0JmI3JJHMX1JfTQajLaH9rYVfxAWJozmE0xdzBreQzoM3vBxPjaQ0AZqfQ1VWoKqFL50J9rR_aSJZX974HGVgsMkNIzEMuzGldmLrBR3KPQsxhNAcU9WBLYfl8QLzgKnGMhituq6si6sASZIiScYRp-n0hAxsYyTAxLdVMoVnFoQ3bjl62YYj9-qo2ytv5YQdB1AIq-x2eIPCSO_nn7YpIj3512uhADH-d9RqYK-gZWp6URP4xl7AQqyFLnyFOIDCvBwJBkeAp83uXWv3f4B-UbTA-NyH44XVTbTXpjVZ9HO8z60oOgYWxbTBn6z8hMBMK5S8rO3PGDMVcBMYM5BzhTESM1pbq0QqFacYBto8x5aGK0ENitlkny9sQ-anBJ0k-M-fSIR_wSSBmdgZxTvV-V3HUA4jusCl-PSWZvaEOOBzoyrwED-iHF33mP8UisH-lsrwx-KP4FIrEToXTpcTJsHaB5guV-8-XaHT5ajjl3s-fdD2qPRi7iWFzQ2O7285LibCdc-7zymPMqxz53BtpQ9X7j1Sp6oNfFvsG8FXSTVIUpywHT8nTHSfwZW7ohl0ibKqsyQonG9kntdNMSh6k2PR9_QsfjklUa7C8Nl80kf62-HbCzcqdD4DzFXw80t2HFD8Hph90yBnRzviaqHJIDya0bcmA518jVi3V3_nXYv1tEqc9Vt78BS8aKlJpogd4WECPt6DrCyFqiDS0XoWi6dF8BDOM6LerZrHR6TgI5kfdUov50ZPrak1OxX3hBRcWQrsQ0M7FN06Pv2QvTV96i39x_BuJk9yfYl4dHSeWkIJVwj9hZb2BZ0q0zd2AO52lUSJb7bJsFEzlT-zJZzvhxTL1LBzDEM5ocDZEQ7ZbSKO798tet-8UanPxllqgLh_gWujNeWQXssZFNsi0A3Iw5CgImEjTVVCd6OGDOphIb20tjvshJlztjOuR6zDTr6itGtYN19ruCZfeEIO-GkLGlgHvpHhxVJfNR2iu1O-FQasTWh219x08dyZPELbp0W8igTAVXSWiHq3CPuReiesFI5wsuSIN2-6o8oY0RRV3-UkfalN4yUd_OnZGTg27lLz6oBuadXGL4xMUt22hSPk0mAqkUA7T00ce_gGVIHLyUb883_tWMLMRWHryhhIIlAuycx3k9aWRErEFHSQQ9CoWA6PT38yNsj7SNtJvt4mLikl9QvmNwO_UMA9jB2aM5nr_YFmlh_61MlBm_NDKRuQXsG-Q7vvrvyj3XjqomNF6B8zb0mE17zv_UL1yYkyfdek5hSSSAfK431vZbogoZYliHS67_OnXblD2rOIwJwrZRJAFcipFJWrr4y1KC4DophL2EEsHVJIRulnsfzRtY9LUPnqFZvUSjQ8VGPLF4TLYpbONDa5cbvhOqjytXnsz1BjW6JiAoFt7wtYCJONcQmtR-RXlqLc_6svzbeevECL4PaDztgDbLrypvaJ4ueKbs_RL533YvB-umknUre29hhQSGWXMoQtahw8fy8Nf-ZSKH2pCi7mSnMok4gTQHmA1AbfE7-NgKk7skrDQ7Oic24NkKZWFx3Wo7iYmHmHhDCXEzV0otANNlMWHJjHSRlD_OGWA9cOgaDIFpMiEOLy6EHV7W5oJZKBCLl33LX8Oh5WqXgXbuZyJUSR5NammOb0C2AQdoo7PzOI9bENLhrc-IlXjp5q6FFOUSvIeL5Ntl4zleBZeeKY9nFeuO0EQOMR9eM99Eq1BUPh79K0XPCy6kpDtXy6S3lANycUfj5sTACPuPgspHN28Dp2AhXXbSLhuijoPRuyYVbNe3Nj2ig=",
  "id": "rs_07346563d9cbf888016ab461b64b8c87d08c7b1fe1b032c4fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is now at the left workspace edge, with part of its body between the jaws. I’m trying one careful grasp here without pushing farther toward the fence.\"}",
  "call_id": "call_y5nv5RymHLfjXX4EY6cRATo8",
  "id": "fc_07346563d9cbf888016ab461b8d9f087d083938f1c5bed566a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5nv5RymHLfjXX4EY6cRATo8",
  "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]: [0.1455, 1.5784, 0.4484, 0.4053, 0.0746, 0.0418, 0.0125, -0.0208, 0.8146, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3628 left_y=0.0435 left_z=0.017 left_yaw=0.0429 left_pitch=-0.1579 left_roll=-0.0082 left_gripper=0.0125 right_x=0.2959 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0049 right_pitch=-0.0256 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.9829, 4.9026, 1.7167, 0.0464, 0.0171, 1.0281, -0.1162, -1.3607, 7.0359, 1.6923, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1aff12cbf52d9bd17f9baced37cbc64e03225f1bbe78d2bd06166c1baef810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bed0637ac92d15e893630ed17238cbfab0a4bee47ec6019c16bc75b5c9f0390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514ec07be63f6fe1243b45a3f2c2d044b302b406d6d8f38a5eb376d8b2cc25b8",
      "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 7 attempt 0 · /responses · status 200 · 3.972 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]: [0.0803, 1.3945, 0.173, 0.5426, 0.0322, 0.0212, 0.9995, -0.0208, 0.8093, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0224 left_z=0.0075 left_yaw=0.0253 left_pitch=-0.1143 left_roll=0.007 left_gripper=0.9995 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.1111, 6.1333, 1.8681, 0.3101, 0.1978, -0.0122, -0.0342, -1.4564, 7.1179, 1.6923, -0.022, -0.0415, -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]: [0.1452, 1.5757, 0.4477, 0.4179, 0.0757, 0.0452, 0.9984, -0.0208, 0.8139, 0.6075, -0.3847, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3648 left_y=0.0435 left_z=0.02 left_yaw=0.0399 left_pitch=-0.1434 left_roll=-0.0048 left_gripper=0.9984 right_x=0.2959 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0045 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.559, 7.2274, 1.6044, 0.0464, 0.1538, -0.0415, -0.1299, -1.4291, 7.0359, 1.7558, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1455, 1.5784, 0.4484, 0.4053, 0.0746, 0.0418, 0.0125, -0.0208, 0.8146, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3628 left_y=0.0435 left_z=0.017 left_yaw=0.0429 left_pitch=-0.1579 left_roll=-0.0082 left_gripper=0.0125 right_x=0.2959 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0049 right_pitch=-0.0256 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.9829, 4.9026, 1.7167, 0.0464, 0.0171, 1.0281, -0.1162, -1.3607, 7.0359, 1.6923, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1aff12cbf52d9bd17f9baced37cbc64e03225f1bbe78d2bd06166c1baef810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bed0637ac92d15e893630ed17238cbfab0a4bee47ec6019c16bc75b5c9f0390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514ec07be63f6fe1243b45a3f2c2d044b302b406d6d8f38a5eb376d8b2cc25b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHCMQFXMYgXT0XPlw9pD8yQcfY7I0zy8Hw7WGSTCJxiPvtSE7TiCoNC_qj4yWWbcp8bElN6SoHWLZnaBDaOJWFUdw5Z7-g6Httz3zoJru5kzw-qfLIq0JV28aEYtksgv492Do1eYGGR9P8362drhbjaGrsduiNW46oy9pDECx-Ye0oJNJHMVBwIIWvM4uWzmps_xzTe_sdOYu0435JnUraqDVNY0ACGGtnfomyXt2tk_XkT_GB4uQaw_rKdUOxOOCeHUDxf5YkTN-gIqpX_S3n4JFSr54U3nGHoixg5srDP4oymvZgwA_VvIDp0MJMeFdNlyDbsipCUhUJ312tta_NPGw9LbrwYS1kN49xdfi1Mbo-LdHtdet4eKwN04CX7gW73ABP8Ezp6KVrocp2poI5MGI0RyO_AgpfzXhkXSS8OVcSpf3YL0y0WQa-uqOFkejfSEK2rFkU6eoDfwHG2GGaisfInBrZaqv5Uc3rJINX_e9DKK1TqXnurLLdi1jTdBBYa5BVVRgLE4phtqnTYq4pizjZeNtzaLs9HO8VkytAmLHoluXhcRq0bW_UrwBBwWyTNlFSPPfIAg6z570xTdh1QYmRbXFmuj9HthynKRUvZQHNWIqJSeFkKeM_S6s3jpquqBeU9Lkw4Yl9R1I3xKpPIEK4BwUs-43jfJuknuXaYypc9OYpfuWlKAhW8DvZmgcsXEUTNSxsRFYxMRTMInenj3pYNwTcy1gwwkyN1aVO_KsGbX1dLqFIzJ7aU8bItolmOLblNAV42IDnue0nwk-8UkUSYtN5XE1NXY6AVvOwF2pt9Y1FjupvcdE8yO4mc8bdsLfUsUlmUoqgDHtSJeeZnBLZpRvB_daOr7LH0vjbpyO2CkjKtIJkO3fndgzXaWDcg5M7YKvIOKUZ0WZZqOyNWpnAO4LVCpiEFYbTTQjCPKzlLWOwo_cCyZGSSjKBZop9KDdHKXd5oCG3ljXsxMU69L1RCeNZp_lOFAEVJlplIyM55H9pWr7Nh0tsLBXmmE69dt0ACVUBLXgnTu5axy6U5nfUxq2qiBIu1ZtUCpqQ7sZcn_SyOIGfZr2iPslLyzXWWBDy9EHrGc0Yqni-m-Q5szht6jSzB01z0ukx1Z4qlUzfxFSTO_iSGf0fd85SO94C66CEhS73cYGio08fg8qF370MHrmGb4wAaD1Z3EWWhTpZ7ZxxeOJWfP2BxnVszzS1Kn4H9qGkYYKDDUC5Cs8Q28D-MqG33WV_Wcbkh99LGl3D9TFqId8dd8qmOJADMKCFK9aN3UNQB_QD_anuqsfs5J21c7_I6WmgW52QZfoyjjzBdhttfHejXT1UOeSEvngfZLsrEWS-xruQHimFA_eSHkrdaqphgA5o_OaBNJXG4PNpxdpglqdeR_nsyX6uISDAt7iU86cUxI19_37nqZRIl61mkG2JKA0kCIc171mkLTuQF7uD0Z8V7VGCh6e2LK_V-grMuMsUH064am7RMy_piZssZXHYL6fCtgiJqPkI-EO4-kjbiWRV4WEpOsG-NJMW60SBBMu4XU-6qCTQcoeRGuq0V3kKOj1NrL5jAihlZqYTFLNwMqvvwkmISiFShtNgkmpz7oL66r2Yjn4yc_AR2zRdWrcuWoaeaI1ugc8MldoOH5-0slxtgXEI2rSQFR3QBAK1cTYXOlvtirptRToCXesCGmubmeZt3Y0LzmdhiEB72dV8mMYhO4sQxoUnF1Jdmn5U1A1osMpZYpsaIIp5tmsvXkFfDbjEOEx_g6_3xXGIMU1c8gv8XAnCIPlj5TKznShZaaz-T0UnEV4CiqY1-j0_QWMhBmj5cik_o0uv0R7alB_SHwoLc3apgmHBF9Asmb4UWTrT_QvTVWPswNApvNs6eLOfObFTiBNtH3GeuV7kpc4v-4SSdk7cILz52BFxXcEWsoD-QKWkMQtK2fuEw-Xzpd9cYnukDWBD4kQiNsHyezPfttTBvxRLL3GQoAPl48ccPp6BdJ3Bwdm1sNtb9DxCSeVn4CvhZ4fCGNZW2uv02imDxPrT4wxOjT1KwkAJLRM2nKLzaQsu5Rs5AtNSDDItEc1OuUEg7Yl1zCKigsns_FsPQOAP3JIU99cnKP5eU8IttCcBxuEpci0tdhkFBKbHz6Hm33slBg5pTYlybrJnIjCxM7GgQYaySsrxjv8pRnCKxXLSBtqBE9-TnBor-NzxWzWCwt3QQbeEpcypQSwoqri_PijeMxh1ZTErpSfdSTBSk9bbHY4Ov66DNdoWq97oshBgV59TbjkZmB2V71Lo5dspAChdwlv7BdJn627373t3OavyqP6F5f1LHEJejJe_zApt1OpO16K4YrSzhrVcg8PWlw30YO3c3j4LoZNM7aTsSE1IlJKXNMngMiNjro7_Dmx8RW6Pxq4rg6A_w6unuTMvaGWOQ7MUC9hSMVQTou00B3o489UKjGcZinpYvZyjTXlRSOfbkuu9JS37quXz5swmR6IKTYcMf6P94mDGBCSC206ycuAgUt9IxhDyPtPVv7dPtxUsNBz3a5984YOSHc1Hh9b-ngQ7X39pqSDt2kHh4tDj0okWzQipasJCR_-Q1HU7iicy-1mHW2KruprUtFpfiuogdTxjWJP0UDkxFRkh1PqGUsOEYrG3WL80ickFQC639OewmTE-sCsJ03_-flShlkRmFLWnDGz3j_vVO-r-W0zFh2vL7FRTXXQGnpmGjtp1dc6urey5cMTmBcGs9FTaj0tXJR87VN3qBkgvGePDKiptFEHplgTWCUt9icE8ODtc2STA8pUiSGPrmxy6qJE16BcTczIpCCALMeNeymGJULQi2z9z11kgl4N19nZ-COjsLiztLcBMkBTzVPI2RUMdHjFwwZfCMpFT60aRbvYVvY_HwsEFTAnf2UL597DkxWJLXJL1DIOizjnXOgsiEyN1Sc-XQL9kaEpd_5YujULrvfqX3CuVhv7De0o5xCEEFazTTxwD-jox9Pr0a6oBC3y_KQjBQhDHhOpASp1gdcsOziDlsGbmn8XKoj2La-w==",
  "id": "rs_07346563d9cbf888016ab461bc259487d0801cb211ce641970",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.175,\"left_z\":0.09,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"The close was empty again; I can clearly distinguish the brown plush, the beige plush, and three markers in the center. I’m moving to the brown plush and keeping the idle arm parked.\"}",
  "call_id": "call_fU1OtpSMhkQ0eGFr2WuyDD03",
  "id": "fc_07346563d9cbf888016ab461c1b25887d09cca6427fcf61b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fU1OtpSMhkQ0eGFr2WuyDD03",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0542, 1.2839, 0.6338, -0.4522, -0.7116, -0.936, 0.9987, -0.0208, 0.8192, 0.6155, -0.4191, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1748 left_z=0.0829 left_yaw=0.0312 left_pitch=-0.1776 left_roll=-0.0085 left_gripper=0.9987 right_x=0.2924 right_y=-0.0006 right_z=0.1703 right_yaw=-0.0052 right_pitch=-0.0561 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.0821, 7.6376, 0.9597, -0.5739, -0.0317, -0.1441, 0.1299, -1.306, 9.6889, 1.6874, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee94dd699005665fd3a1f5158ad4bb7af39426e2f65cc3613d22bde318f3a785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1201a2a3860cf5aca2d748b909701f786c5acb446dda71b52b11490b56a915cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e5cf390cd59ae91cc1cce02765aedc53b9d48300174fc269ffbc4db639c136",
      "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 · 2.363 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]: [0.0799, 1.3941, 0.1738, 0.5407, 0.0299, 0.0189, 0.0128, -0.0208, 0.8097, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=0.0227 left_z=0.0075 left_yaw=0.0281 left_pitch=-0.1151 left_roll=0.0066 left_gripper=0.0128 right_x=0.2955 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0049 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.6444, 4.5333, 1.6581, 0.0366, -0.0073, 0.5836, -0.1162, -1.3607, 7.0359, 1.7216, -0.0317, -0.0269, -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]: [0.1455, 1.5784, 0.4484, 0.4053, 0.0746, 0.0418, 0.0125, -0.0208, 0.8146, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3628 left_y=0.0435 left_z=0.017 left_yaw=0.0429 left_pitch=-0.1579 left_roll=-0.0082 left_gripper=0.0125 right_x=0.2959 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0049 right_pitch=-0.0256 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.9829, 4.9026, 1.7167, 0.0464, 0.0171, 1.0281, -0.1162, -1.3607, 7.0359, 1.6923, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0542, 1.2839, 0.6338, -0.4522, -0.7116, -0.936, 0.9987, -0.0208, 0.8192, 0.6155, -0.4191, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1748 left_z=0.0829 left_yaw=0.0312 left_pitch=-0.1776 left_roll=-0.0085 left_gripper=0.9987 right_x=0.2924 right_y=-0.0006 right_z=0.1703 right_yaw=-0.0052 right_pitch=-0.0561 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.0821, 7.6376, 0.9597, -0.5739, -0.0317, -0.1441, 0.1299, -1.306, 9.6889, 1.6874, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee94dd699005665fd3a1f5158ad4bb7af39426e2f65cc3613d22bde318f3a785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1201a2a3860cf5aca2d748b909701f786c5acb446dda71b52b11490b56a915cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e5cf390cd59ae91cc1cce02765aedc53b9d48300174fc269ffbc4db639c136",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHOwt2a6a4Iui3cwvfEFCHKQliP_Zwv6uX5jRitoOrQcOE02oKzLU6TmCEjE_hyNycjZn9Rbwo1USTO0nc34DjaIka1KAaPisXvu9N2Qatl6BiXxqyQ3gCgwIk4BUg7IkctwQklsKuwyFd-vBhMZZNKMUguwdb_OacQb0R39ZU6HoxSuRr80itQ8A4O99Ymg3lSwu7fYZLBkuSzsqgNhrHGGKS5Ae0HxRD0uKagPLJqbBFBNWC84lbnpa2pdPok7QddOeb3nKfeTGLW8dkO7MeOfrG2CojQhF9wBWrkgIwquQA8b4nz8BAsz1sxVaCb4KDh9YAJpdwdrSnTIvB0nAqSfcMSKcgEVaFhlQC7x8N8VKyhTFkgdqnSS7OGtvUvX5mUBx3JEYwVRV_fnzA_0OFMxMjrfdiylTpa0WARaOIbyp3Z6qp30VAJOfZsQbnYfUdykPAasQOE6Zh5Hnk1PfZzQTL7JuDJKFEveIwWP0FmmKQSQpn3GVNg9KbgJJs_-OZqi1lIBBput_A-R_Ih1bpE5t2jxqNCk7ykQG-UrEND4WaVV6LFztaNgOkTQZ0Af68W-neX2p7A6u7mJUcGNSdsoTEEX8c0iPiDIM6-xv-2q1FDhJf_w1443_BcjUlZCyi2J5imcsb8NVSoTVYYgqT-Cv63me7qwALRKTIOil0n16m-_wdNekiJo96JZElXKOTcvw1w0DWXcDS6LaSHwTbyN38S7cqaidACKzMd5CHkxQrOpGh1VyZdcu-8dEnBdLP-H6_YC_r8tixDlh_lX5lORe3jiUuboBnMvigj-Ped5_ix9GuIAYp55GLpLMmrnVZ7CwXgCJtqWPAmFv2d7TSoWauniEHOhAzz71amllzdi27GjZ2LUMiNDEb6T9kgW8-0hUFTSi3HammkvUQw7TXRa-ezGuuwbijW86hQqgi6T-p7Ztff4k9514aV5t3SV4LGK1-o_-oVLubDVYpzMF21JUuhZYBkGPIGTW9rq36RcaBM7ERMuqnzcHZloAjgXOnxAu69JdNWMg9oujKtfGD7qWXPMGlGvBRhLZsInMN7S-n95rNPRyUuNjSnpevb8wlk7mUeGvOlAtB3jQMOLDPJeKoX2-UPVOhIFzkauaMtMz1ejPdh3m_E_gpoKQFn0LE3r-EkLJM0GwrLDsF0O0Ekrz_E4xbqQQnHlGXiTU8rrj_YPIEnzRM7NM5oKyfCJLy8TsEYdwUI59ClUuwjdQMt8p8rG9emiwrUEVMjRK1YM48pIap-eOmSgEWK8ihy0szUz4DogNieaIfZCQB0iEsyyPZK5yeODitUDTQO2G4AlD_cHO5nAZZ5f0G1hsIwl-rULGUIqn__Naer_OJToqtSr0ss6de0Dn0dFp1ltP-iplTIqsggs707SArSA3LYqknF1hxwE-6p9RBLtQopL33V54TTEsuUt4deApyLM2LzHyjUN6cXbc9Xxs4kwblsA228_GfDUtWsFUbZyPoWTgd0YrNWF2jj-jTa-XlzCL42nndCoztNT3VcOWH3eatn83HW-EuSDQjLMTN8J53tenCD7_PAkR2LguFsJFwNm0lJE3oNxr1hFHQhOMZ-Q0f8VCAq",
  "id": "rs_07346563d9cbf888016ab461cc1c3487d091635372bb8517e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.15,\"left_z\":0.018},\"note\":\"The brown plush is just left of the jaw center, beside the beige bear. I’m aligning over its narrow body and lowering to grasp it.\"}",
  "call_id": "call_iSQMDSBKM1E0odUx4FckzaXo",
  "id": "fc_07346563d9cbf888016ab461cda21087d0b6fba8fc0a992101",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iSQMDSBKM1E0odUx4FckzaXo",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9279, 1.4075, 0.4042, -0.0315, -0.6537, -0.8112, 0.9983, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2488 left_y=-0.147 left_z=0.0175 left_yaw=0.0461 left_pitch=-0.187 left_roll=-0.0009 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.6991, 4.7795, 1.2821, -0.3004, 0.0317, -0.0659, -0.0752, -1.5248, 7.1726, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6384262132d61dc68cd102e6fd34cf2e18eea123145c92f465cbe5504c8f9ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4176705ed8247053776df8587bde1bfac4682398d12d63c3babc7c90f9432b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d851bfff9b8af4ae809f1f4e187b7910e7de234adf1c8686942f44c81d7370d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.346 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]: [0.1452, 1.5757, 0.4477, 0.4179, 0.0757, 0.0452, 0.9984, -0.0208, 0.8139, 0.6075, -0.3847, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3648 left_y=0.0435 left_z=0.02 left_yaw=0.0399 left_pitch=-0.1434 left_roll=-0.0048 left_gripper=0.9984 right_x=0.2959 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0045 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.559, 7.2274, 1.6044, 0.0464, 0.1538, -0.0415, -0.1299, -1.4291, 7.0359, 1.7558, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0542, 1.2839, 0.6338, -0.4522, -0.7116, -0.936, 0.9987, -0.0208, 0.8192, 0.6155, -0.4191, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1748 left_z=0.0829 left_yaw=0.0312 left_pitch=-0.1776 left_roll=-0.0085 left_gripper=0.9987 right_x=0.2924 right_y=-0.0006 right_z=0.1703 right_yaw=-0.0052 right_pitch=-0.0561 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.0821, 7.6376, 0.9597, -0.5739, -0.0317, -0.1441, 0.1299, -1.306, 9.6889, 1.6874, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9279, 1.4075, 0.4042, -0.0315, -0.6537, -0.8112, 0.9983, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2488 left_y=-0.147 left_z=0.0175 left_yaw=0.0461 left_pitch=-0.187 left_roll=-0.0009 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.6991, 4.7795, 1.2821, -0.3004, 0.0317, -0.0659, -0.0752, -1.5248, 7.1726, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6384262132d61dc68cd102e6fd34cf2e18eea123145c92f465cbe5504c8f9ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4176705ed8247053776df8587bde1bfac4682398d12d63c3babc7c90f9432b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d851bfff9b8af4ae809f1f4e187b7910e7de234adf1c8686942f44c81d7370d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s body is centered between the open fingers. I’m closing the gripper around it.\"}",
  "call_id": "call_IIzo7snG67fiS48xISOjvfSa",
  "id": "fc_07346563d9cbf888016ab461d17e1887d0bdd428e6405dcd59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IIzo7snG67fiS48xISOjvfSa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.4075, 0.4034, -0.0135, -0.6579, -0.8112, 0.1338, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2509 left_y=-0.1487 left_z=0.0196 left_yaw=0.0465 left_pitch=-0.1744 left_roll=-0.0133 left_gripper=0.1338 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.2872, 5.2308, 1.0281, -0.3004, -0.0317, 0.9841, -0.253, -1.306, 7.3231, 1.6679, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7f99934c59c7ff8e24b0e2df18c134f9d128151262f1be033e32a25a9ab823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dde93ba252ddd906bbc9e44a7f6398b0849da1a8671001f90eb4d52703fd1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457d5d3a47b1a0bda7295c0a39627beb66bb8a9a09bdcb5ad5a84b569737ce57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.542 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1455, 1.5784, 0.4484, 0.4053, 0.0746, 0.0418, 0.0125, -0.0208, 0.8146, 0.6075, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3628 left_y=0.0435 left_z=0.017 left_yaw=0.0429 left_pitch=-0.1579 left_roll=-0.0082 left_gripper=0.0125 right_x=0.2959 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0049 right_pitch=-0.0256 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.9829, 4.9026, 1.7167, 0.0464, 0.0171, 1.0281, -0.1162, -1.3607, 7.0359, 1.6923, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9279, 1.4075, 0.4042, -0.0315, -0.6537, -0.8112, 0.9983, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2488 left_y=-0.147 left_z=0.0175 left_yaw=0.0461 left_pitch=-0.187 left_roll=-0.0009 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.6991, 4.7795, 1.2821, -0.3004, 0.0317, -0.0659, -0.0752, -1.5248, 7.1726, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.4075, 0.4034, -0.0135, -0.6579, -0.8112, 0.1338, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2509 left_y=-0.1487 left_z=0.0196 left_yaw=0.0465 left_pitch=-0.1744 left_roll=-0.0133 left_gripper=0.1338 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.2872, 5.2308, 1.0281, -0.3004, -0.0317, 0.9841, -0.253, -1.306, 7.3231, 1.6679, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7f99934c59c7ff8e24b0e2df18c134f9d128151262f1be033e32a25a9ab823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dde93ba252ddd906bbc9e44a7f6398b0849da1a8671001f90eb4d52703fd1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457d5d3a47b1a0bda7295c0a39627beb66bb8a9a09bdcb5ad5a84b569737ce57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper remains partly open around the plush, indicating contact. I’m lifting it a short distance to verify the hold before carrying it to the basket.\"}",
  "call_id": "call_uURxqtMAy8nXmhTLdPgcRU3e",
  "id": "fc_07346563d9cbf888016ab461d49ddc87d088371a146a8a38bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uURxqtMAy8nXmhTLdPgcRU3e",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.1805, 0.6334, -0.4824, -0.6506, -0.8116, 0.1372, -0.0208, 0.8211, 0.6136, -0.4191, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2495 left_y=-0.1486 left_z=0.0996 left_yaw=0.0441 left_pitch=-0.1861 left_roll=-0.0072 left_gripper=0.1372 right_x=0.2922 right_y=-0.0006 right_z=0.1689 right_yaw=-0.0048 right_pitch=-0.0599 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.2872, 8.1436, 0.9939, -0.3834, -0.0317, 0.7204, -0.3487, -1.306, 7.0496, 1.663, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97978851e4c1a672e9360cfd07a63a1d4139946fe20d93b512ff02212d3fa590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1553cc55d44fdf9a06d3b751f3e6526851178897a77fe93a3004a595415a9af0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68748a91801e65aaa2b728aeac7a855a81eb31f145ca04ee80fbae89581d3ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.525 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 40 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]: [-1.0542, 1.2839, 0.6338, -0.4522, -0.7116, -0.936, 0.9987, -0.0208, 0.8192, 0.6155, -0.4191, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1748 left_z=0.0829 left_yaw=0.0312 left_pitch=-0.1776 left_roll=-0.0085 left_gripper=0.9987 right_x=0.2924 right_y=-0.0006 right_z=0.1703 right_yaw=-0.0052 right_pitch=-0.0561 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.0821, 7.6376, 0.9597, -0.5739, -0.0317, -0.1441, 0.1299, -1.306, 9.6889, 1.6874, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.4075, 0.4034, -0.0135, -0.6579, -0.8112, 0.1338, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2509 left_y=-0.1487 left_z=0.0196 left_yaw=0.0465 left_pitch=-0.1744 left_roll=-0.0133 left_gripper=0.1338 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.2872, 5.2308, 1.0281, -0.3004, -0.0317, 0.9841, -0.253, -1.306, 7.3231, 1.6679, -0.0122, -0.0708, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.1805, 0.6334, -0.4824, -0.6506, -0.8116, 0.1372, -0.0208, 0.8211, 0.6136, -0.4191, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2495 left_y=-0.1486 left_z=0.0996 left_yaw=0.0441 left_pitch=-0.1861 left_roll=-0.0072 left_gripper=0.1372 right_x=0.2922 right_y=-0.0006 right_z=0.1689 right_yaw=-0.0048 right_pitch=-0.0599 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.2872, 8.1436, 0.9939, -0.3834, -0.0317, 0.7204, -0.3487, -1.306, 7.0496, 1.663, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97978851e4c1a672e9360cfd07a63a1d4139946fe20d93b512ff02212d3fa590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1553cc55d44fdf9a06d3b751f3e6526851178897a77fe93a3004a595415a9af0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68748a91801e65aaa2b728aeac7a855a81eb31f145ca04ee80fbae89581d3ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHcxqYHLcVwgjQmsF7d7SU_X3AlhITSBrQt7_U8-P4X3a2Zv1Tcpj2LjrgjvaP7HaIH6bvqyVfgQcMzWzCfp3ItCX5cJezeIteTuDtLC8OF0-imhutLI2pLa5ahXiy_esgfhsPMAIfMx3eqzjiMWtff4vpinpe-rVCJERwXkNtjs3uHaVJfDKfcc57ACzxkciJWGGk6e_nKyLxdQVFvdduvcqPEx6H1aEqSngdIdXqA41ef5S0B7bmggmQOtpyWwNaH8GxDR0mcGiU3utMKB35VZ28iHxfX2kBErAIJm7tBkuwPEfNbxm7LJTJpYTY5i4tuYSNiy08wdf7RYz9qSG299l04bhlj9qUTcHCc8kRYChZBr0p4w8Ou9s2DrkWyngR9wab_qmNH6piEuSHqsIQDmzQRfbaUrd1_M_bvxLx017mj4enQzs4V_Arvqwuh3DzOlpjBsE0Z6Ys74N9HL3UXZZcJzTcuo9Wko5BDOrnjF4YuFujdo8S-m6ScmJYvWbjhug71z5hd37AQwWwFYEfUJXyUd_qpxbJWVFPoTeE27Quc_qvPLoF40HjWPROnAClebDGF9kwiIw56CigB7la1v_XrCIv9BOi5jbLwSbQ9TNg8glW7Q7dcpQGnUmmBTEU4R2-LlX1958a8PN6SloGBXn0wdWIzh7nOyqAhcZ35FOl5DJRaKRPoHWV79ztj9rV5r65eAbdKPnx4n2ZDmr52aPgBJhjwfzh9daFMeHbenHNJUat5n9eg9ETmH8yKNHnrs1jai5l0jV5ZZJkUnYjd-Ui341q5zxqAWlsCOaD-lvY6laUpXfVO1AGVbm1G-1STqLOp7khPVAsg8nqxI8E5OKMLYQ8iPooTds4Yl4LP9H7jCIlG-c6VsV5c9ZfaOPeg3IwhzEBYvvux8DxhKmOSjSqQoJpRmlSimYuul6XvAQHir8WHDkUsY24QzDh7pIBCREsqByBk6-vRCZ3NNkvOglJgHlAbJoRRBMoEky0KaJElRzvaXA5Dw6nI4rAm26HqwqtxVMLPf4e6a7t1cArku1Df2MH5aDuqZ7AqDDQF3zfaGGLeeVKdn-xRHs5DA7Ml9j93cmrWxjK68YkhFh2sTHAIfMAoUOTs1rUeEdryt5Hx0DGRaROpXxryQ633-tfwPwoGRo0uuRtGfKPve5CkwDVj8ITaYeqYfKNWVGbZtyCh8p31YYLNWG6Oc3mpcm-yBLjXJ9VShj2pBPebWybh13SRhNeg6amyKBcOtpYQf8UphuK8Q1AsUwyzLt1XNnAB4eTvM2VTybQAG9weWKcb5aOMU2ZFrM2Og1iCQGDQTX5I-q1O6BBQI2VP235H5cnDUYgPaxe4mAPJ3GBGrDu6p5KBLLIat9R-DPiucvypQch_X812xbS22I7N-ab2pzFLXG-RL9Ssj3JxRDzEDv5bq8Fc2lcREXt0zoJAWcG_nUxOVJOymM-b1LoG89e4y8UGbyuO-p2umn4ZBy23BX-rHdkDU9NxynHgBicqeGJv2WjJC12bLZhtyb_dtQjxBU7SXcX-EQSMK9pH21AOymA2lWHsE5PzNZFKH9DTiGm4xDLqbUvL5PdjD1Kl-KNKSdWMmUEAK0J3DTGqfizbXg4qnsqB0rFV4ZJ3gLpQTjX2WmaMaU8Cwi3_yJSmkEtntiC7khcOWyeAybShCBTWAlZcjma2jjmmlF7Jn2g8u9AanKqhRmmyzFJxaLblo9_cN1-9A36TOtkHnDxipW8Dtye9Xe1ukWJ8FjII3TkWQN42qvROsGdmJQQLqPJqLnWpfek3k7G49iQGBzPhnG2iW2c36nYiiablo1OfeGPoiVAiY2H2nd6UpdCPf-K2b88J0qMHJ7hBQr4FFVUyaP1BsvesPGTGHNBS8CzPRWGC09g3LAY=",
  "id": "rs_07346563d9cbf888016ab461d8656487d0910dcb93af272f54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.26},\"note\":\"The brown plush lifted with the gripper. I’m carrying it high over the left basket so its hanging body clears the rim.\"}",
  "call_id": "call_Eo3kBkGQLm2UmgN6pyDzUaoo",
  "id": "fc_07346563d9cbf888016ab461dbbeb087d099f050660117efa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eo3kBkGQLm2UmgN6pyDzUaoo",
  "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]: [-0.4759, 1.8896, 1.8935, -0.8505, -0.3798, -0.4252, 0.1372, -0.0208, 0.8257, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4785 left_y=-0.1689 left_z=0.2484 left_yaw=0.0654 left_pitch=-0.2051 left_roll=-0.0114 left_gripper=0.1372 right_x=0.2926 right_y=-0.0005 right_z=0.1678 right_yaw=-0.0045 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0718, 8.7453, 1.3651, -0.1636, 0.2564, 1.033, -0.335, -1.2376, 7.0359, 1.6679, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa8e552953e267f38b0ce4235cafbd9057158cbd38bb0629b426ca377639ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e96f20dc00f8bf76af1615f65714ab20763a2b7f59b4b154a4e7e05b3abe0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8d75a01f0cd7e9bfd828cfa08ddc7351bf35340d7d98a44df7067e724e2bce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.054 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 40 changed as sent

message 44 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]: [-0.9279, 1.4075, 0.4042, -0.0315, -0.6537, -0.8112, 0.9983, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2488 left_y=-0.147 left_z=0.0175 left_yaw=0.0461 left_pitch=-0.187 left_roll=-0.0009 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.6991, 4.7795, 1.2821, -0.3004, 0.0317, -0.0659, -0.0752, -1.5248, 7.1726, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.1805, 0.6334, -0.4824, -0.6506, -0.8116, 0.1372, -0.0208, 0.8211, 0.6136, -0.4191, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2495 left_y=-0.1486 left_z=0.0996 left_yaw=0.0441 left_pitch=-0.1861 left_roll=-0.0072 left_gripper=0.1372 right_x=0.2922 right_y=-0.0006 right_z=0.1689 right_yaw=-0.0048 right_pitch=-0.0599 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.2872, 8.1436, 0.9939, -0.3834, -0.0317, 0.7204, -0.3487, -1.306, 7.0496, 1.663, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 1.8896, 1.8935, -0.8505, -0.3798, -0.4252, 0.1372, -0.0208, 0.8257, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4785 left_y=-0.1689 left_z=0.2484 left_yaw=0.0654 left_pitch=-0.2051 left_roll=-0.0114 left_gripper=0.1372 right_x=0.2926 right_y=-0.0005 right_z=0.1678 right_yaw=-0.0045 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0718, 8.7453, 1.3651, -0.1636, 0.2564, 1.033, -0.335, -1.2376, 7.0359, 1.6679, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa8e552953e267f38b0ce4235cafbd9057158cbd38bb0629b426ca377639ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e96f20dc00f8bf76af1615f65714ab20763a2b7f59b4b154a4e7e05b3abe0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8d75a01f0cd7e9bfd828cfa08ddc7351bf35340d7d98a44df7067e724e2bce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHlvSxk74qUeAUVe7R87zx_GKRIThkqCWSsH515JboWBCg1FH8RBj8XlYR5Y3A5njQYNduDfVkN7gFudBJBRTlohY6fghMxnTsmbNCP0CfPd2i5FxnY2qRJh22utb-GHeKsBP87gv0IbLUtKMHYjst0q8h9Xqtl9H1IR70jfeJyCOVv2TPZ1fy7DajcvsS6o94g3t1vSf7s-2y33u2iKyW4Pts4lIocpvVXS0DvnQLx2i4fQgs4CdNJFCWJZg0BhdlPlx3On7Q-JqRUxcPtpdAOZEhUKYaui7eyrrQ3MqX55Voq8E3R0D2BXMqeUWwynqNAppS2MkLnFi9Nqz3lg9zbtjsNTTG2IsBLCzftQWE700zxmKv7Le-J8cgygiRM5-y12J8-iOJedbzjp01mMXMwe5jd9-HrKZvvNrDZ-7FNTZk1pXKKM6Oj-IuSIKBJ3MxJDA5GZepUjoOiUGYyCobXHGyxJU5AcHQtkrs7pjuvYBlLJ5POJxwXueAUP4jdEQj9RqQmC_W629SW5-pAFIMe0bLGvCMiybzjquWQPyH6QOUWhxcX6OVYHZe5eJ_vp15MKS0zllNEHMpxSdKnEezXqzvxgUPo8DSC96cCf9eZL8FDirhEAwSC1kJvF_J0tQkkqdaCrh26-P7tTYNqqylHMLwVg27ZdoYMTw5hJREdKClp-c8JiGIWe8E4-rxjM7RlEluywV8VujxTD6KWV5b2z5q11J4rrNxUBbHgu2yebQf2s5s8NQxUambNc8SQecHpaOgEpVoGftf90QRO4pHrubOKLnz4C-iOAvqwIaKWRXA3Zzy8Uh6npu_niWJRD_WHQ6pK4khlE86dfxJ-xklK4KXpbVkvtW_s8Hymma63ufSbXw77kChTiU2LfPz3ZaHjNV_NkWnDOq19mjiPuPLYD9Tkgxnn3GHoBAVffd6fO0ooNy1zZ4HZbbyTHSpWsL7SKX2s6U1WgpafqVi-ZJuPbGu7XwihNnCs4cuYAajctOgn3Cy36erBkmC3_WlFxbW0i7l8OusZQZIbw77JPDJ9zfKvw2CM_5_ASQ9c85NiStL9wAyuDozhzcK4oyqAHoye7DqnZqkchbEZq-SkYOlzz8C5o1HJ5E4YKsA-HKtQpYECKZZoHcB6dmsT4JK3HWwMkKWteoDjut2tyz6LdqFmxSHN09qmnh0YDdAPdo4keAnrt0avlwTE6Ivcn346yRY-8qsYULCysAVSuxxhV0SF68WVeoZpwx4jYgKNBpF3GVzL1LDylvi0T1JwF0K23LM3-2b2uajIFUnti-PGAHb967Tvjji_xDPHqqeywdxB0-cdA51Eov1Axr4XgNtOFQmKfzMwqli27481d1Jw2gFoMlHK5kUXaccZiy9NlMfKVKLcC2frB_v02-_qdLEooQ_OFEUw9Fm4Ha3tJafsHhZTkmhuEPn5e9PI_x50HQHYNB8JZmaqfPEm7LRII-k_J9B63foYtmRd7P1_X937rzd4-lHwY1L_v8POnB_odbPE6JgqhMZqkP4vKg4urij9HDqtBVg_x7r61RRGAxLytndzveKoaPH9HPWxl3HXAj0dP56b3FNW-hvW6dy5oQEs6EP56HfgFNNT7UX3D6DZ_pDcTCrJLFSfhXEXCh7Yrh0LhKqDqTxrg0oNjWNheq7ehwmza6XsNlrGM0YeHsUwvX0L9W5xSv_X879X3VKWmo4C6lAUfkurjGB4OwjvWNIdDS5V0ncrojk1CVboB4hdp8bwFhsnu3RX37MXR8_F1n791Hg91PDG3lbHmp7G9f9yIniei-qrpOnbafIvtVgH7IOivA==",
  "id": "rs_07346563d9cbf888016ab461e2e82887d08dd66f4cf6286a50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is positioned over the left basket with its body below the gripper. I’m releasing it into the basket.\"}",
  "call_id": "call_5qUA8HK7jMRReMXqCPUiZzqN",
  "id": "fc_07346563d9cbf888016ab461e49c4087d0abe8d6121c224819",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5qUA8HK7jMRReMXqCPUiZzqN",
  "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]: [-0.4732, 1.8908, 1.8954, -0.8516, -0.3805, -0.4351, 0.9954, -0.0208, 0.8249, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.1676 left_z=0.2484 left_yaw=0.0741 left_pitch=-0.2052 left_roll=-0.018 left_gripper=0.9954 right_x=0.2925 right_y=-0.0005 right_z=0.168 right_yaw=-0.0045 right_pitch=-0.0633 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.2496, 6.4615, 1.4579, -0.188, 0.0611, -0.232, -0.1983, -1.3333, 7.0769, 1.6532, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17033b375cf5809d5070f3faf4700629fb27e844013b3c45cbd49fa0fc4bb59a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638d225eaa5a12a2b1112c0939936aa4ee739467ae43bb676a3d4c4e5d812cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c827ea226251099db05c4d168c423e5d1484bc209ead8613ec917cb23d2c25d",
      "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 · 5.357 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.4075, 0.4034, -0.0135, -0.6579, -0.8112, 0.1338, -0.0208, 0.8211, 0.6136, -0.4191, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2509 left_y=-0.1487 left_z=0.0196 left_yaw=0.0465 left_pitch=-0.1744 left_roll=-0.0133 left_gripper=0.1338 right_x=0.2922 right_y=-0.0005 right_z=0.169 right_yaw=-0.0045 right_pitch=-0.0599 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.2872, 5.2308, 1.0281, -0.3004, -0.0317, 0.9841, -0.253, -1.306, 7.3231, 1.6679, -0.0122, -0.0708, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 1.8896, 1.8935, -0.8505, -0.3798, -0.4252, 0.1372, -0.0208, 0.8257, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4785 left_y=-0.1689 left_z=0.2484 left_yaw=0.0654 left_pitch=-0.2051 left_roll=-0.0114 left_gripper=0.1372 right_x=0.2926 right_y=-0.0005 right_z=0.1678 right_yaw=-0.0045 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0718, 8.7453, 1.3651, -0.1636, 0.2564, 1.033, -0.335, -1.2376, 7.0359, 1.6679, -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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4732, 1.8908, 1.8954, -0.8516, -0.3805, -0.4351, 0.9954, -0.0208, 0.8249, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.1676 left_z=0.2484 left_yaw=0.0741 left_pitch=-0.2052 left_roll=-0.018 left_gripper=0.9954 right_x=0.2925 right_y=-0.0005 right_z=0.168 right_yaw=-0.0045 right_pitch=-0.0633 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.2496, 6.4615, 1.4579, -0.188, 0.0611, -0.232, -0.1983, -1.3333, 7.0769, 1.6532, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17033b375cf5809d5070f3faf4700629fb27e844013b3c45cbd49fa0fc4bb59a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638d225eaa5a12a2b1112c0939936aa4ee739467ae43bb676a3d4c4e5d812cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c827ea226251099db05c4d168c423e5d1484bc209ead8613ec917cb23d2c25d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHrVNT-bY03OrZcIiGoR0RZP7RikAshVPk2Bn-s0M8Ew104nzh1vLTKLY_LUNiItqNnWuMsAcZjwZUMBV2vZICBuY-VjaE_G5C7zNBbldi0h4982qBooMEXkihDqYwN4w_iIchpSS25MeZgdxPFIdIVarFpkrLGe1XUy9fR6lPW9tXoYLBSHlEynrPaLeMQPE6kNtOlFTKoCkxVVnQ2c6N27P8KR1JlwHwhxO9axVp4twf9Glz07s8tGDhUIyvtmmOLVsHDmMsQ1Epy723tVaw5rv_FqsTDLXrQgxN3vjKUWisI_wyUGEH9KW8LiRAda8l4ghMOsSZWLKP6aUON9WxMYhchAN-vsK8XuHOKIbUgZ4gmScvjxyThYUi1r4X_C_oKU_kj_UNJdoVVbnCeWGBdaTQccagqlBpzsBYjebcZZwGIXYH-mmKRdY48nNGjfo01H2QtIePWiQCxvjty1dZwMsK68BFy8-DPXUtDgyHT1eqUZKTkGusZa6TCCxVCQGZ6IwNl64Jap0hhB4TMQtjyYfCiovGlGyfZEI-iJa8_ZMYulbsx-xqaaptROiBtoa2PfFRC8NiyHg7ovVtbyGiWi7hgLda-hEihvDnj8ucIMyh9qoqbKNNfTp7v9IyMFzZELi2sjGKslFBbySu9VjeOiF6xyoZL5leZCOkpKxfsL9Jluswncqds1Y8wD-KJor0g9PmYVHGVLgFAY-eDwFUbQChGZ7ANBCaPCfXWKbTJlfE9BZfFHE7g5NXaLTeTnUL_GIkx3fmXUj7N5OODWx-CcNa7c1kxCJ3zlSSr2_AbYUnovQkiwsaiqq9Bt_5KtY8tLJlePP7jGEanjuYkB8dRFEOKqARBeElTgDQ1k7Z5pgJGmC6kteIqDm8yaCalcFiGdDYdtI_JpKL_wLg0KKxydosu7swHJrj94A7C1OiEooW1bvmTNE0yjvjmLWBZjxwgCzGHUfb_Whbftjd0Sb-X9rFJF5bXi550WanIISHOed2vl0aekprlkUNJzktt6HRtNXEKu2bk_Xh1ntLx98hKbxdEV8cNRKjQz3Mhb5JKKAAubObjvJpBa67nBb8P2t1S0LRK8DgwHMTscPnXl6Jd1dF_o7GEAdHF9yfMUD89tGaH1jvU0vMSiur3xE8qyadQswsiianfHWfHTVXPRnsfCHZqeVKoEPz6ajBtNI9NBgt1OjWiqL7ljEN-Ox2Kmhas3aTltjk4rl8izSzW0lIxT6OhQJ6KztxRB9nyln5Jg-9Su4B5_pYA73j-9nZzhxFoMH9qT4YQkhDYFOn4bst46ujG6bC4r6JMDsEfDzRInUnDskWic5ww2heKiCZsprFfdoeNNvSHZWOCDxgzTu7DFuglVHQszbsVf9-dn6N0bgS5YKM-P_D60l4AMb7PD-k162dFaSSJW6FNAzhGiIkPWUoy4nQ-SHrNr-X2sQxzYP996ea4KVzjIyKqOoyVbhb4epKmA1E-4qhJzz8NoLXX9Hb53_fIJnuaSP3gcaE59ECeBVpTb54l8V6NlKC3guYHhcwdRDIo8i7xYAC3KbqFHNe-FcFA86Gf-BfcCT9QSOe-no5arOFE7IkwLVzVoRqmdzwZ-YmV3fP5DqEUdAU_W1i0MPKR6gEHVkJgtSNFB6yA3ZCzHLsReulRn2REkOD2yVKCUsbiPT9JzGMl0yAoXVjEciECi9o6NntH0VW3CgMv93aGkR5vEkOCZk28-EAA86EegFpIu-ZKJR5nwur7K_szclk2OrdiG25nfjhcBh6DV-b6i2DIshSpZo8Z_MUgmrocKPHVcwV5iAqeAl9JEBXOHyxdrKL7Z7F4ciYi-kI_omc1kIC8WkAdc1yGJbMRL3s7JzfeYqbs1t6q_6SSbEgSMUCf0ik5ieSLFnhwdBVBtM_TR7GlNIuMWx5SY9gb",
  "id": "rs_07346563d9cbf888016ab461e7896c87d0abc1f995064b7b1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.26,\"left_z\":0.105},\"note\":\"The brown plush is visibly inside the left basket. I’m moving above the beige bear next, aiming for its torso.\"}",
  "call_id": "call_NtLm6L9boCnFoaHj2tBvHLnU",
  "id": "fc_07346563d9cbf888016ab461ea349487d091b35d33849eafb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NtLm6L9boCnFoaHj2tBvHLnU",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1675, 1.6142, 1.0603, -0.6601, -0.7261, -1.1202, 0.9966, -0.0208, 0.8307, 0.6132, -0.4221, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2454 left_y=-0.267 left_z=0.1086 left_yaw=0.0455 left_pitch=-0.2122 left_roll=-0.0353 left_gripper=0.9966 right_x=0.2923 right_y=-0.0006 right_z=0.1656 right_yaw=-0.0054 right_pitch=-0.0729 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -6.1607, 5.4222, 0.7497, -0.6081, -0.105, 0.1099, -0.0479, -1.8803, 7.1179, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64db9f03ac7c2596cd5d3c9716bc3585f80dfcaeaea76084efc43d146c93203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d67235da9c361a1d14828d8bfa22ca9ab228c3b8bb463029f3fa5e5e990e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1189b9a625222147ba6325ce2251efc6c24737d495d6cf6a0273c04d56f815",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 1.867 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 1.1805, 0.6334, -0.4824, -0.6506, -0.8116, 0.1372, -0.0208, 0.8211, 0.6136, -0.4191, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2495 left_y=-0.1486 left_z=0.0996 left_yaw=0.0441 left_pitch=-0.1861 left_roll=-0.0072 left_gripper=0.1372 right_x=0.2922 right_y=-0.0006 right_z=0.1689 right_yaw=-0.0048 right_pitch=-0.0599 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.2872, 8.1436, 0.9939, -0.3834, -0.0317, 0.7204, -0.3487, -1.306, 7.0496, 1.663, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4732, 1.8908, 1.8954, -0.8516, -0.3805, -0.4351, 0.9954, -0.0208, 0.8249, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.1676 left_z=0.2484 left_yaw=0.0741 left_pitch=-0.2052 left_roll=-0.018 left_gripper=0.9954 right_x=0.2925 right_y=-0.0005 right_z=0.168 right_yaw=-0.0045 right_pitch=-0.0633 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.2496, 6.4615, 1.4579, -0.188, 0.0611, -0.232, -0.1983, -1.3333, 7.0769, 1.6532, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1675, 1.6142, 1.0603, -0.6601, -0.7261, -1.1202, 0.9966, -0.0208, 0.8307, 0.6132, -0.4221, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2454 left_y=-0.267 left_z=0.1086 left_yaw=0.0455 left_pitch=-0.2122 left_roll=-0.0353 left_gripper=0.9966 right_x=0.2923 right_y=-0.0006 right_z=0.1656 right_yaw=-0.0054 right_pitch=-0.0729 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -6.1607, 5.4222, 0.7497, -0.6081, -0.105, 0.1099, -0.0479, -1.8803, 7.1179, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64db9f03ac7c2596cd5d3c9716bc3585f80dfcaeaea76084efc43d146c93203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d67235da9c361a1d14828d8bfa22ca9ab228c3b8bb463029f3fa5e5e990e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1189b9a625222147ba6325ce2251efc6c24737d495d6cf6a0273c04d56f815",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGH6X8zXUvNPG-WIGtEU216iT62Vim4p-_xqInBbzNMDp1RAQ8ETBtZ5vKr99fuUgP-wAkAkNkvLUVJhcVruraJHr8IpNiDF_V1wq3xucTVjW3JVN5NZQW51--DYlVcjkhIyF153JxxfML_d2j9gpTfYOkFvfOsCD3_6lEKtSKdwh80hQ8EzbgxvCT34TCU9fYrLT7nXvmhM7Cl26Zg6LmkpBc9vspHPcu3BRN01qNeC1efGNODc3OSu3LC_-vHn93i-zdLahlOm3k8OPVkPc4LyNbghGG7ExlPnKCa8_Z1CmzhfnuxNpMmspEVrXNSAV3IktxdNeXqOLMwxKeoc0rV-aIspBtyvz654djd-uvSr5r7cwkMux9qXxm_0phlYGyEOlsh7aKau3qkBoDO4vECoCNPCYjdzxEkKIfnvWIi4z9BMTfHhestzgfxB1xoMLbuERnXblw9B_dW2h7y9TP2wyYKj0FPG-vcvQu9HiDaBJCi6-KrYT9BmYGSAOfo3YJFsETq2LzWBAGBFS489_1J4yJphFrS_NFtZd_CeM69gSBRDWVJ8c5-KXckCkCpy9DYtwCzFeFNK1AuFdF4GuwjZ6ZqVz1cNV6rQgqYrZDLHvYmuet-gfrjp_GcsLLP9V3OaYTfnsfhiFGecYD0SjwtiVX5cev3bichkLpPOAkHbV5OOzxqGlHzLxKvh0vfyFppbzBQ7mmUr3mtEzUTD24Loq7KhmveCDxas-eEP6BDkXw13OYpie70IufpyhVoEXmDz6deapdUslKpFLNYqGn2lQL0CkvjGoCQgVrkfzBQUSl7gUxemE27PBZwc-fPu0QqiGsHkPbQJ7jDn9a-oRNzWL7dbW8ikAx-Tz62ohTEbdTEVg5_rOOHKOkehjacMvnWUId0GXLicggnZRw7qFBzsEGfec4kcmLpstWSWk6tR0ZD28836rCfEQoh5reGFRfD1Elb_H4yup86NIO6pMPGM5SdwY9_L8tEanbeH5WxwPMqX9BLv4AEIp1bSJ6e72nkqoyKmSf-7xnA7Xina3MGiz7qmU7pOTKfH3n-7yb1X8FlAWn5oO6tctbi5dfn6ip9tTzJsD8VbPVd6MQqT-TOOjl9QdgNZS6G3j-hoXkvbs-_K0592R5Vt01mb64tnNQ86kOYclIXkoGOkHSpYEwOxgre4JaOMoxJ2wmFSx9nl4WUYk8nIj71oLFDQDuVHE5jx42FqDhmt2gqDygLQ_8P3Um5_dADK_Vl9rP3Wqc8DkvS2ugNWoQm2s6RwBqIsizC3ru20Li-s38M3f27oL-cjGHW2T3cTKBUIrgl67_EgoOZQI-1XoVrHxD8OFQSYEsVChH6rbf8Mmzj1z2SDLm0EKrZILnI7jz0mISmA1BYxOzdhVlc8VqQkqaFrKOOQ7lVf67bKtwnGtyFw3FinmscQMi2l72vlA7OtdaCQabxrIX92sV5JO4umonfYJuMWtE8rnIC6ewNToKLXmTsDMoz3eesFmo1mHbL_hH-yr67TNwTULAGn00LcXHp7BchdK7VbhL7f3ThpX8U5yZotAVTaFCaR1wVqye-qKITMWmKPG_BgIy5mRr-nQ8SOIk2ZEFckukDrTiwC38cJNkW7UNd6O4A2sGb_EiBIWi7vw2FY0WGq7je29RJ0Fk8BOjsg16eGJnaW9G6Nc4fk02PycdMRXj52Z136SDvVRKZvmHAvXq0=",
  "id": "rs_07346563d9cbf888016ab461f83f8c87d0ab54747474d3b83b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_pitch\":0,\"left_yaw\":0,\"left_roll\":0},\"note\":\"The beige bear’s torso is centered in the wrist view. I’m lowering the open jaws around its body while restoring the tool to a vertical orientation.\"}",
  "call_id": "call_PicZi6DxD6uunpE40Xz7s2Da",
  "id": "fc_07346563d9cbf888016ab461f9cf2887d0abc83dc7c6cb43eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PicZi6DxD6uunpE40Xz7s2Da",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2331, 1.7756, 0.7689, 0.0174, -0.9878, -1.047, 0.9968, -0.0208, 0.8307, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.2776 left_z=0.0558 left_yaw=0.0508 left_pitch=0.0832 left_roll=-0.1134 left_gripper=0.9968 right_x=0.2922 right_y=-0.0006 right_z=0.1655 right_yaw=-0.0048 right_pitch=-0.0732 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.588, 3.0838, 0.5836, 0.1294, 0.1636, 0.0024, -0.1846, -1.1556, 6.9812, 1.6484, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae85b7f729789189b1d6c40221e25e79610c3f42275029c0dc9140d2fcdeccc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a858ab27482597440179669732edd69224115b745116ef8c40ec3886ca933b35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623365d5f1b17200b23f0f7cbd59f80f2f57b04bbee0936daa33da7d31a94d57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.585 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 1.8896, 1.8935, -0.8505, -0.3798, -0.4252, 0.1372, -0.0208, 0.8257, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4785 left_y=-0.1689 left_z=0.2484 left_yaw=0.0654 left_pitch=-0.2051 left_roll=-0.0114 left_gripper=0.1372 right_x=0.2926 right_y=-0.0005 right_z=0.1678 right_yaw=-0.0045 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0718, 8.7453, 1.3651, -0.1636, 0.2564, 1.033, -0.335, -1.2376, 7.0359, 1.6679, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1675, 1.6142, 1.0603, -0.6601, -0.7261, -1.1202, 0.9966, -0.0208, 0.8307, 0.6132, -0.4221, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2454 left_y=-0.267 left_z=0.1086 left_yaw=0.0455 left_pitch=-0.2122 left_roll=-0.0353 left_gripper=0.9966 right_x=0.2923 right_y=-0.0006 right_z=0.1656 right_yaw=-0.0054 right_pitch=-0.0729 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -6.1607, 5.4222, 0.7497, -0.6081, -0.105, 0.1099, -0.0479, -1.8803, 7.1179, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2331, 1.7756, 0.7689, 0.0174, -0.9878, -1.047, 0.9968, -0.0208, 0.8307, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.2776 left_z=0.0558 left_yaw=0.0508 left_pitch=0.0832 left_roll=-0.1134 left_gripper=0.9968 right_x=0.2922 right_y=-0.0006 right_z=0.1655 right_yaw=-0.0048 right_pitch=-0.0732 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.588, 3.0838, 0.5836, 0.1294, 0.1636, 0.0024, -0.1846, -1.1556, 6.9812, 1.6484, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae85b7f729789189b1d6c40221e25e79610c3f42275029c0dc9140d2fcdeccc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a858ab27482597440179669732edd69224115b745116ef8c40ec3886ca933b35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623365d5f1b17200b23f0f7cbd59f80f2f57b04bbee0936daa33da7d31a94d57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the plush rather than reaching the full height target. The jaws are around its torso, so I’m closing without pressing farther down.\"}",
  "call_id": "call_X3otfJLdBQFwrsaFchrybZIw",
  "id": "fc_07346563d9cbf888016ab461fef34887d081e2ac85e1c95770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X3otfJLdBQFwrsaFchrybZIw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2293, 1.7672, 0.7776, 0.0383, -1.0027, -1.0515, 0.0165, -0.0208, 0.8314, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2616 left_y=-0.2807 left_z=0.0648 left_yaw=0.0686 left_pitch=0.1052 left_roll=-0.1509 left_gripper=0.0165 right_x=0.2923 right_y=-0.0006 right_z=0.1653 right_yaw=-0.0048 right_pitch=-0.074 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -6.8991, 4.4513, 0.9597, -0.2662, 0.0269, 0.6911, -0.0615, -1.3744, 7.0085, 1.6825, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3bc17616473f40bbed0be930ee7e89e5111d8b21165f452a85d01320cc1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fbff436bba823b5dbfb2b6fff8d667357adeedf0e10d8ceede0b3547a89f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c072b4268cfefc7c61eae0fb39e54e1b9c4713f61f0f0ea93ed6be367f077b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.178 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 59 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4732, 1.8908, 1.8954, -0.8516, -0.3805, -0.4351, 0.9954, -0.0208, 0.8249, 0.6136, -0.4187, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.1676 left_z=0.2484 left_yaw=0.0741 left_pitch=-0.2052 left_roll=-0.018 left_gripper=0.9954 right_x=0.2925 right_y=-0.0005 right_z=0.168 right_yaw=-0.0045 right_pitch=-0.0633 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.2496, 6.4615, 1.4579, -0.188, 0.0611, -0.232, -0.1983, -1.3333, 7.0769, 1.6532, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2331, 1.7756, 0.7689, 0.0174, -0.9878, -1.047, 0.9968, -0.0208, 0.8307, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.2776 left_z=0.0558 left_yaw=0.0508 left_pitch=0.0832 left_roll=-0.1134 left_gripper=0.9968 right_x=0.2922 right_y=-0.0006 right_z=0.1655 right_yaw=-0.0048 right_pitch=-0.0732 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.588, 3.0838, 0.5836, 0.1294, 0.1636, 0.0024, -0.1846, -1.1556, 6.9812, 1.6484, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2293, 1.7672, 0.7776, 0.0383, -1.0027, -1.0515, 0.0165, -0.0208, 0.8314, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2616 left_y=-0.2807 left_z=0.0648 left_yaw=0.0686 left_pitch=0.1052 left_roll=-0.1509 left_gripper=0.0165 right_x=0.2923 right_y=-0.0006 right_z=0.1653 right_yaw=-0.0048 right_pitch=-0.074 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -6.8991, 4.4513, 0.9597, -0.2662, 0.0269, 0.6911, -0.0615, -1.3744, 7.0085, 1.6825, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3bc17616473f40bbed0be930ee7e89e5111d8b21165f452a85d01320cc1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fbff436bba823b5dbfb2b6fff8d667357adeedf0e10d8ceede0b3547a89f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c072b4268cfefc7c61eae0fb39e54e1b9c4713f61f0f0ea93ed6be367f077b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIG1DQbqVKUub5DkNsIjxNQnSVsL5oaOA9orWO2XBsvRrpJf93AkOP32IkUk4rG5yMSdT_aAe2ozdrutMIlcG4_v5Jp21Q5xrxE4qFDb9gK0NxPFVtGXvKdfQDCDJtMJGvNU0a5gO00hsZiVtkPDhFvc7dJKrkTteKCzjIu72kXDhOPHsz0ITpd7-BXcaR67vkyQoZlEEgh9g7QFL_3bblwiapSTikuUwaUvwN9Ksbijem0zl88Fz80xJXsy-Nx78Hp3gJQxLgv7ZeqQbqpWhsx20HTMtds6ScEzgiYQKxfHVPL9SEvn1S7tT0hIhBEWzyY0ZzLLnX2Dr9YeFp7mxDqEfG9w9cthjNS5KHP3n2iG4A4WQ35ho9O6caBgnTjCojkrJDdI72HSjP4zN6bdxewk2Z14Opguo3wdJRENzTegqhpcPw5IS2kcQzAeBEFkGGl5HRRqfC90wUXgs_qcgvRzrO0_2bNeZ7W2mAh6BSXu0NbbVUsTsx-JHzvRRwHqEQQX2Vpw832WMIAYlkmNC0HjnpINFAnii3-6wt2buUh__LQ5TGRgGOmhwbzuTtE-NI812UzIAdx4lcHr6sl3l5SUrwu4QMyMSiN0urcsPckwsWbpdLVVp7bTn7CD8IrznrWVvdnyirLTVHAPVl8kt6z05LJhQ72aB51Tig2ngV1SNYp1A1jWe56TR5j9npuv65GlKtlzPvKaY67ZWiQdlZvrHDqpeQq5m0UL2JhA7cN7gGRYjJlqsFDv8gt00_pfsfk4iOheljP1tRKaknOTwd2zyzwWGLGWVdjqpkD61IxVavYmNoWJ7cpr0NxJk-JOpLF7BgUi3JRt1ZUpflkgZ6CHKeXPejotcG4QbaPIgQzgTc7WRt0wHGfgURpCJPZUFzTX4gh6Y5-mJZ6YKFVcr9vCD6o4pF4UmBY5xJx9c4MtIbRoMsgPvUAB5KEehQ_zlh2V7iT3spaAxSnmfuGPXPhW9KoCWe_mdRJkjEBIMawNt9vAKOL4au2tyIWDf30NlqsC3Tav9Fp_X8QplU0okm2q-oHnOaPb59nCnb59xDYccLIBobbtGnfMn4fPF36IvxmDU54tM8-yL0SUsd9UNmA-NWmsY9kRU8KShGovBja6eJlyn0y16AVk0xae_2T-zWL2iQlCbHegojvRtwGem4tNmqnqkvGSdCuUwbOwjFpCv5IowWbBLCWc-F5_vOn3bh4CFTZYJh4nrWaGr9K2dbspMTeBwO6_dugLCTO1pDz12bpFIKevT3kt8tXvyss1H4EAeROgbtBFQOCI8_3DBgc1EEZgqeBSsDLeBGiUAc5cHCxrkQMMnKBIvt78HJ4RlfRZclCziCFZRD340auEGu3kLNmeSNdhhk0ftEqgmsIzICIVQdbVvUA8Ljnapqi1dQ8NkKrrV-ovtLcvZuSMs7FyvZGNW3eT63eza3YnBsV8L4K6Ddkjs_zyOT5Nmce9sBx9Xiv4hevEJrN-xp-o6Du2xuyVpINBWE48uYOjZO0NqZbAGteAMgE-0rpIhnyeiQ9bobyeYYhouJ6AhjEKoYaMNpHwE9G_BG1iSlX2pKRQEkN3YppITFdIZJLC1_dD93kewC2xWLNBS6pqmiUPrURwxihuW_gfXBvPmQXP7_LmuqEgPTpdZVvRoRjvwoA3395naGYn8TbZfVWZnvIa646-KzbciMdcucR5zR9rzQtSLQ=",
  "id": "rs_07346563d9cbf888016ab46202e0ac87d0a4d210970584f593",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.267,\"left_z\":0.028,\"left_gripper\":1},\"note\":\"The gripper reading indicates the bear slipped out of the grasp. I’m reopening and moving forward toward its narrower upper torso for one retry.\"}",
  "call_id": "call_Nr3n5Vx2IymqPqbSwsep9q05",
  "id": "fc_07346563d9cbf888016ab46204d03487d093c1443d7554996c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nr3n5Vx2IymqPqbSwsep9q05",
  "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]: [-1.0592, 1.8919, 0.741, 0.4324, -0.9245, -0.8623, 0.9953, -0.0208, 0.8322, 0.6132, -0.4229, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3175 left_y=-0.2701 left_z=0.0472 left_yaw=0.1149 left_pitch=0.1444 left_roll=-0.2192 left_gripper=0.9953 right_x=0.2922 right_y=-0.0005 right_z=0.165 right_yaw=-0.0045 right_pitch=-0.0752 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.8462, 3.6444, 0.9499, -0.0806, 0.3443, -0.0904, -0.0889, -1.5248, 6.9675, 1.6484, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30fc7fefdd27a0d3c2e01bfe71271a02b02c5d6d961ed22416b72aaf68e241d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbda50a42c3a3fed6a4788c7df4f244ad5b544838a81f6139d4fded006b977c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea126c35923ee91cc5af7b65b4725bc66d27b606bd4a5712f5c22ef84d48ca4",
      "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 · 2.226 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 59 changed as sent

message 63 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1675, 1.6142, 1.0603, -0.6601, -0.7261, -1.1202, 0.9966, -0.0208, 0.8307, 0.6132, -0.4221, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2454 left_y=-0.267 left_z=0.1086 left_yaw=0.0455 left_pitch=-0.2122 left_roll=-0.0353 left_gripper=0.9966 right_x=0.2923 right_y=-0.0006 right_z=0.1656 right_yaw=-0.0054 right_pitch=-0.0729 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -6.1607, 5.4222, 0.7497, -0.6081, -0.105, 0.1099, -0.0479, -1.8803, 7.1179, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2293, 1.7672, 0.7776, 0.0383, -1.0027, -1.0515, 0.0165, -0.0208, 0.8314, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2616 left_y=-0.2807 left_z=0.0648 left_yaw=0.0686 left_pitch=0.1052 left_roll=-0.1509 left_gripper=0.0165 right_x=0.2923 right_y=-0.0006 right_z=0.1653 right_yaw=-0.0048 right_pitch=-0.074 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -6.8991, 4.4513, 0.9597, -0.2662, 0.0269, 0.6911, -0.0615, -1.3744, 7.0085, 1.6825, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0592, 1.8919, 0.741, 0.4324, -0.9245, -0.8623, 0.9953, -0.0208, 0.8322, 0.6132, -0.4229, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3175 left_y=-0.2701 left_z=0.0472 left_yaw=0.1149 left_pitch=0.1444 left_roll=-0.2192 left_gripper=0.9953 right_x=0.2922 right_y=-0.0005 right_z=0.165 right_yaw=-0.0045 right_pitch=-0.0752 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.8462, 3.6444, 0.9499, -0.0806, 0.3443, -0.0904, -0.0889, -1.5248, 6.9675, 1.6484, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30fc7fefdd27a0d3c2e01bfe71271a02b02c5d6d961ed22416b72aaf68e241d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbda50a42c3a3fed6a4788c7df4f244ad5b544838a81f6139d4fded006b977c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea126c35923ee91cc5af7b65b4725bc66d27b606bd4a5712f5c22ef84d48ca4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now farther up the bear’s body, below its head. I’m closing around this narrower section.\"}",
  "call_id": "call_syL1hFuN00VbW1IN0vG3PMfy",
  "id": "fc_07346563d9cbf888016ab46209b40c87d08e2ea9f756162754",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_syL1hFuN00VbW1IN0vG3PMfy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0618, 1.8969, 0.741, 0.4843, -0.9276, -0.8715, 0.2047, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3196 left_y=-0.2753 left_z=0.0527 left_yaw=0.126 left_pitch=0.1629 left_roll=-0.2709 left_gripper=0.2047 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7863, 4.8068, 0.9158, -0.3199, 0.0562, 0.7692, -0.0205, -1.4974, 6.9812, 1.6777, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa1027faea019c79431d244582dff3aae4d26fe5f4af1ed51ee0d484a018ad9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78dbc555ab49e46a904fe656bf8145662fd98ae74f766fd624ab2e292ecbc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323638c45143414ba5f6560da56460ab9d44fcfdd58f5cc68a501aa5852d64e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.792 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 63 changed as sent

message 66 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2331, 1.7756, 0.7689, 0.0174, -0.9878, -1.047, 0.9968, -0.0208, 0.8307, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.2776 left_z=0.0558 left_yaw=0.0508 left_pitch=0.0832 left_roll=-0.1134 left_gripper=0.9968 right_x=0.2922 right_y=-0.0006 right_z=0.1655 right_yaw=-0.0048 right_pitch=-0.0732 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.588, 3.0838, 0.5836, 0.1294, 0.1636, 0.0024, -0.1846, -1.1556, 6.9812, 1.6484, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0592, 1.8919, 0.741, 0.4324, -0.9245, -0.8623, 0.9953, -0.0208, 0.8322, 0.6132, -0.4229, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3175 left_y=-0.2701 left_z=0.0472 left_yaw=0.1149 left_pitch=0.1444 left_roll=-0.2192 left_gripper=0.9953 right_x=0.2922 right_y=-0.0005 right_z=0.165 right_yaw=-0.0045 right_pitch=-0.0752 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.8462, 3.6444, 0.9499, -0.0806, 0.3443, -0.0904, -0.0889, -1.5248, 6.9675, 1.6484, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0618, 1.8969, 0.741, 0.4843, -0.9276, -0.8715, 0.2047, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3196 left_y=-0.2753 left_z=0.0527 left_yaw=0.126 left_pitch=0.1629 left_roll=-0.2709 left_gripper=0.2047 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7863, 4.8068, 0.9158, -0.3199, 0.0562, 0.7692, -0.0205, -1.4974, 6.9812, 1.6777, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa1027faea019c79431d244582dff3aae4d26fe5f4af1ed51ee0d484a018ad9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78dbc555ab49e46a904fe656bf8145662fd98ae74f766fd624ab2e292ecbc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323638c45143414ba5f6560da56460ab9d44fcfdd58f5cc68a501aa5852d64e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper is holding about two centimeters of compressed plush. I’m lifting to confirm the bear moves with it.\"}",
  "call_id": "call_EQ5NimZ0JdbXpsiq6UcBDO4g",
  "id": "fc_07346563d9cbf888016ab4620d0dc487d0b67240a946db6811",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EQ5NimZ0JdbXpsiq6UcBDO4g",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0615, 1.6901, 0.8402, 0.1532, -0.9195, -0.8753, 0.2071, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.2739 left_z=0.1161 left_yaw=0.1188 left_pitch=0.1482 left_roll=-0.2527 left_gripper=0.2071 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.8803, 8.5538, 1.5018, -0.4225, -0.0366, 0.2369, -0.212, -1.4427, 7.0769, 1.6484, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db22dc13d05ed96a1af0630c450ccee65682ee0d627323ffb4e67c9a75f27a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9878456b798688b3fa75f826d6cd518ee53856121533eea67c8d9dd55fcc0075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ae5b48ba2fc52a65fc4edcee54a78daa17bf65f216132ed3dc216c93a9570d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.238 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 66 changed as sent

message 69 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2293, 1.7672, 0.7776, 0.0383, -1.0027, -1.0515, 0.0165, -0.0208, 0.8314, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2616 left_y=-0.2807 left_z=0.0648 left_yaw=0.0686 left_pitch=0.1052 left_roll=-0.1509 left_gripper=0.0165 right_x=0.2923 right_y=-0.0006 right_z=0.1653 right_yaw=-0.0048 right_pitch=-0.074 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -6.8991, 4.4513, 0.9597, -0.2662, 0.0269, 0.6911, -0.0615, -1.3744, 7.0085, 1.6825, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0618, 1.8969, 0.741, 0.4843, -0.9276, -0.8715, 0.2047, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3196 left_y=-0.2753 left_z=0.0527 left_yaw=0.126 left_pitch=0.1629 left_roll=-0.2709 left_gripper=0.2047 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7863, 4.8068, 0.9158, -0.3199, 0.0562, 0.7692, -0.0205, -1.4974, 6.9812, 1.6777, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0615, 1.6901, 0.8402, 0.1532, -0.9195, -0.8753, 0.2071, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.2739 left_z=0.1161 left_yaw=0.1188 left_pitch=0.1482 left_roll=-0.2527 left_gripper=0.2071 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.8803, 8.5538, 1.5018, -0.4225, -0.0366, 0.2369, -0.212, -1.4427, 7.0769, 1.6484, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db22dc13d05ed96a1af0630c450ccee65682ee0d627323ffb4e67c9a75f27a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9878456b798688b3fa75f826d6cd518ee53856121533eea67c8d9dd55fcc0075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ae5b48ba2fc52a65fc4edcee54a78daa17bf65f216132ed3dc216c93a9570d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIRhHsf3YfuW2BRv8kB68TXTFPALGGHEsD6wNlaIM8f0PfCW8fvUUYuwE1NKXMNm10CbZh44XYNsbHiVJ2I-kP4fAKlFo6vo3RIC-Sh3xRl-R_oL3t9DPzn7PP4LtrPqQSMf34dnTT8ctJk7ncDOC4Q3pu9OpmsWgPFEBwo2-7yeSVhN4wG73lA4WS7SpOYv4BxXC-Pqp5UmZVd5TgBJEDtQjRU-1Tr_hkZo-RUXvbh7cUyIyfdKdxXYTqZWEAci0m4mGPw_ozoRxcDKvZPYufrQ8mp_OdViF4AwjYyHLgGGPh1xOzPV1y8E9TQNItyiBXOXYyBYC6y9eq1-KZ5_KN7Kc0BWensu5ikl3sWvu5xqFWDoB9DDa0bafNAhvZUf8Ey7PwvqrIiULb4S66gBE7EX2uDYx5rUXyVIDmOY0yZ4ZxYbmhV3E2JbxTo6UCwcdtM-_yzHaCPMmywhraZH45IvUV7IhLjuFKp5LyM-LociScsH0eE_G2MjyoACSvjK-i1ip_v-19zIJUZSxJseRJfzQ5ImnoVw2DHuL9qrEnEu8xqS7SHa4AQl73f5MAZ27jhPLlOvqtaZPhpskfFE1Sksmdtk4Xe7s0MToqGbk8FOYT84z-Fc0kzRrLTK1jZC6OqqILk8qlKLcDweN6cA56PTzLy7-OJiz015TFW6mk3_4EBGcM5T0-vvC9HbA4JGkOiAcBAGnccWxy2UP9kXBU7LZv-4YpTM-4Upt2jlhySjRRs_9LXdgc36ea-ZV2dNgka0onJeqnP5k6Kfn8RDoJAeNYgnC0R1e4kFHvpsVYpAZyaje_J1sX1aDvlGCNxfT9YL06h0IKUANH6Se7vIroLJEIi_jnGtweHW0ECrdHi5-aqDRTgro4HR0clnDreoB4B0RLUT6HZNB-jX9mQ-A1OfncuomRg-RucDHjf-PHptRW8wi73thRUlUMATBE7rXkH_6Sha-Zy7EPxrv4sbaQBqS-TE73exP5bUCOLqRZPA4_vEq3Zc5yim6UwsKEf9r2Ep5kETjKdQisFzEfWK6EG3NC-G0sgI12kDnPTDm5JKXoRisgT7VWyc_FvU4wnLpmfOYFKsHJNviLPxdCm0xNdUaiid2NY1Xm6Hois1uATv_2fKCwJJcUFcRnD0dHP5UhnPFPS0NiALwPH_szq6v1KnnKi_GIa9De8gabEX3GzyRnz9BR3aID6QfZVWEu18vj8y2JTatiozIQcG9_GD5xH_HiJDvwhziTXkyQ3GAh2YLl6YquiWipXdLdBQC8OJEhKc23uS_yegx2LxBydMRCoFVUUJ3djMfb4dt_CoM9kXqXKycTRUqRUd5UEWSRAx07Ae8eUghUkMArFhGDWOIK0KeLsx6nL_LkO__SIAhETd_pTT8ElffPnjVQxgB5dSqIThy8-pRmxjxDsgoNeK8BZdhoZjGGYveKxX-SA0PuGYCAjK4csafbwiRS9_E1vNSDXArTFh6StrX5y11QkPA34sGl6yGg9alHrw9b1E6dtmJtFIeWSH__Fy3-PjvWVh7rtej1oEkwhDtXPfPf5w5UIjlSTYHVQP8_coh9bAdBmypA=",
  "id": "rs_07346563d9cbf888016ab4620f6e1087d0a3a3fa48fe2fa748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.28,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The beige bear has lifted off the table. I’m carrying it over the left basket alongside the brown plush.\"}",
  "call_id": "call_LbnCgBvkQn4ox1r74Ne3JvNB",
  "id": "fc_07346563d9cbf888016ab46210b93c87d0baa6433fc1de81dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LbnCgBvkQn4ox1r74Ne3JvNB",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5003, 1.7363, 1.6176, -0.4988, -0.4557, -0.3618, 0.2085, -0.0208, 0.8368, 0.6132, -0.4267, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4782 left_y=-0.1687 left_z=0.2707 left_yaw=0.0564 left_pitch=0.0174 left_roll=-0.0375 left_gripper=0.2085 right_x=0.2919 right_y=-0.0006 right_z=0.163 right_yaw=-0.0048 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.2103, 8.9094, 1.37, -0.0073, 0.2271, 0.1294, -0.0479, -1.7709, 6.9949, 1.7167, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1062c207fc763338d96c8fda02c107f95babfc55fa0cb33f5f261121d72a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64c937c66421bf40b65399eaf7bf60dafc7cd64538377e261928cfb2bf6c5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc9ac3865a9a50f124fa6f2e9f5583e3552811b1babe37178d673cce51fec0e",
      "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 · 8.511 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 69 changed as sent

message 73 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0592, 1.8919, 0.741, 0.4324, -0.9245, -0.8623, 0.9953, -0.0208, 0.8322, 0.6132, -0.4229, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3175 left_y=-0.2701 left_z=0.0472 left_yaw=0.1149 left_pitch=0.1444 left_roll=-0.2192 left_gripper=0.9953 right_x=0.2922 right_y=-0.0005 right_z=0.165 right_yaw=-0.0045 right_pitch=-0.0752 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.8462, 3.6444, 0.9499, -0.0806, 0.3443, -0.0904, -0.0889, -1.5248, 6.9675, 1.6484, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0615, 1.6901, 0.8402, 0.1532, -0.9195, -0.8753, 0.2071, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.2739 left_z=0.1161 left_yaw=0.1188 left_pitch=0.1482 left_roll=-0.2527 left_gripper=0.2071 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.8803, 8.5538, 1.5018, -0.4225, -0.0366, 0.2369, -0.212, -1.4427, 7.0769, 1.6484, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5003, 1.7363, 1.6176, -0.4988, -0.4557, -0.3618, 0.2085, -0.0208, 0.8368, 0.6132, -0.4267, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4782 left_y=-0.1687 left_z=0.2707 left_yaw=0.0564 left_pitch=0.0174 left_roll=-0.0375 left_gripper=0.2085 right_x=0.2919 right_y=-0.0006 right_z=0.163 right_yaw=-0.0048 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.2103, 8.9094, 1.37, -0.0073, 0.2271, 0.1294, -0.0479, -1.7709, 6.9949, 1.7167, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1062c207fc763338d96c8fda02c107f95babfc55fa0cb33f5f261121d72a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64c937c66421bf40b65399eaf7bf60dafc7cd64538377e261928cfb2bf6c5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc9ac3865a9a50f124fa6f2e9f5583e3552811b1babe37178d673cce51fec0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear is suspended over the left basket. I’m opening the jaws to place it with the other plush.\"}",
  "call_id": "call_zG88UL9ltLijatkp5HiXg6WR",
  "id": "fc_07346563d9cbf888016ab46214d3a487d0881cfbf77435b23b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zG88UL9ltLijatkp5HiXg6WR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4995, 1.7531, 1.6203, -0.5079, -0.448, -0.3691, 0.9955, -0.0208, 0.8379, 0.6132, -0.4271, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1704 left_z=0.2618 left_yaw=0.0548 left_pitch=-0.0048 left_roll=-0.0352 left_gripper=0.9955 right_x=0.2919 right_y=-0.0006 right_z=0.1626 right_yaw=-0.0048 right_pitch=-0.0851 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.4684, 6.7214, 1.7411, -0.2906, 0.0757, -0.149, -0.0615, -1.6205, 7.0222, 1.6777, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3453f73285cbd33edb646c9f3a4c08a417f8b73c6feea20a84e04cf599560e43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f3c2728a2d8e469609c7a2a1b46a01f86af4571a2f6529aebabfb9e87244bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5d266081e68f1634dd49169e091070480c08b5293a62e4bbe948b71562f1d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 4.153 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 73 changed as sent

message 76 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0618, 1.8969, 0.741, 0.4843, -0.9276, -0.8715, 0.2047, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3196 left_y=-0.2753 left_z=0.0527 left_yaw=0.126 left_pitch=0.1629 left_roll=-0.2709 left_gripper=0.2047 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7863, 4.8068, 0.9158, -0.3199, 0.0562, 0.7692, -0.0205, -1.4974, 6.9812, 1.6777, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5003, 1.7363, 1.6176, -0.4988, -0.4557, -0.3618, 0.2085, -0.0208, 0.8368, 0.6132, -0.4267, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4782 left_y=-0.1687 left_z=0.2707 left_yaw=0.0564 left_pitch=0.0174 left_roll=-0.0375 left_gripper=0.2085 right_x=0.2919 right_y=-0.0006 right_z=0.163 right_yaw=-0.0048 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.2103, 8.9094, 1.37, -0.0073, 0.2271, 0.1294, -0.0479, -1.7709, 6.9949, 1.7167, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4995, 1.7531, 1.6203, -0.5079, -0.448, -0.3691, 0.9955, -0.0208, 0.8379, 0.6132, -0.4271, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1704 left_z=0.2618 left_yaw=0.0548 left_pitch=-0.0048 left_roll=-0.0352 left_gripper=0.9955 right_x=0.2919 right_y=-0.0006 right_z=0.1626 right_yaw=-0.0048 right_pitch=-0.0851 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.4684, 6.7214, 1.7411, -0.2906, 0.0757, -0.149, -0.0615, -1.6205, 7.0222, 1.6777, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3453f73285cbd33edb646c9f3a4c08a417f8b73c6feea20a84e04cf599560e43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f3c2728a2d8e469609c7a2a1b46a01f86af4571a2f6529aebabfb9e87244bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5d266081e68f1634dd49169e091070480c08b5293a62e4bbe948b71562f1d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIeQj0H01XPeS_97mGctXhs6iC06TC9lXr0dpbtt0Q8x_ld6kq3ogO7WpfpvTIUNDVm9cYA0LVzURbMdItphN-aoXb-eHNwTm9fN8OFFtZqGbVH4erTry8COWNfcDwol1ADe-1tCVChHWmQRdfProUS6XUCClRoOGSn7pBEcIrCyLv-RYlV-6vdGvK0e_WN10680Wl3NwxY0V9fVNEmT4NH8Ab46-hHQ9zdzObpQUDhpW4JFW_hM7mci0bfOEH4TAnHy5SA8wLT1eaAjIKE2zklOFvPh-OGCf_BEI23YB_jR4_F8lFsqoAnw5ypTop2qiZyjgXrXRxJ4SHcgSGBLirhX-Zf476QD93yDbcJjV_E_TzPD2NIFzfM9c4yMVJg8P22BEDGVzsLgwgGVTdDLYZXVPBBRI4LAwpgnN5IAQUElFUY_vfV2MMgsbDPvWkzDGhfnwo60RxMtE_Gbz8fhaPMco9v6JIqzoV8TkNNEVLRjFL02PZCzFN4FTmVCpNiOBUSZCsg1tJUeQu_RuAi7K1ZM3WFuQEOnHKRYM2yG2jipa1jiDFixGlfOtnGaq_xYAMAFqEXq-q8EjbjIkM1oeXojJYNsLuzPcjsOLl8qgvKrMgJLiwtHEwiaBnv6gnqKJhEYjBBBKyYsWPaqOLS_f-dP8GzhRuxUtTgbKWPTBQvUAfEsWix6QUZdN7fNWHNYMZWyI4rNA-4x3og6cdVs_qcfM6JMtwRMgYzk72685fIyJo4JsKQeRUUqWbrQIdEeTaS2khshAIXnu30yGHT0qgmE4kS5wSfrhV-mKoP_tqGru8_bjGs0BLcPVkMNGx9Bgo4nDJogC0_HzLqlNBBXrYUE3Nnu2LgAcxsEcoEM-fJ74jgV6s49do4MQbGgOwGx00TnzZOcvV4rEAoA6nExV8FF6M3RL61qIIXzeD3jQo1Cz2D3eKqpxqHm9GYyS_uJaRMcz65JjzsbfVuWE2uXcCm6Nawi_UV22O2LKSayoLbU-R5piLqlaan_kh8Jo4SHdBki-uuOLFKT63Auw-GWeizcXqG0jFYPRJa_MlH0OoBINtHGcI5PhuJ0Gw30WpzpyOWIwSQs_SwTIdoxG5dhm_1-WfPhkYezlpHoEct-pGqfC9FJK6gQzd6Asvue14p7TQM2lXINjoOxFIegsUH7611A2TK7Cq-jX6FH4e-du1TQiMDAhrqUnE78GUqhB4aRb3-TyBZwYB49nPl0gjKjNWKozMcgh21IvI_dRjETyDU-0YBT0aXI7lh0cIIcuKoOejYsSD8LxfzcX0ogoVgfsREhV7KQiBIGg5D_fRofueHD64bkCJ9ECmXbp5YxgU-1FsNf_iuAmH7vIyWuJ3-CPKWwHZ2jde0OtfuriwzIZ0o91Tcs40OvGTqPqOv5qjmT4YdqLk5nsft_1mNaRqtnRbicUeVsazjebo6hDlhQE3Kf6dszANqAl6VCjLB5ziuxt-UzAVzP7e2fddHpOvAxYL_vCREXpjrU43lVQ1IFX-PEV0s80hsqP6Z2wYIbBEZV3y3puhIEujVDLcE4ntUoTeSRDIeZLyQjdFr11GUBYzl6Te2PciEvfe1aHAcwTMwzZdc58HpovcoD2in72tOeD_y5exmPM2O_EpJVv3jS3LOv799OnTHcglCGW7XI53BrvNBlSSOL85EqNY5Mx4dmmBew_AhhJnAOKCCVecoa-zTvrNX9Aq5ryeDcieeULTuJyNZnADIMYjybeXu9RW-gNbGThLMko26lSeOyUHfzepYx49KDhqMlJKX14SguGieEQZWMAZIZkwJeHYk6oTSMtLE91ugMtwkLQSjqfG-NVj7DTwSik4cSqSqMPrhU4NcoX1APxbisWO5Xq77B3FrXdfj-Tw407ukulHMFf56jd5WuVK6Wbx-l8pyi4VZRgLavWraq6OINJcLeXkBQ2aFA3e-tZeX7NSS6e7mq__sZyld38wnWIL3kNuroGMVRRhL2kpGGs8ia00xZPLAAM6GNo96FZatJuz_h_BFk7jC9-Sq67q8iihyDOYens0VcmjDRKo6PSe3wo4BDYCz6GOeM95oYgEUsXRI_B1VpKutVjGXRQr3C2Sbk7CNmuojOeE7UPu2W7nhhSRLBZg5h2sUYxx46VVfHn5T4xsPYD0R8w2u8Mk-y2DkHS-4QjC08378BE8W1vfMgXl5eE7QbrVIkNz6D2Si7X7ZYQbZvwYrIKQFN5ndH7uQwAs4DsravW6AXV03bERwo25DMrHoeOmqiqJv0kzP6-LQyCbEvOgwhS2_NgnK0zjp4FjMqB0Wog8okH8XXDFidPFfj_cykgiy0zl8rAMQAy87StRvwkwm0ImOHAfomtHNA8riETvKoZT_p0JI0zIs-PEPn-3QVC258apB8robnED7TpRnCYZwhPxvGKyD92M-n2lt4_J0A4WWrBrv2eHqxVBDjUgVQRYo6fzV7A7fI3rTyPMQtILK1f1YaReslYs8jc-BC9z0vT92Uum2Gb5M_5bAhjlnmP64_hEj8Mmd2pjEvMh5SVb8g845a_qaPy-giSqbaP_oFbvATKbK1W4E1339B__Bz9twTXNSnn0G_EdrjKkLbtwJAyW8EXifLe_TSwTdhBdsayuzYrq2_QIRJGmqDs18TwVHMim6pIKlhPwoi6WqNZA2u9DZ88_iDwMwiiyouT1PzVy59GUps8pRcpug1fWDpOytSbshrl8k866rWHEu7e8G68u8hnr3EjEeMZtRff2wg9NqKuD-9_c12eKnwop8Pn12CsVDqSx_g4KKITdLXxbXA16VPmSAaxLvoQ6gB7zKSl_RHtbZOr25d-lNK5gAv3mUzE_Qrg==",
  "id": "rs_07346563d9cbf888016ab46217e2e087d0a09fbfb762514d65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.275,\"left_z\":0.065,\"left_pitch\":0.3},\"note\":\"The bear landed beside the basket instead of inside; its body hung to the right of the grasp point. I’m reaching for it again so I can place its body farther left over the basket.\"}",
  "call_id": "call_kSPJgSW7ab9HpSrH9OXzjMNG",
  "id": "fc_07346563d9cbf888016ab4621d27a887d0b6a44cc5fe5edaaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kSPJgSW7ab9HpSrH9OXzjMNG",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7238, 2.2086, 1.2011, 0.601, -0.7319, -0.3187, 0.9967, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.2692 left_z=0.0695 left_yaw=0.0552 left_pitch=0.2657 left_roll=-0.0213 left_gripper=0.9967 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.3453, 6.4068, 1.4383, 0.0073, 0.0562, 0.1148, -0.1983, -1.8256, 6.9949, 1.6581, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d797286bfbc1a2ca8561b312aa33c20f8234c1b82d7e8e362116eeee13556e17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5becea2d2bf2781c84b38abd1d4a984102e4d67845b45c5c23d342e53828e87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bd996ba2a0981ae6712e9a225254e966c90057e9092f464c3d31d43faccfba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 76 changed as sent

message 80 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]: [-1.0615, 1.6901, 0.8402, 0.1532, -0.9195, -0.8753, 0.2071, -0.0208, 0.8326, 0.6132, -0.4225, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.2739 left_z=0.1161 left_yaw=0.1188 left_pitch=0.1482 left_roll=-0.2527 left_gripper=0.2071 right_x=0.2923 right_y=-0.0006 right_z=0.165 right_yaw=-0.0048 right_pitch=-0.0752 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.8803, 8.5538, 1.5018, -0.4225, -0.0366, 0.2369, -0.212, -1.4427, 7.0769, 1.6484, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4995, 1.7531, 1.6203, -0.5079, -0.448, -0.3691, 0.9955, -0.0208, 0.8379, 0.6132, -0.4271, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1704 left_z=0.2618 left_yaw=0.0548 left_pitch=-0.0048 left_roll=-0.0352 left_gripper=0.9955 right_x=0.2919 right_y=-0.0006 right_z=0.1626 right_yaw=-0.0048 right_pitch=-0.0851 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.4684, 6.7214, 1.7411, -0.2906, 0.0757, -0.149, -0.0615, -1.6205, 7.0222, 1.6777, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7238, 2.2086, 1.2011, 0.601, -0.7319, -0.3187, 0.9967, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.2692 left_z=0.0695 left_yaw=0.0552 left_pitch=0.2657 left_roll=-0.0213 left_gripper=0.9967 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.3453, 6.4068, 1.4383, 0.0073, 0.0562, 0.1148, -0.1983, -1.8256, 6.9949, 1.6581, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d797286bfbc1a2ca8561b312aa33c20f8234c1b82d7e8e362116eeee13556e17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5becea2d2bf2781c84b38abd1d4a984102e4d67845b45c5c23d342e53828e87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bd996ba2a0981ae6712e9a225254e966c90057e9092f464c3d31d43faccfba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIjHtnCcQw7dIJBxHo1dfwcXu3qUI6L5aN5GFqJBIIxfJlV9JxEk_0zveR760nUpGOVeAsccw9zIVB0xvgaR2pC2tekx1m3x6C0L72ByVmLPioLcN84IZt9fL6GqBkait8NygdGprSDhlFYdzG5mFE8sUpVlS5HWEuNTjw4NrO_6L-qoji-AoEsey9dwoVAPjrcrBfmVBzNfXzz3M3x_vCSG4fYtCdp9Vy4ctsiKOdXsGBiFa99_RN2Kx3-Q05PzuW0tqtxnlL0hvImXQMJZVk8kbMtOPAFYE5gmu-abWtMqK_oR8uheKK85vtujuIeNggzdwsCSrxe5Z-FERtEyMI9o6ccJq2R8YTeqczvIloLnShYFWhjmPQtZIQjDCWws1sZUvv174fv011LGHLzgarl_zpYXM8uHopTcHjObH3a5j27OiDy4bzuahlPsGL9E5T77-aOK1VBVmfqp178EXWeitZapUqKfLu7QeO6rZhjXTMHc5P05ICfiLYThawW0dkg_c7612PI_w2iziNRFP099eSmKjb4f9XwjAfa1VaRdepMKv9WkqxD6-rnXeqvBacWm60R6EELx7ii6DarApU95TsP_qR7A-xB3JlTiJR10zOavSpZJzg2KiZ07iWahOeGuPkZxmNd2YvBcjEWx_x-8j5eeeB6xMqCy2wmcJj35YyOC9C58fQDRgcKs4ak5rO4WpFSU97Qr00oA0rZEzGda53U_U9otOafCe1IkbJaPGbY8zbhHiqsEX4JTR_YIBDGsAJF1kxWT8sFff0_NHL-61rhNZv_n3H67McBggEaZFSMbIbT8iPgwdPIaa8HZJT98f68_SZpqBCjTr9iZ6D2PEzKQtJ6QMOLObjzPaGNiF9hbEEVehreCXHpO_ddyPK5Xq4iPhHhlqsZy-SFBYI8QjIFNzcbAcXbD_s81ZQOAjSetWVI6KGL4dHYxyiSoA8s-LRyieAXaPsRv7L1qJjsCcfuyfV0whDUL-D6pogjJHQG6g4ozoYBxh7tHiOgMqE0j9nM5-C54m25o66jgHkC4-UIkUQltP-L7OeAbrfm4GhHFf_kEvrv1bT7Iof4k7jzRhc3Q-GVNDovjOEY6eJxGSiPPNAGf7MSB_iOJw7IvmV8xerMwLezmmoa7UrVBJWtec1Gfu2SkSSTi9Ia-ZwD3vJ43NSFGDtbnRBJ4BJQ3fiAg298l4VH3zoA0liTrzA80jTTBZ8TYPsa7vFuAXFUA7ILbcKWN_ZSdbUdI2EZJCZhkURnub7jUSfgiKkvRM_89C-0lHxXlt-m_4y0pa519JOwrwEc9mp4bjkLZLj7LXcd0hcOm96YXaWtRCnv-QRqsdOvNge912WXjsweM_JwXzWsmXKqCzAOZMZkoFQjgwJlRWCfGaaVcv3u96zO1GTt",
  "id": "rs_07346563d9cbf888016ab46221c95087d0aaf219c82882f902",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s lower body is between the jaws beside the basket. I’m closing to recover it for a more centered placement.\"}",
  "call_id": "call_cfrZGblxz0wRKp18aHssEPDt",
  "id": "fc_07346563d9cbf888016ab46222e83487d0b92b4e20c0cd001e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cfrZGblxz0wRKp18aHssEPDt",
  "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]: [-0.728, 2.2349, 1.2003, 0.6136, -0.7334, -0.3218, 0.0137, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4867 left_y=-0.2706 left_z=0.0579 left_yaw=0.0512 left_pitch=0.2558 left_roll=-0.0133 left_gripper=0.0137 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -13.7641, 5.4769, 1.5214, -0.1245, 0.0122, 1.2137, -0.1709, -1.3197, 6.9675, 1.6777, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222913d2268967b1bd8f8456f031a468420d469bfffaf434c91c53b61ba579b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718c0cfc079d828be3f5f61f5067dd9a6fb3fadbbc94cdc58cd40c0c8ae41b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f12b1c4825b25037d460501ae13d73d3dc57c1152c71b5f89223d0662187543",
      "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 23 attempt 0 · /responses · status 200 · 2.461 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 80 changed as sent

message 84 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]: [-0.5003, 1.7363, 1.6176, -0.4988, -0.4557, -0.3618, 0.2085, -0.0208, 0.8368, 0.6132, -0.4267, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4782 left_y=-0.1687 left_z=0.2707 left_yaw=0.0564 left_pitch=0.0174 left_roll=-0.0375 left_gripper=0.2085 right_x=0.2919 right_y=-0.0006 right_z=0.163 right_yaw=-0.0048 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.2103, 8.9094, 1.37, -0.0073, 0.2271, 0.1294, -0.0479, -1.7709, 6.9949, 1.7167, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7238, 2.2086, 1.2011, 0.601, -0.7319, -0.3187, 0.9967, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.2692 left_z=0.0695 left_yaw=0.0552 left_pitch=0.2657 left_roll=-0.0213 left_gripper=0.9967 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.3453, 6.4068, 1.4383, 0.0073, 0.0562, 0.1148, -0.1983, -1.8256, 6.9949, 1.6581, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.728, 2.2349, 1.2003, 0.6136, -0.7334, -0.3218, 0.0137, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4867 left_y=-0.2706 left_z=0.0579 left_yaw=0.0512 left_pitch=0.2558 left_roll=-0.0133 left_gripper=0.0137 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -13.7641, 5.4769, 1.5214, -0.1245, 0.0122, 1.2137, -0.1709, -1.3197, 6.9675, 1.6777, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222913d2268967b1bd8f8456f031a468420d469bfffaf434c91c53b61ba579b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718c0cfc079d828be3f5f61f5067dd9a6fb3fadbbc94cdc58cd40c0c8ae41b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f12b1c4825b25037d460501ae13d73d3dc57c1152c71b5f89223d0662187543",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIoKFOmd4e90gC2Is2WjWBCy4ccT7hNLlyVyFfd2iRQQfH_XXO3MCa3kKepSyARxCjzlMPJDqN5OA5guj35sDNXglkBtvJP7N1E_-8yRxmizzaw4M6KE5fZMfyxTUP4RqJCSkckglp5pllu6vKck0101vY_dM999FkZAg-1Nd1mMA7mRUpY0CbpKP-oE3B_R6q6_Ein5KxVWKlRr8cSVBe4hIfaGoUbbMUjZOGhg6EX-j8hjowInWYQ2qgiLj6jEyn53lmpaayYWH7cZ3wjKYS0LOksuXBTuS4YGjALG08AyYi_u4nLwh8f1N6QdX0JZtnk60ITSoTPNPXrOs1T84-MIJWZ7ww7QWMjGjB6eGU-Y2k5Hh_nhtAYBDCPHW4TpSmO5hIcfUzclnOLJedkuh-cwurDQ9xcBiNVQIDemwsUYMofSrohwfFg-kRXUap4_F4qyXtCCjlECCOj_-Ev8qB4TWNuQK738K7qtbjMVZR_bikPsVKt3HsM7rp53Y0wWEaJ7CSH_8UMbzdAjwiE1INu6CUcLhZV2rtTCS0CLZlcbyeEgb0DcUp0y1jZZmo-gcv2dudtyk9zT3POnYIXLvmGcyc5GNfEMhHii0NufuvS4dcj4IF1nKZM6tf8ysM1jd5YzRjui0rbs-gKj-hhq7OUcHbcYf_iRopgwaL7WMP9vIqKcLJCCOxwjZW9L7zeeWv5Vs_PTDXCbmDkeoSJXRHzvpNXV3id_3Jh_B236o1YKIBtoFswRlgs3gIsMUDYNNKtkeXKybyszICkXJMioV6xbX6HUm5Hs_pD9Xv0N3gI2WNiR5pzarER51RBWnrV7D9ia8pSgGlDSsBbk1yjnuamVfb2TaHsXNgazqWTjGLblyNoHKldU4cPa1IXaLTmKTBz4hzCyGdhCvpriUQ2BEv1i-zyecYOU30skHunMX_me6MgY9w1eLg8TrbRNfST5WmgPreVS6C_ztKB5vlJkCgfWxRVZBWKW6_hRW-MWgPoinGNtUxeVXEqSYjU_Zo5DxyTwARLx_X6NRIwJUhUnzmuoijHjlWSrwzjuOr_HIs1_HuF4m-O-Q5AJUFuJAe6qRfkHXQuJx49iPzUv2j80WholhUcSoNPUHL04tmvzfYYPSvCT599gB2r2iMGNG1iWlqcdoUDK-5jTWKnTfZAxWBy75ToEMlJB2YnElZKETzatdunnOLvQCLyRbUaP_j3d1qfyq1TRS-W7AMVBAu1G7BFMueqxncCRJVhVYMBykvTo0aGmdU6zlRkq0BDmfXhWK_XY8yJs6IkdV80e7RDMQKXNGSSWYBGAzyrWc-9BOXXrl8L2zh16EkxpHKc6bPI0IDM0lrMMVHxEfxlQSj-QVQocuz62GogeCBMaPYqC4AGU6unQOhMCQgUByPN0umWZU5HinOr0ry9nVkYh-e4ouaZKA==",
  "id": "rs_07346563d9cbf888016ab46226391487d0af839e9011543283",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_y\":-0.265,\"left_z\":0.09,\"left_pitch\":0.5,\"left_gripper\":1},\"note\":\"The recovery grasp closed between the bear’s legs. I’m moving forward to its torso, using a forward tilt to reach without pressing on the baskets.\"}",
  "call_id": "call_6K8huMGSYlUBH4GR2dLcfCPI",
  "id": "fc_07346563d9cbf888016ab46227464887d0b5c32a01e9a10f90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6K8huMGSYlUBH4GR2dLcfCPI",
  "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]: [-0.638, 2.413, 1.3663, 0.8902, -0.7055, -0.1219, 0.9958, -0.0208, 0.8436, 0.6132, -0.4305, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.2588 left_z=0.074 left_yaw=0.0676 left_pitch=0.4452 left_roll=-0.0016 left_gripper=0.9958 right_x=0.2917 right_y=-0.0006 right_z=0.1604 right_yaw=-0.0051 right_pitch=-0.0942 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.3829, 7.6513, 2.0635, 0.1001, 0.1832, -0.188, -0.0205, -1.6752, 7.2, 1.663, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea10e3d4431f92b5cad2628cd4a510a2f741132d917b241836ff80e726d9370c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f8eddb1f438277495b53f7873f8697a4287bea2261d1fc3ae22adcffbe6000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3570bfea1229ed634b04877b67374e5f5f5144c5c0723317b57b195ff14b02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4995, 1.7531, 1.6203, -0.5079, -0.448, -0.3691, 0.9955, -0.0208, 0.8379, 0.6132, -0.4271, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1704 left_z=0.2618 left_yaw=0.0548 left_pitch=-0.0048 left_roll=-0.0352 left_gripper=0.9955 right_x=0.2919 right_y=-0.0006 right_z=0.1626 right_yaw=-0.0048 right_pitch=-0.0851 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.4684, 6.7214, 1.7411, -0.2906, 0.0757, -0.149, -0.0615, -1.6205, 7.0222, 1.6777, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.728, 2.2349, 1.2003, 0.6136, -0.7334, -0.3218, 0.0137, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4867 left_y=-0.2706 left_z=0.0579 left_yaw=0.0512 left_pitch=0.2558 left_roll=-0.0133 left_gripper=0.0137 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -13.7641, 5.4769, 1.5214, -0.1245, 0.0122, 1.2137, -0.1709, -1.3197, 6.9675, 1.6777, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 2.413, 1.3663, 0.8902, -0.7055, -0.1219, 0.9958, -0.0208, 0.8436, 0.6132, -0.4305, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.2588 left_z=0.074 left_yaw=0.0676 left_pitch=0.4452 left_roll=-0.0016 left_gripper=0.9958 right_x=0.2917 right_y=-0.0006 right_z=0.1604 right_yaw=-0.0051 right_pitch=-0.0942 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.3829, 7.6513, 2.0635, 0.1001, 0.1832, -0.188, -0.0205, -1.6752, 7.2, 1.663, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea10e3d4431f92b5cad2628cd4a510a2f741132d917b241836ff80e726d9370c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f8eddb1f438277495b53f7873f8697a4287bea2261d1fc3ae22adcffbe6000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3570bfea1229ed634b04877b67374e5f5f5144c5c0723317b57b195ff14b02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s torso is now between the fingers rather than ahead of them. I’m closing on the body for the recovery lift.\"}",
  "call_id": "call_ZBp0Blezb2mePbTTuK5XABd2",
  "id": "fc_07346563d9cbf888016ab4622ae9cc87d09f2d15a4d3d25be8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBp0Blezb2mePbTTuK5XABd2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.4165, 1.3697, 0.8837, -0.7109, -0.128, 0.1323, -0.0208, 0.8444, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=-0.256 left_z=0.0721 left_yaw=0.078 left_pitch=0.4409 left_roll=-0.0029 left_gripper=0.1323 right_x=0.2917 right_y=-0.0005 right_z=0.1602 right_yaw=-0.0045 right_pitch=-0.095 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.1897, 5.1624, 1.8584, -0.0366, 0.0415, 0.9939, -0.1983, -1.6342, 7.0085, 1.7216, -0.0024, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230d4a908daaf32d1dbfcecbb97bbd04377774481022fe2d95166897a6fe36fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc9c8af50410f7292813df3892cea5b053c1c2642c9af4611fe4a39b333f9bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f63bac670114f63dd3f1c203165f7ba4fd8afaadaea60abaeeb9384fabad8b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.679 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 91 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7238, 2.2086, 1.2011, 0.601, -0.7319, -0.3187, 0.9967, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.2692 left_z=0.0695 left_yaw=0.0552 left_pitch=0.2657 left_roll=-0.0213 left_gripper=0.9967 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.3453, 6.4068, 1.4383, 0.0073, 0.0562, 0.1148, -0.1983, -1.8256, 6.9949, 1.6581, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 2.413, 1.3663, 0.8902, -0.7055, -0.1219, 0.9958, -0.0208, 0.8436, 0.6132, -0.4305, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.2588 left_z=0.074 left_yaw=0.0676 left_pitch=0.4452 left_roll=-0.0016 left_gripper=0.9958 right_x=0.2917 right_y=-0.0006 right_z=0.1604 right_yaw=-0.0051 right_pitch=-0.0942 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.3829, 7.6513, 2.0635, 0.1001, 0.1832, -0.188, -0.0205, -1.6752, 7.2, 1.663, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.4165, 1.3697, 0.8837, -0.7109, -0.128, 0.1323, -0.0208, 0.8444, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=-0.256 left_z=0.0721 left_yaw=0.078 left_pitch=0.4409 left_roll=-0.0029 left_gripper=0.1323 right_x=0.2917 right_y=-0.0005 right_z=0.1602 right_yaw=-0.0045 right_pitch=-0.095 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.1897, 5.1624, 1.8584, -0.0366, 0.0415, 0.9939, -0.1983, -1.6342, 7.0085, 1.7216, -0.0024, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230d4a908daaf32d1dbfcecbb97bbd04377774481022fe2d95166897a6fe36fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc9c8af50410f7292813df3892cea5b053c1c2642c9af4611fe4a39b333f9bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f63bac670114f63dd3f1c203165f7ba4fd8afaadaea60abaeeb9384fabad8b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIv7kNTqj1u2lDvRH6Xq3eCyL7A1ho8AQ3MCzxJRo41ebgm1OQchng_FrNa44VuCUfOIuqY82k-Po2sxvLVCI5oygw1zo3hyacj-N0Gh__6GXhDi_XyHcidKszTF_grfE3HurDOsLdex_2pkEMYLwNk0Yp-yvVt-TT-2-jfpsH77XnugpeFFhwV1NApRQN-8WAtitelqufCcgayEzWlCjTlTJwvqMXNL_2VMK7i5YrrSI206LLh7DF-wDAOyp4eNfPREskKmTLv7z5-b6LUOB6kHFZi7jfGyeIDokkdOze62kZkqha_srSaK9Ce1DE5y99VJfk-kP7jHxOBrhe9nmEaokgb4GjPFE9NbaDCqRLMO7iS1waKMsc9hblJKrA96yOWZTdzHQU8RrR6r4mR7W3Oobj6yHihBIPCBkLhjNUDNI4dEXh_ofBsRXzjE3pMqrEEp2dM-Sr59YOZe36wUZJlRA-HdiGgA5KJIN66IMhUKxG3W4HAPDE38Z-CQJNj8FAkWVLrUKX3u3c4nzr0PeX4FzPCb3Zlq2lzcDu3KsV0LqZihrg4BLhKEkx1tDaO6pA6y5LKqs-B5dI_mmAlIQtBcQJ8N540FFanFLnDRz0FZfwDzcNFSXpVUTUhK-nXOfyy0VGPeXAPXRRp5ZqJZk83AxTozGfgrC7gn7X3fd_g7HnoA4ntVdRw-bJ_8Rvv9V68TMn9sAuUm9A-Z4aWeBEKekWLaBp8tSbUXUviEPrlJIKJvjGO2TPXcquUoM_EyXSaIx8MChxUO-pf-ZJpOUT73GWnmraBDGMg2qtKPAlnfeeJPTJlAw8HAC6DwazmHtbllLfYwxEM9J0QD4UkFJ0hzmYtfTXdM5N5co6dAd3fxrBly2v8TrkDSetZDKZH0ek7du16Xizv6fZJgyBhoSmMN03on08NVvNs3EJ2JUSYI-gypsWkAraec1QL-o5E-_zUWNJNUkPAw_No1lYM5leTxSTyX5ijOLCuXClw29_-8NRUH0SkY3yX06dh5X1QhYRbswEWvJ8niw1phbtMRrj1Zxql4NcQ_HPOjBriSU096e10TSNxsOQjlZX52plvF3llG-orWIXCD0TtLqv8ms3Zu49BeFX65HtVhp-1B7Prb5qINrTzBrKNNqjq5L36e8ju91ugXXUhWK8-_BI-CIyTZADRR9AdPl3MtXPCppFEbHASAJN1fsr7joZriwmziLRb-avCKxGBsA_O8HB0xJfAZrNSfi11POnhUtjHBtin-8ihttl2EBHJlf6se2TFB8eu",
  "id": "rs_07346563d9cbf888016ab4622e3bd487d09a7a5bb48ef59349",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The gripper has retained a substantial thickness of plush. I’m lifting the bear clear of the basket rims before moving sideways.\"}",
  "call_id": "call_HSWQxwCJu3qxPBiWPO2Dc97R",
  "id": "fc_07346563d9cbf888016ab4622e81fc87d0a5d2e2d0f1a7837b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HSWQxwCJu3qxPBiWPO2Dc97R",
  "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]: [-0.6342, 2.2009, 1.4368, 0.532, -0.7113, -0.139, 0.1323, -0.0208, 0.8474, 0.6132, -0.4339, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5479 left_y=-0.2554 left_z=0.1524 left_yaw=0.0651 left_pitch=0.3886 left_roll=0.0342 left_gripper=0.1323 right_x=0.2913 right_y=-0.0005 right_z=0.1587 right_yaw=-0.0046 right_pitch=-0.1015 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -16.9231, 9.2103, 1.7705, -0.105, 0.0611, 0.9744, -0.0342, -1.6205, 7.0085, 1.6972, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3843845d17abbee7feb0123b970812c3a78f21625ea0a4b8143b0b1d66471e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274f0581abf563d6f33f639ec630457487ee7731dc2b5edf4e59040a542d406e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b41c7424a7665cb4756a8c6473a5b1080378c036a6ab5d80e399ed60093b3d",
      "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 · 6.157 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 91 changed as sent

message 95 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.728, 2.2349, 1.2003, 0.6136, -0.7334, -0.3218, 0.0137, -0.0208, 0.8417, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4867 left_y=-0.2706 left_z=0.0579 left_yaw=0.0512 left_pitch=0.2558 left_roll=-0.0133 left_gripper=0.0137 right_x=0.2916 right_y=-0.0005 right_z=0.1609 right_yaw=-0.0045 right_pitch=-0.0923 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -13.7641, 5.4769, 1.5214, -0.1245, 0.0122, 1.2137, -0.1709, -1.3197, 6.9675, 1.6777, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.4165, 1.3697, 0.8837, -0.7109, -0.128, 0.1323, -0.0208, 0.8444, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=-0.256 left_z=0.0721 left_yaw=0.078 left_pitch=0.4409 left_roll=-0.0029 left_gripper=0.1323 right_x=0.2917 right_y=-0.0005 right_z=0.1602 right_yaw=-0.0045 right_pitch=-0.095 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.1897, 5.1624, 1.8584, -0.0366, 0.0415, 0.9939, -0.1983, -1.6342, 7.0085, 1.7216, -0.0024, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.2009, 1.4368, 0.532, -0.7113, -0.139, 0.1323, -0.0208, 0.8474, 0.6132, -0.4339, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5479 left_y=-0.2554 left_z=0.1524 left_yaw=0.0651 left_pitch=0.3886 left_roll=0.0342 left_gripper=0.1323 right_x=0.2913 right_y=-0.0005 right_z=0.1587 right_yaw=-0.0046 right_pitch=-0.1015 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -16.9231, 9.2103, 1.7705, -0.105, 0.0611, 0.9744, -0.0342, -1.6205, 7.0085, 1.6972, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3843845d17abbee7feb0123b970812c3a78f21625ea0a4b8143b0b1d66471e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274f0581abf563d6f33f639ec630457487ee7731dc2b5edf4e59040a542d406e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b41c7424a7665cb4756a8c6473a5b1080378c036a6ab5d80e399ed60093b3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGI0b1NF1gcxAgGc8eb5E3slh6UoCSMXMWEmTHP6sWW1xTs3UUQV23a-EUQUjq3n33Ff6X4sceFcXgOoUtvPreD3HE-Bb-FYcBbIQ3ND1v_f9hpZB3TYj-IHpbhv29IAWmJcLhw2moU1tC99IbC3SSrv4GXFjyoubM9PlwXl1oZgivX8UNOpoHhgb3h_WUH2HCFCSunMz320vWNbrVJd1wnQxIFMdGKibN5irAiLXG3TqI-Pbb--UhA6JNPTJpfdhXn-1dwvVOp0HmulPdqGWV_G-Q6Cueh1cOKNhZtYE9tsV6xxugHWhNEoeC_L0c0DQnfSqOUkK7itYdEVk_hUxajw-018zta0a_bypb0haimU3NyyWUjKZ9dXFmDm0D8KXExCvPpzO25UY-PHpM_WnbDtOtQVnn6UxsQ8J6muTPA3GD9WbBehf0CGAhdN1nD7n-OcfSa3vGuN1f6jmnsV-XRwF1otlmSo9GZ_pYnPgVBooSOhVWeJtZG_Q8yXtOOP9IyevcWIVppDKEZLLq9KujBT8IZ5YY6rfuQdFeYSDeLPKrftwOw9CRwjMlaYBaajhUKlljUDli_gXNrTRH17ARmcJOSIZLL4lrvAcwfvB7PCaGqEnlPWJqs7r7eW8PqQwlAJPRDeDsfje4CNVKkWyhGkQj48V2Jkk3dpC08vO6mBxXdLCamKw-nmLIAoUPnNAEqL5KZb1wletFPN6RQRU3yytzJyZSA8fRP1LeFOpJ6aFyE-Xr5exj2ZIu_Hqd4h0L4cEey1vbu8wj0Xbrt4E_1bResi87TtfySsP4tZQ3zcT18GwbotpHnyEJnY6PhzqM87HtUv5JwSt42TF-aPjNuV09VDxbcubj7aM3KvxLAzCKMCVZj4ecVEPoFDthh97EWeCYeoyLVZ2do1tDSL6dG98pZuzlQIBaCZxR-JccMpNnipxLQmOrmDIU6ApSou4VnIPyNXjHhrZJhyHZtxhfd9OCrhbbrWkqah1f8IPk0Aaxm9EXfvMLakgaPaJDSt6d05Gcr4ls-hErf-OMfQhfOJUs4vHJbif484d_y7qqRrETHXYSo9FxLGVuUd_smgdT8iiRewzkDNiIcwMlRdUzXray4LczcajVKn73tRrcGCe5_gaHibtfSq8JOeMz7QMrn77k1v8ow28xFg070VqXyRXlQeGm-gNN07A7WuPfD-JMvqusx931DXuvFq3uQY9p6I88JU9XKF-J4jjum_szkx_JpYWodULbdK3YEIukc33MaPCoZYRiu_v6KDaCGuahR2KwMaB6n7WDCtBdctWdX1EOBx6_uZuD7BErGqMFPHCdRUiliSTiUTQGVqy6OhCFVIMwNOEqWNE-qXKfv7oKdVe5W9E6BBafJ4IzFqr63jJ8J7YBkkUZtKmicYYBoPo3s_8W3P6w6HCADKJU6G-KPh4JwH9dcbGNTfY9UGjjmY3dERbJqJ-IIEPomwsXEGl5vMFm_Mqi4U53b6ptoxbZhRci_h_mzlqQSkKiK2bM3-tSO4qohDV_8X6ZL0tXMZFDHW984fxdmsVDGADIo_-rFnbkUEN7wD_MWNMhzAL2Mv3G6Wx3gbSdqDvQ2JT8KF_bLJeYGVLXCZ2umiv__kIco0UiJxhL-j6PTKVw-yNEsVfIrpFCautJl1KjKUCqJ1z97-vNrR4KsMSxQpFIaTfbfQ0mKrPWtpnvVvbrExN8LFThOmxUTZkc-jda4APa9zGBIklwjQFRFKA5F4We9LQ6V8QBepRzHwwx8jLwT4uaY_nmq75o3_vtso4IDwWjKngUD1z7LchkMSuunye76HSHwaEdc-BoClkKhKJVC6yKlKRuc=",
  "id": "rs_07346563d9cbf888016ab46231faa487d0b00b90d67c58e74a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.105,\"left_z\":0.235},\"note\":\"The bear is lifted, and the left basket has shifted forward slightly. I’m moving the bear left so its whole body, not just the grasp point, is over the basket opening.\"}",
  "call_id": "call_RBwaVvpmhB5RnaMAIIiJsEcT",
  "id": "fc_07346563d9cbf888016ab46234254887d0bd112ecae60da8b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RBwaVvpmhB5RnaMAIIiJsEcT",
  "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]: [-0.3771, 1.7279, 1.0416, 0.4255, -0.4648, -0.0906, 0.1334, -0.0208, 0.8513, 0.6132, -0.4339, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5041 left_y=-0.1106 left_z=0.2054 left_yaw=0.0686 left_pitch=0.3308 left_roll=0.0474 left_gripper=0.1334 right_x=0.2915 right_y=-0.0006 right_z=0.1577 right_yaw=-0.0048 right_pitch=-0.1053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -12.2872, 6.9949, 2.0, -0.1245, 0.149, 0.862, -0.0752, -1.6615, 7.1316, 1.7167, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d56a1f3a75f0dd319e4cf9cc2b199eb3a8e1bc016a11adf399282c3408f93ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23dc1afc404eb4f2a7425a783e7a3ebf61d3ae8e09e05c380eebc0cbeb76e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b86efbd3b4fb2935a481644b7e45307cc1c11a55a5209b8489d7c806beb851c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.103 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 95 changed as sent

message 99 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.638, 2.413, 1.3663, 0.8902, -0.7055, -0.1219, 0.9958, -0.0208, 0.8436, 0.6132, -0.4305, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.2588 left_z=0.074 left_yaw=0.0676 left_pitch=0.4452 left_roll=-0.0016 left_gripper=0.9958 right_x=0.2917 right_y=-0.0006 right_z=0.1604 right_yaw=-0.0051 right_pitch=-0.0942 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.3829, 7.6513, 2.0635, 0.1001, 0.1832, -0.188, -0.0205, -1.6752, 7.2, 1.663, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.2009, 1.4368, 0.532, -0.7113, -0.139, 0.1323, -0.0208, 0.8474, 0.6132, -0.4339, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5479 left_y=-0.2554 left_z=0.1524 left_yaw=0.0651 left_pitch=0.3886 left_roll=0.0342 left_gripper=0.1323 right_x=0.2913 right_y=-0.0005 right_z=0.1587 right_yaw=-0.0046 right_pitch=-0.1015 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -16.9231, 9.2103, 1.7705, -0.105, 0.0611, 0.9744, -0.0342, -1.6205, 7.0085, 1.6972, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.7279, 1.0416, 0.4255, -0.4648, -0.0906, 0.1334, -0.0208, 0.8513, 0.6132, -0.4339, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5041 left_y=-0.1106 left_z=0.2054 left_yaw=0.0686 left_pitch=0.3308 left_roll=0.0474 left_gripper=0.1334 right_x=0.2915 right_y=-0.0006 right_z=0.1577 right_yaw=-0.0048 right_pitch=-0.1053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -12.2872, 6.9949, 2.0, -0.1245, 0.149, 0.862, -0.0752, -1.6615, 7.1316, 1.7167, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d56a1f3a75f0dd319e4cf9cc2b199eb3a8e1bc016a11adf399282c3408f93ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23dc1afc404eb4f2a7425a783e7a3ebf61d3ae8e09e05c380eebc0cbeb76e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b86efbd3b4fb2935a481644b7e45307cc1c11a55a5209b8489d7c806beb851c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGI8K38jNQhY6pTlcoiJefQCksCwsHStcyEm41dTAThGHKRh7JGpyXRzCBMNKTBVxfLZL7Z818nJjLeiHzjUwFZ5W1_QqGzMPtu73KZYzVuNgELywFtIJRccD-CMnDYd_n6pWeJLMYz3hxa1cFMGRV5y9EPWoqaCdnB-7Ezj9oqyuvFATSrsqbDMAROspRVMD5NwikB1O6fQKpkhn7f2SPmhN4zBPWOAMb1Jqfn1JFLQxq_hbNw0AmCb_foY5OshfHgl0l06f86UBj5hTW2TQgUSq9cUBHFjSk_YW8BNpW3FSMWTBLQV3zBDXdtqfpHHNgB8goEvZWw0zMIVpyQdGG98aluGDUsUrqfSpbtaH3UC3cslXrY3RTXBn-HZnXkNFm8kORk_LTOzQvV_FwYWjcUUy3Hvi8hzhWrO6RTkKDtZaW85dA8WbU-KKX7XHWH-3zVueG4iuFMMAKDiq3fHyGi0mYs6eBl93a3ukNpRdF7SVR-poLxqB0silT4Pi_Jiz7NeghtAthlunNM7beih-tj7inML25UUXinqn5VRyPu4wABBNMNacaAVxT2vrkiy2U8xEI_90zU5CwW1bpPPzfMhVOFhgqg5ApzT3-JjF_fIA227KMNGyNMU2JDBynAMuQgImoUXy-Bfw4cFmF_JsqBOns5J-WdD5qxlMOM0mTULmZ354Pi8UrZ2XmJKVffEV1CaUbSbZgDwJ3DxQsdpjbK80282GPrWxFtr1W1yNKGI_RSEuAZ-fvwFF_b4QzklSm7s5cQdt7zvenS5oyj2CYzZ56sRLmeoVHIPchXMOM099G-stSFq6W6zh6qE9km83fkGIyvf_tquskFoJ5ON_XQ_hd3hdRHMHFYRCicYCkE309AEFi0euPKPAo6Uevl_gCv6fbuTDT1m4RturiatYzAEik1DPpVrlOv3BwlXDOssRPeCKTYgpq8Fq9rRQp9Z3MV6P_EgDaLW6cp-cu1yj5gUZiyhuZL6yABf8RLWLG8vQxIJ5ITnqZnumo7OO6nxmJs0KR5n0TApCF8r1iyDSmD4a28CEkPznD8UrzV-hxeGNgAdID4lh0Fe_6yJU1RYFxNhhTydmunNJNswNWaNYDi4_cQiT_zFEMF0H1x1-ATJ9GzNnmC44-I4XxdeCkV9ninW65mDSBbC40Dn0k0PTMRCo5bUps7Omz_LA1LSD09Nu90KTFQfMkUWkwTmZ2TDh__-00YTs-7mg7iHufkWY4S9WFVObqePFG_5nxHc5o-KDG69sR6x0yZ_CvtqxIuFpw-7yGXYdcVwSbkVyrvBBZh_JwEadySj7ZskiM95889xtcDJBIMZHl82_KMxsrq-EhB03C2K_J1ZasUNkt8IlbWsd1VL3uZcJvd3JRadCxfHvcE9XluMg9bOFnZGz6ma3v3SBefLWijVvlo7GecdTnaYbZ-aKIk0O5K0LQ4YqYLF4uEJvW0oobVYl2-kjvv9bUhaV1JeYugd6hzTPJ7qQV8-DawkAjo7rb2WPpNxie74vs9Yf_efDSVcVX7U_9U7JUvV39Ok6QVn8yRDAvnKq7KwfJlgS7CVdiz4LGkS_tl7J08CQbZ28Hi7tRV-O118H9K2eW_Tm7iY21tZJ-lKjePir8b2wGIMSlkyf5aHGeG6ZO1bkHJyy0FHgwYSE59QxN7yp3BJPiIfreTOLf9mNLqQCebxwK-ktAXiMX-QgcUca5Cb6R1PTs5IMaf-Fa3gwyulRvsCiydu8oz2rpPQ_NY4HR0tF_NzHyzjS_ITQUdkpbFXrwegwdjbS30upBWmw1ZViWRQ67-0gORT4hmC8Ug595_tw3WnrLVyZfS2iK2LXoRAjz38kH_4VFHnkwJ2y8IdFgSbWu902DSLUFHo-ASGd5Zmb8LnFPPF29639RZt_sdZno_DkccgmaNXWH0OxxyNpS-yMrXEGaablKqikUBF4Aeq5n5Q-Z_-n-ouItenf0bP8IBStIkhY5dElMZIU3xn4_q03oeuWn8Me-Sf0-LaKvPvjiQmwKYqOpdPYM-DHmuJe4c3joxjSDcvSCoUEItvfSs-Fu2Vi4G4PgePUPSJEEv4jqDFEwtMYSUWUgcTT-T2qanD8ynK7171HOYIPBgwVJ4eLhdXifn4piFJiGaWWsobGsqopPfHt-XUjbOlG3oAPBS_IOmLbNFqN1lm8C1Ow3-6KkhpKQ4ePMs50o38aNOzZ5dYGNbGKqaaGSqnHeoAID6_Sn0z_vEZtdY9z5YMXxjXIWWwRcHDI7dQJVYUPr113E_WA5x1JJsJb7ufXjE=",
  "id": "rs_07346563d9cbf888016ab46237900487d0bd1c9db16a2d819e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":0.05,\"left_z\":0.35},\"note\":\"The bear hangs well to the right of the jaws, and the basket has slid left during contact. I’m lifting higher and shifting to the left reach limit to clear the rim and center the hanging body.\"}",
  "call_id": "call_79huDLCu0MMFfMhZyLmJjZZz",
  "id": "fc_07346563d9cbf888016ab4623b7b7087d093ab3bddf68c4ab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_79huDLCu0MMFfMhZyLmJjZZz",
  "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]: [0.07, 1.6478, 1.462, -0.1127, -0.0658, -0.0063, 0.1349, -0.0208, 0.8528, 0.6132, -0.4355, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5255 left_y=0.0521 left_z=0.3167 left_yaw=0.1145 left_pitch=0.2659 left_roll=0.0308 left_gripper=0.1349 right_x=0.2913 right_y=-0.0005 right_z=0.157 right_yaw=-0.0048 right_pitch=-0.1083 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.4564, 10.3726, 2.2491, 0.1636, 0.2906, 0.5885, -0.1846, -1.7026, 6.9675, 1.6777, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85978c2745a7bcf714384ee02facbd5814e6690a87e524b671dc866e9fe4aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804c056da0d53a0f653648a2aaf8acc389fb81fdd87576ea552d93d1c0b2128a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db332b3fa17c49cbd2acd70788ea06875066dabfa0d79f33b5c15dac81d0e9cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 7.765 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.4165, 1.3697, 0.8837, -0.7109, -0.128, 0.1323, -0.0208, 0.8444, 0.6132, -0.4305, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=-0.256 left_z=0.0721 left_yaw=0.078 left_pitch=0.4409 left_roll=-0.0029 left_gripper=0.1323 right_x=0.2917 right_y=-0.0005 right_z=0.1602 right_yaw=-0.0045 right_pitch=-0.095 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.1897, 5.1624, 1.8584, -0.0366, 0.0415, 0.9939, -0.1983, -1.6342, 7.0085, 1.7216, -0.0024, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.7279, 1.0416, 0.4255, -0.4648, -0.0906, 0.1334, -0.0208, 0.8513, 0.6132, -0.4339, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5041 left_y=-0.1106 left_z=0.2054 left_yaw=0.0686 left_pitch=0.3308 left_roll=0.0474 left_gripper=0.1334 right_x=0.2915 right_y=-0.0006 right_z=0.1577 right_yaw=-0.0048 right_pitch=-0.1053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -12.2872, 6.9949, 2.0, -0.1245, 0.149, 0.862, -0.0752, -1.6615, 7.1316, 1.7167, -0.0415, -0.0611, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.07, 1.6478, 1.462, -0.1127, -0.0658, -0.0063, 0.1349, -0.0208, 0.8528, 0.6132, -0.4355, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5255 left_y=0.0521 left_z=0.3167 left_yaw=0.1145 left_pitch=0.2659 left_roll=0.0308 left_gripper=0.1349 right_x=0.2913 right_y=-0.0005 right_z=0.157 right_yaw=-0.0048 right_pitch=-0.1083 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.4564, 10.3726, 2.2491, 0.1636, 0.2906, 0.5885, -0.1846, -1.7026, 6.9675, 1.6777, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85978c2745a7bcf714384ee02facbd5814e6690a87e524b671dc866e9fe4aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804c056da0d53a0f653648a2aaf8acc389fb81fdd87576ea552d93d1c0b2128a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db332b3fa17c49cbd2acd70788ea06875066dabfa0d79f33b5c15dac81d0e9cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJBVkIoMXiY8vDCwQaKZq8VINDsClznIk2_ZVxRJZUH72Bix_ZCIHxIIMoL8RW3xo2HFW4TVpG2c5TfmIXjXreKCCFCB6Wdxsvx8ow5qH7R9hR4u1gQNtBv3NuD3AnrTa008hhVpxHLqbDWvZfz2i7vn8d0YisgjCieLJLwXjmZNjmtxcEenI5O04DOdT5uL4fu3Un4V_QRNf_pv6W3HILHL2FjJKch9ZnEPy0zVAn_00dKkHNJTdA3_vfEhp5EbuyQowHlhPCzBKKHGQJfeDLc9p4eExswR7WwWYLAp1HdPITVjesQ4BOjubrWGQDAOCQ_ICNGmSFcnyU1Mf--tjWzKsKKnuy7PwjeiNdHFEEdztJnOpMOw6cxncZYEnuJxX5XuyEUiDJfKUApQRh_BU_-WsURNUc4H6xqo6HCcqK0cHyrBV4miYyNWGUTqx8IOG1bBXCvH_sduPLbHssSCLbvb3X44V7doIIoGrng7VgCICfch-gKd1qSkh3MekbvnELsfFpBDgbKN-oBMC4zrhxeO8b-yW_jD7QuMFDov6nFfpVBNC4COzf1VB6aFSdtlOTE0rvEcJq4F_C2H5pOFpdu4fPn_EoL-eIZsmBcUDdd_zGhwkEZbIKZxx1jkDftw528CL6jcjT_AuPAj3wK8n67SvifiWtssahcIwcRWSg-TBMFfMCl28V8sEcNnNp9gOxVt3-ypCny_XexAjms182OY-XOZbo1XQiNd0DXZojOlgTyRWR1af6F7CGGfASJY7qZ2Q4dyc-x5pdOsm6HUT02l9zrFI0vExSRaDxMZPDTD3wbY2keFYteTId052zUm9TqKaNZVHv8oDPKMDd-wXyk9nymqIi4GBMx-vqQ_mYKwcD4Hkp8p2LbcHCQLM_NrgLBXpFsXwf2KXXomD8d_E3-aqHdBlvGU0BayiGJX8wvtG7J-SfAkiKKWjIracy7kXuhShzjRf79npyNC4wKXtJARwQWtugHwy129QzHD3Bv2Ih36Y7bHDCGuvniTTJwEuLD7B3cloifQyPspOjfgvf0yvRHxiAERjEbZ6e1FCblL8TYQlBRs_iMSYRU7eN2yCt87p9Wb2zzqxuApROgutco2AFu6sCL4ayvejdgdp-MdFahWptXljw9cfNdBNywBoQ9m9wYV4qqFSDZ8CnpTPhduP00UepOAxOr0Zh90tUz3hnLaNI_kAU-33DsB6YjReli-vhHyTzKBDH4XpmNaZ0LLSfspVXuJh2jsjKM9R7lDrMTEiPkYN7maPaWBqeHVKlUvNpgDq5fjqrbuAG2fKErdZ_0Mi72UEFs4iscEG_6GvAVZ-USZ9Eb79qWphbR2JosNi6hMSvCSUMKgUtDf7H199m23WsIKgWU1phiAwVKO-DtQpWUaF6YobyrA12IiLtFOmiUpspeqD1XjjvuUSQ4j21hGYmrZT7doK6frpatNxw=",
  "id": "rs_07346563d9cbf888016ab4623f685887d0a2a3c1405a7c612d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear’s body is now over the left basket opening and clear of the rim. I’m releasing it there.\"}",
  "call_id": "call_yRko0UQxgWLJdwCyS18FrL47",
  "id": "fc_07346563d9cbf888016ab462404f6087d08392409e28292c45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yRko0UQxgWLJdwCyS18FrL47",
  "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]: [0.062, 1.6497, 1.4578, -0.1352, -0.0708, -0.0158, 0.9953, -0.0208, 0.8547, 0.6132, -0.4362, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=0.0486 left_z=0.3084 left_yaw=0.1157 left_pitch=0.2376 left_roll=0.0245 left_gripper=0.9953 right_x=0.2913 right_y=-0.0005 right_z=0.1563 right_yaw=-0.0044 right_pitch=-0.111 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.7179, 7.706, 2.1074, -0.0806, 0.1587, 0.0513, -0.1026, -1.7709, 6.9538, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb2dfb7afba3c11a7c62df211a277f960b52ee5d8c539ec528ee8384e91bc17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eba3165a0ea9c37d253730440a858690803e398bb9e6e64d18526975162a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b61d1982b57279c1aa56d1c0c14d64adcbf2c6449da63afb3f1bc717afdab6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 6.915 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 2.2009, 1.4368, 0.532, -0.7113, -0.139, 0.1323, -0.0208, 0.8474, 0.6132, -0.4339, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5479 left_y=-0.2554 left_z=0.1524 left_yaw=0.0651 left_pitch=0.3886 left_roll=0.0342 left_gripper=0.1323 right_x=0.2913 right_y=-0.0005 right_z=0.1587 right_yaw=-0.0046 right_pitch=-0.1015 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -16.9231, 9.2103, 1.7705, -0.105, 0.0611, 0.9744, -0.0342, -1.6205, 7.0085, 1.6972, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.07, 1.6478, 1.462, -0.1127, -0.0658, -0.0063, 0.1349, -0.0208, 0.8528, 0.6132, -0.4355, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5255 left_y=0.0521 left_z=0.3167 left_yaw=0.1145 left_pitch=0.2659 left_roll=0.0308 left_gripper=0.1349 right_x=0.2913 right_y=-0.0005 right_z=0.157 right_yaw=-0.0048 right_pitch=-0.1083 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.4564, 10.3726, 2.2491, 0.1636, 0.2906, 0.5885, -0.1846, -1.7026, 6.9675, 1.6777, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.062, 1.6497, 1.4578, -0.1352, -0.0708, -0.0158, 0.9953, -0.0208, 0.8547, 0.6132, -0.4362, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=0.0486 left_z=0.3084 left_yaw=0.1157 left_pitch=0.2376 left_roll=0.0245 left_gripper=0.9953 right_x=0.2913 right_y=-0.0005 right_z=0.1563 right_yaw=-0.0044 right_pitch=-0.111 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.7179, 7.706, 2.1074, -0.0806, 0.1587, 0.0513, -0.1026, -1.7709, 6.9538, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb2dfb7afba3c11a7c62df211a277f960b52ee5d8c539ec528ee8384e91bc17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eba3165a0ea9c37d253730440a858690803e398bb9e6e64d18526975162a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b61d1982b57279c1aa56d1c0c14d64adcbf2c6449da63afb3f1bc717afdab6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJJm4SH9SJgQXzLouK5eoGsGlCMCiE0-Vnc4mhavTDiE9YXAOs0rfdWH8A5CrL-kofVNjnPRSHBE73_Olfpc1g0-fGJpNN09fpVhhY5h--m9yQcvLk9lhPQLn_zKcdjNR1hkFEmTqMl2Eq7VNF9ugMiuzywGg9kjMAeCNx2ikNWj0NRV6Ql2qX8fTXYYKPa7Ej0f8vWdCjq7a7UD0iL5F0S_wVyUc3CuVcc-90MoHKN7ZQbmSfOrt_p3tzIUc9rw8Eb1KHbevRsDeGpT8DmJVrWhCr68yfGRnGaGtFtPstH4J9hFZhG0Cyfs4DQa4_4-zOmgDF_MxfmSzZ2Dm5zd2WRyVPvulJq-d6V8UVZ2Xf-CRkQHNhe--Ya8-3peFLfxQ_ZRxdfVqQDvt9TYRdb_Y7AiaFyU7sJyKV47QW5_G3ZW583iuQg9FctTY2d_gfjOwBBkYQDgXaG8u6QtB2agTpAcJKgU1P1FgKWoBmBpMictTgniNIPY6J8A0yXMtPmT4r07XIyLiViryHhGXrPh6DeNT8YJLm_UafF40kYOn2KzCM_INtjRC7CX04CuPQDd-EZTB6Sqc7kBL9Fjd0hlEoQA-RSGru-J64X5SKLeXvBJ3e_SymwqVtW30HhTgRqK_uvhHBA9OyBsrJR1_85vLPadTXYCUHgQ_JQIGBEiIPLLEtYtUlTgpbPruw3LVLe0SS3ZA6XANlk9HJcdTXtv88AZ0DvyJXf6Hcr0J-1kD16XgiCasF3Uo5QReroTjdoyOeIgGLb-KYie6n4jRi-Z9I1-SBuugPoqa14tO_W3__udYlA1qQ6EQ60hdHylJFOhqe-0i183LMuZsCOfWHOfRSJMOgdK0B20f0Y-wL-XL4Oz1bSSLq5aWww2wpM1cMAoHA03dxcGSR__4NzdMfO8AZVl8JFN-1zOBeu6EI6a4VkUnT8VwGpUBTWOnY3MwBlkMlwr496Wn2xpkV5yQqnFstRh1K1Uhw5Tfc5fVqL4alWYtie0Jk6Wkxlm0tNfTudo7SpN6qCzwHkNw8q1bH3N8mWa0ZGxWMC1BP_ndgltmREVXXXagpU3wSZX4OP_iAgTbCgQGcOHllsyjzSwd5gEdpXw9iORzc_7k0V2n4FsGac9MKTp0S0gsRsWysInsYZxNsmc-aXCNeuuucZgmItKbXoMEvKO0wWWO23-40OSxye92thC_60fZ1UURUJZBrBUp81lN2C6IwvyyrXjms_3CnaFTGFZkErZtWWfV0PjFjMgMYe6qzgGPcbPT4jAFxZKWnvhlxMEJrpJThUa1YI9MTCwXIXvfW8yFplI-UKA-olePs5kO2XsrVm_rlORExPtSYrUpoqzV4jxfkJfQob6YHm1S5joRfAF1EYM3-XLFZrH9IwCx0-jyPRcbMbHcF-jlRS-4KH1iiGABL8S9SRcsHvRa7ow3R1rz70VyxrTSSpF1TDJj7TARSIgiFcg_Ic6iXSagKJlF2ECmSg48fXw-NxTwOFhuXQpo_rmQWRjuH-QjpXHXMg24TRjReHm_-g-CYlU5c0YaXSwgmVy5qegVBo-NVnfh2XZw2Dq0emW_hgHN8cCo1PzAzhLQ8YxnmM-vp8pqoN08T5rjwh0Sb1Kx3g5FYUZ37vcOrU6ZW9s_q9ZoigOdxKUJf3Ma2UDLEZMsHXXEfmQt0zoUy64IfByEx83_B8xyJiaiRIjOowjbZ-_SylADLpVHL898aPcSvLE3trPbG6uAgk151kVI4rGF3fHEsQLn9tnxFawN9vjJnC_r88Lp6Cakl6MT6ohedWZtSqY-dP6efsC2rbA0fmD8lgQU842f5DoyBbqvwFp5as6FqtWqMhUShTGrhiPLCYxxbcCSjktx5ALJtCT59QE0BOpKi2svJDYLrbTpfgkruOUGyd6P2lCmrj3r_biVKuqQXjG_zUOSgcBDy0NG-3m2p9DDicwfuCZLghlJPHsePqwwrE06oik-xdYFrCcKk1LhE6o4xl6al7QwdDq_sLQFV-g5a_NPHLguKDGBCqQDeWNU53KDRZI_OEPpjmR1g5YKqch8JjPxJBAIqW3oVftH-YQV8BpBDsWyl86iF73h6Qgm4VTFHoEp6WbhFi-wLX_vUEdk2TeT5N8bPSbcw-cODFnkVXKnX5v_ELGQBAnqs_zsUMZHrTYxrbvn0diJLHi3yekYH9OvSr622Arf_yYuLwRp0JsnJbtAQzgTGto0JDvWTTSmHoef9t3BKbA-UO8HaFR6skA7gm3Ilu-uDGIportB7USDEe6erkCqFTpv44KnJX0eB8EUEUsHb4k0jKza9LR8Ds1e3UKye_EQOgpSBy-yT7A9Uy7bS1v2OOobs6Lvt8c5DDHVQsUgQWePKcTZMN2gcPToy0XA7hoUw4asOu9Qrl6HXUG9DAsBm9oQwtyhi1Z98HX-SZ9KrFn5c_UPQS3fcepdVjdSdrDt1Cxh63zka8ymlxY1Own0j6gDCSPBB41mhkojZIDJRrNJY46kxcqrNTJO3QShz4AH9sF1Q7Zjjv-MohbzGjhHTQ8jwp8qOH78WQyvH3GiaeJwHX3oab",
  "id": "rs_07346563d9cbf888016ab46243671887d09fa87381402282b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.235,\"right_y\":0.17,\"right_z\":0.025,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0},\"note\":\"Both brown and beige plush animals are now in the left basket. I’m parking the left arm and bringing the right gripper around the two adjacent markers to try collecting them together.\"}",
  "call_id": "call_SXhuqPmEzHOBV8HhCB9UZHQI",
  "id": "fc_07346563d9cbf888016ab46247dd8487d0aac5e9a854bec1e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SXhuqPmEzHOBV8HhCB9UZHQI",
  "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]: [-0.0288, 0.8238, 0.6327, -0.3481, -0.0406, -0.0307, 0.9966, 1.0618, 1.4487, 0.3008, 0.1658, 0.7849, 0.717, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.002 left_z=0.1916 left_yaw=0.0059 left_pitch=0.0254 left_roll=0.0075 left_gripper=0.9966 right_x=0.2284 right_y=0.1605 right_z=0.0132 right_yaw=0.0431 right_pitch=-0.0639 right_roll=-0.0645 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.388, 7.3504, 1.9512, 0.0073, -0.0904, 0.1245, 0.4855, -5.0393, 6.5162, 1.3358, 0.7399, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6261fefb21bbe323a2b078a429d4048ba8fb1a480d82fb8bd2eef9b0502551f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdabfffcbf6c43c6676a28db40561e8936a56e304ca8319210ea2aa1146d7cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced6fe9f2ddbbd4293f89cef3b8a5193e6612f79cb194e9e7b587fde0bbecd19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.199 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.7279, 1.0416, 0.4255, -0.4648, -0.0906, 0.1334, -0.0208, 0.8513, 0.6132, -0.4339, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5041 left_y=-0.1106 left_z=0.2054 left_yaw=0.0686 left_pitch=0.3308 left_roll=0.0474 left_gripper=0.1334 right_x=0.2915 right_y=-0.0006 right_z=0.1577 right_yaw=-0.0048 right_pitch=-0.1053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -12.2872, 6.9949, 2.0, -0.1245, 0.149, 0.862, -0.0752, -1.6615, 7.1316, 1.7167, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.062, 1.6497, 1.4578, -0.1352, -0.0708, -0.0158, 0.9953, -0.0208, 0.8547, 0.6132, -0.4362, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=0.0486 left_z=0.3084 left_yaw=0.1157 left_pitch=0.2376 left_roll=0.0245 left_gripper=0.9953 right_x=0.2913 right_y=-0.0005 right_z=0.1563 right_yaw=-0.0044 right_pitch=-0.111 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.7179, 7.706, 2.1074, -0.0806, 0.1587, 0.0513, -0.1026, -1.7709, 6.9538, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0288, 0.8238, 0.6327, -0.3481, -0.0406, -0.0307, 0.9966, 1.0618, 1.4487, 0.3008, 0.1658, 0.7849, 0.717, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.002 left_z=0.1916 left_yaw=0.0059 left_pitch=0.0254 left_roll=0.0075 left_gripper=0.9966 right_x=0.2284 right_y=0.1605 right_z=0.0132 right_yaw=0.0431 right_pitch=-0.0639 right_roll=-0.0645 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.388, 7.3504, 1.9512, 0.0073, -0.0904, 0.1245, 0.4855, -5.0393, 6.5162, 1.3358, 0.7399, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6261fefb21bbe323a2b078a429d4048ba8fb1a480d82fb8bd2eef9b0502551f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdabfffcbf6c43c6676a28db40561e8936a56e304ca8319210ea2aa1146d7cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced6fe9f2ddbbd4293f89cef3b8a5193e6612f79cb194e9e7b587fde0bbecd19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJSAt93bmA2BE2tL-8FN2-mO2ah5bm-ZVJv1rW78SY4M1P7bWkPOkOt6OgU_xbi6YDe_NfRJHi5LFZs6fIhtGN4cXU1xTPCekBWEh3VEwLxH4-DYL0ws4OMcTe7q_vF-_ymx9TIz2v2rwu8i-48CngnXaxWk0rDg3DhLE7RY7fwd_3Dd_zSwxiwd1mnztX_B_ElbKzUMs72L3ZO8JNewVe6UVzsBxdP7lIRYQakfWmBPgEnWOW4nehTpJ4WYvUwED7psAjOKhvjxkBnlpzy_xDPe60F8DyhQvvi02r9FzdYaa8Lsm0syjDYYJmxQbSsNXx7O0Uke1RFqVmKcHGkrup8EJgRvrYn_M5zyfNnqjUepHqsBb1YQiXTGHJE--uZBR079Oc6Ka3f5hyFTtYsfHk9NGFjHT09nJ6MQXwrcVGxJeb_OKkelVJidCWJAYWN2wv3dScrT90-kvRMUVTIU8LSUXgVtCJGkgBcdiMhBhQZ60PWtaDK6kNavUJs5lBNSdamHnc3Of54eV8qM-pkIqhgxxo6TIu2vAshT_7OolDGwW7s2cjUa4OAUJnYpnIgFFcAZWvRdl5eKUtJkMuTvw3BHtaZuFTz2vc0N37-VRlQnCBaOXfh4kIS7x-FGUq0Z0v2SEE4gZVZ2OCKwwIhhWLIu9X4pBSUJUQ-uWOZ52GJKjd0IZw_MtVFfKzEWWFCGXprc9I6oJv_lW0fSWsv-u2HAuhCggriSCvC7eeG5_pzH8yfABYRYsh6Xo5G6rqKVuzolYWg8-oMDqYsKzgQjthx5NLkNmWqIGV5uCa2Hmk62sib4oXPBhi-QPN2Jhf8s-Ourz2DZx_L3-1EoVFonJGKZ23JSDlTu45THVk2AreIRCrNDOL41uwEqS6Mrf27nWrj0qjjLUhOGg5EpdV9Xf_g6Ikj3PUt8s-W7FkVJKrdO3Ew-bdUzBu3FO-TscRY4Iv0wp1YHjZDR9pMx9nbh-YXidCs7EGrTCH6PZHlFCOS7N0c6ZU-2Rb4Dkh_-uYkinBM8ZDYpEFX6X4pacQX7UodFdXLsudyVDsX2n6KBL8bjtAD-N2gXgXcl5f1gemeZFSUQMLrsFUEdW1iv7JC6uVR4lwySqDrfoRIVtsATktaiYFmdiiogkwBBDc3MW_bUr0OUmmyppwwgsC0XhYCZqKAPEFK2fssNkN0nDyQesbiSBodQdDfZ1uYMDb2jXkBHG0wG-9N8TkarLDImPzdRMuPkGTF99F8U78-WM0GTKWBYKFT04V7p-TjKeZGnEw7NayLn3GHF9U9wY4lIS-7e0hhXVl13ngpIl_UrsEmlilqZHoqhmZPYdwTZfOa0VeKdJOvefowqNEG0V-Gj__TnrY3OY-Z1OFgHGfkFbRDuOoPYnctcRoy2_2KC544E2LaDxS6LACD-rvJrUMvncejUsPTpr9XkL-wGayWhPVVJ1AsIXWRyH9O6SluBBdopb7SU8rsvPicKv0amBQQTM2OkDc6LnRzf5LLSxsTdntfPPGgp28zmIUzkD5HXWz2AyEjnfr-34-ntoY5sZPcHHB0JrGbYvd6PuEj3PlKIpeV18VbKGapXm-do2AufIGwWaQ0PjWbAbGioRXWa49Bc1umkOmoKj1n7tEGzHx37JneEbvjrFC9qvNR2j9g14XR0rfOFKu6RxjWXPJXn3aSC3L2piqMiGifdytq9lqckAbCiV3ZkIvax7v57ld7YGmCkanrl43TZIZfkQIu3p6Fg_5oJ_ahU2c9WkQl0t_56ewadHAR-hb48k_KKv4bBGF19pFzxOdFOps41MQOYAH6yBEtKnlZsSFS5C5w4wV-Fu9E6Aa3tHprWNTXEccoQeXdbq4QbQL3OqaBgBekKFAoKwyn5LsELdHO98S59ZQ27Qh7RQamssGNmNNTC7AIdhFowsCLBQfShy01ulm0xBW11rkYBLPghLHBX8sLeNyNi7qOo57sBE5JiDuJQyd76VkKdk0kmhXLDlQ_FFFvUKziuR78bk3b0EmjP57x0Du_XuCh88jwMgDQl9Ya9eQWq9iG8GUTYa_JYnlo35dzssFp8Cm3JC2Eksb9Yd3fyAx9m0Q0I2TYINsGGcaY8nXiD9VW131rbUbA8ldkPo_BWEETmVizLcjK-Dz7jLQCNET8UahyCECs-0ISM4IlldsxxW4SfjaRWkqd_JGfQ18pGSW_JbHfEtUYs7AqDWXH8qbMofjKumGlGCD4zNpf0oyheI6L70yq4mvd-3ag-LrQGave4QAbKirKiA==",
  "id": "rs_07346563d9cbf888016ab4624ce46c87d0b3a8c3881d0cf336",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.195,\"right_z\":-0.008},\"note\":\"The two markers lie on either side of the jaw center, with their middles farther forward. I’m shifting slightly left and forward, then lowering to table level to pinch both shafts.\"}",
  "call_id": "call_vnN8LUXgKS8oqdCmT61dQQE5",
  "id": "fc_07346563d9cbf888016ab46250d3c087d0a9398b5a03abc110",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vnN8LUXgKS8oqdCmT61dQQE5",
  "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]: [-0.0341, 0.8295, 0.6151, -0.3725, -0.0441, -0.0376, 0.9968, 0.9867, 1.7092, 0.4458, 0.3977, 0.8001, 0.6693, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0011 left_z=0.1769 left_yaw=0.0071 left_pitch=-0.0221 left_roll=0.0054 left_gripper=0.9968 right_x=0.2753 right_y=0.1931 right_z=0.0112 right_yaw=-0.013 right_pitch=0.0073 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.9077, 8.6359, 1.9414, -0.0317, 0.022, -0.0024, -0.335, -4.3829, 3.0838, 0.4762, -0.2711, -0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4f55e9649645b7ca04dfe0169de15765b0a68ba389f60cfd46dd1db95c99d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edeb2de23fa0c58731de7888c3506fbece2500bc130843580202cb0ebf35cf9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a983db2fbda8f4274ce23bc8afc8bfc4e8e997083cfe7f6bf987a8c933342c43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.743 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.07, 1.6478, 1.462, -0.1127, -0.0658, -0.0063, 0.1349, -0.0208, 0.8528, 0.6132, -0.4355, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5255 left_y=0.0521 left_z=0.3167 left_yaw=0.1145 left_pitch=0.2659 left_roll=0.0308 left_gripper=0.1349 right_x=0.2913 right_y=-0.0005 right_z=0.157 right_yaw=-0.0048 right_pitch=-0.1083 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.4564, 10.3726, 2.2491, 0.1636, 0.2906, 0.5885, -0.1846, -1.7026, 6.9675, 1.6777, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0288, 0.8238, 0.6327, -0.3481, -0.0406, -0.0307, 0.9966, 1.0618, 1.4487, 0.3008, 0.1658, 0.7849, 0.717, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.002 left_z=0.1916 left_yaw=0.0059 left_pitch=0.0254 left_roll=0.0075 left_gripper=0.9966 right_x=0.2284 right_y=0.1605 right_z=0.0132 right_yaw=0.0431 right_pitch=-0.0639 right_roll=-0.0645 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.388, 7.3504, 1.9512, 0.0073, -0.0904, 0.1245, 0.4855, -5.0393, 6.5162, 1.3358, 0.7399, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8295, 0.6151, -0.3725, -0.0441, -0.0376, 0.9968, 0.9867, 1.7092, 0.4458, 0.3977, 0.8001, 0.6693, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0011 left_z=0.1769 left_yaw=0.0071 left_pitch=-0.0221 left_roll=0.0054 left_gripper=0.9968 right_x=0.2753 right_y=0.1931 right_z=0.0112 right_yaw=-0.013 right_pitch=0.0073 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.9077, 8.6359, 1.9414, -0.0317, 0.022, -0.0024, -0.335, -4.3829, 3.0838, 0.4762, -0.2711, -0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4f55e9649645b7ca04dfe0169de15765b0a68ba389f60cfd46dd1db95c99d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edeb2de23fa0c58731de7888c3506fbece2500bc130843580202cb0ebf35cf9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a983db2fbda8f4274ce23bc8afc8bfc4e8e997083cfe7f6bf987a8c933342c43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJVtkNeEzRKsBO5RBoKpCFx5RAgoGJa3cNxvhHfyzFCu5UfFPhY_kSf3VNPtj14gY0YjBs-kLHcgS0eJYOQzVGRwvPT0qf5TBb26tIwwQ7KR7JKA894jCEWByL6g1IG21jLkaZIbck45-_AmYa6rhteQkR0Xy8HvDSQVu1sCgSXnb5OP-KCSMdni0LLnC_LGId9SDJhdJP4AglnWB6ol1jzkseAlIW4Pr3sAidWYzrzBuM2Ms1Np8wO8IBuFdBh50k8rPbhKALT423hZIgYkDalvtOeFhXIrU1PDZWbyIxObqYq9D5AuzzxT-lkHuibYQEWydHqK4F3LjLGFLsiEOff2PdyKlbixuSKtiE69fsNnJ6JWn-mWxq7yCj6cmb1tEkRE5rUbtO3KnmS-ffNMEH4MiUL1nQS2qFFcJopj-rnNbpxn86zElrHwMXTxnuX1G1r1DR-iRb9KEddyaaKC2VDrgWRHysZs44hA9QsHEGe85TMVyv4UHDq8ntdQ_IO_rrK2izB0XL-P1i3YFisTB_t7chvno2YCoWkp-fg5Hs7QDrkp9wwC_pOgflq6nk_gl66IwobePB_3MY7zdvz_crGXrvnXklIR3KdNiu-ouy0yeN02Sc1aFIegZF_GNZaZOVxJILnhw9n2b9974k5PcAZrwCmU1Ridmr_z3sVXWUt0ekCMzWTrkdXuot6U4NJqrs6aXJ1FuaoNUq6JQzGkpyYzpKipqXnrRsNEfsTmvmVT6Xep7y6fYFhjElGeLFPAyljB62jc7aPE-JWCvA7BDq6w8LYO7I1xeIN-4vJEpp19gNL1EFBeji5_mLPKMrIW7SKFJoEurYRi0HqK10riBAkODXrGlaqttbAjstlpn6jYX2uqBb0VShIA2YO-7UUT_w1GPmmUeLeR_6gqulDNebG7lJuRxBAkP1d7YPRid20tbJ11mpG0VGl1q9UhQutRbnCA5Vu-DMB0v982LK9kBg05yIHkMfXrHLFr9CQWsWcS_SLi4rZypKbSSZYGQ5QVpxH4cJ8ANHpPHtRQj9HhoYl_3YiXRWRvF8NRzuizu-J-4s_rwNOP9e-Gdz3kwqiyo1wpKB8ZbkDsaQWdZy4LfBKNrMILhj5If69LM8wylxzvbHF3ibRCvpg2GfX16PFNBvwN2aC-CL5r59H4dipkmATAcwo6sunN9hh1j17akgv1ry3kcRqVzUTnKq6WeYXKJkYNCQ7WcsZiNowzQmM5mqOQkVgRHUtaSvS4BVmww2_xSMKWBksvXEKHq96Cwm0i3QvIM1FGHQYUtms3iYanKvWMmRrM5mYmNDv_tLBUwCdAMxoDRxOIU5uuGRYEGlyEhhNxUb-u9zF8Li84q9SE-t6KaX5_P6UDUhAmvNgSku8tcNkYInRJy_yj-yehk3lhOBM_v5ZefrUhCkJQVV3lw_IvXsMgcCUP7VVzQD2FCCnKAQ=",
  "id": "rs_07346563d9cbf888016ab46253f3b487d093ff55fa3f663601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers flank both marker shafts at table level. I’m closing slowly enough for them to come together between the jaws.\"}",
  "call_id": "call_rKdqrM9KUP5sfOrBqTGXk9uA",
  "id": "fc_07346563d9cbf888016ab46254cb1887d09c14128a0792d3ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rKdqrM9KUP5sfOrBqTGXk9uA",
  "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]: [-0.0341, 0.8303, 0.6147, -0.3748, -0.0444, -0.038, 0.9968, 0.984, 1.7206, 0.45, 0.4088, 0.7818, 0.6659, 0.144]\nstate[eef_state]: left_x=0.2992 left_y=0.0012 left_z=0.176 left_yaw=0.0077 left_pitch=-0.0255 left_roll=0.0054 left_gripper=0.9968 right_x=0.2759 right_y=0.1966 right_z=0.0085 right_yaw=-0.002 right_pitch=-0.0023 right_roll=-0.0041 right_gripper=0.144\nstate[joint_eff]: [-0.1299, -1.5658, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, 0.0342, -7.0769, 3.7538, 1.2186, 0.4274, 0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07139c120ed65a273b90d28804ac0a820af930fb5256c30bbf62679d8ec1759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7615bcddf11943a84a37d6c8d84478bf935f92da2496397ff7640b3aaf50c112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2464c8bddb5c8e3745ef57ac93494aa2e4a38926a407669fe0c8ce2ed36d861e",
      "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 · 8.006 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.062, 1.6497, 1.4578, -0.1352, -0.0708, -0.0158, 0.9953, -0.0208, 0.8547, 0.6132, -0.4362, -0.0113, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=0.0486 left_z=0.3084 left_yaw=0.1157 left_pitch=0.2376 left_roll=0.0245 left_gripper=0.9953 right_x=0.2913 right_y=-0.0005 right_z=0.1563 right_yaw=-0.0044 right_pitch=-0.111 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.7179, 7.706, 2.1074, -0.0806, 0.1587, 0.0513, -0.1026, -1.7709, 6.9538, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8295, 0.6151, -0.3725, -0.0441, -0.0376, 0.9968, 0.9867, 1.7092, 0.4458, 0.3977, 0.8001, 0.6693, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0011 left_z=0.1769 left_yaw=0.0071 left_pitch=-0.0221 left_roll=0.0054 left_gripper=0.9968 right_x=0.2753 right_y=0.1931 right_z=0.0112 right_yaw=-0.013 right_pitch=0.0073 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.9077, 8.6359, 1.9414, -0.0317, 0.022, -0.0024, -0.335, -4.3829, 3.0838, 0.4762, -0.2711, -0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8303, 0.6147, -0.3748, -0.0444, -0.038, 0.9968, 0.984, 1.7206, 0.45, 0.4088, 0.7818, 0.6659, 0.144]\nstate[eef_state]: left_x=0.2992 left_y=0.0012 left_z=0.176 left_yaw=0.0077 left_pitch=-0.0255 left_roll=0.0054 left_gripper=0.9968 right_x=0.2759 right_y=0.1966 right_z=0.0085 right_yaw=-0.002 right_pitch=-0.0023 right_roll=-0.0041 right_gripper=0.144\nstate[joint_eff]: [-0.1299, -1.5658, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, 0.0342, -7.0769, 3.7538, 1.2186, 0.4274, 0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07139c120ed65a273b90d28804ac0a820af930fb5256c30bbf62679d8ec1759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7615bcddf11943a84a37d6c8d84478bf935f92da2496397ff7640b3aaf50c112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2464c8bddb5c8e3745ef57ac93494aa2e4a38926a407669fe0c8ce2ed36d861e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJZdnKxH2M3WfGnN-NGFGutiGaqlfxURLOBZd5GYLdSyAL2RBmXO6p8Vxo_LKXDWlYHtZMcdVYtkqfnH_LSOvGQ3Br6ooMyWQgE5oPFPSeM196bH_5daklLDotVJB3HyqG9gr0GcJreRj_1wuJSJ1_saY6FrsB7GmsGlXoHQsCuz6YClcxdIHgSbKzjT5qsfH1BR6jHquOuqILaxP7MjJ6q9mSWOVgjMRz4mQToxNY6gC4-SBKDNyBBrAgGkzqixPm-zqS8ZI0UgAF4jG8t6lyNWF_LeBwfl8gUqw1fzNCGVEL9nWywCr_ISVk-otRQby8JPD9JflkRt8PSqCyfanQkJfECUdN5vSCTexcb6yOwEW8acT82AisVdGhRV9fDFRHcPnJNy0OPL_5D9CG5oI1wfsiYqJsi7lAH-NBtTSJWoO8Llu44QiIc2oLilexouNQWOMrUNKZDNXzQLjc4WIk9Hv23IHX7ygoqj93DX2sFZOAWKTw4dOiB3uKoc1EhHshKGtvj4VXzOFnttYG1AIYFV-65zm1J0h1neogEttEvVUrI6XPfjBZql8TovkqNTnStXZxKaSzleu4ES7BakikWtWfy_fNl0f7LbfCsYZwP25V8tiDPi7kSHlZSNGZGgjp9__7bJJ6TQyqZiE8xpKYMRb-XRCi_0EfPnvegyM_rydT4JCS2yy5zrOvDkIOgfPFYcnAwoWD-BIDmIuou6zuk-nrx-8ZP_ekGQjxOYWXAtY4suFpTNQG_6D4TVMFvN7xduHClGuoOhFxNqSObYQfxfiZ8nzo8QOEeL9Qhr4XlfrZWRkKv-aNxyE1xo1BuwG5YGXDBR9YENXBp-0xYQreGlUCMORplppn1xvNOAWWqPxX79nqNAU3dxnMWctYM4qAHkp1YusCbFE_7BkuQGbb2OckR-Bqsq69EQNG1KkQpao3LrTvRr_GOT-v6jwZiuSe594pAgbup23GgZBAeAwzV9tZdHe5DDumpo3Rx2pBHXsN1CFWuc7keBvwo8BNwSxejkw-xKHUxDULOqf4q4hD_lWZMVZXSO52ardGDtdiojdPnkuoPQ9ImhNZFq2y4U5YqcLHpY6DIuRu8Yh6JydnYcDf6TdkUmfIDmoFNgHOZqH5YeDVng3B1ZnugSTjn5gCSpVDpUeOyK4UhkOH5nVoSI0klMfiVbxcX5w7VDyLsPE2rnKyXfo5x9CY75BYzB6OMrEyJ0F_JKjRRuPaYeSq2i_JNj7hkFdU1ydcJ3SzMa0g=",
  "id": "rs_07346563d9cbf888016ab462583adc87d09e26982654087428",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The jaws are holding the black-capped marker; the blue marker remained outside the grasp. I’m lifting the held marker to confirm it is secure.\"}",
  "call_id": "call_ZTIdeqsr2XnbRaclavXinJ3F",
  "id": "fc_07346563d9cbf888016ab4625877c087d085d086236ef3f7ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZTIdeqsr2XnbRaclavXinJ3F",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8314, 0.6147, -0.3775, -0.0444, -0.038, 0.9968, 0.984, 1.4448, 0.5545, 0.0723, 0.7738, 0.6651, 0.144]\nstate[eef_state]: left_x=0.2989 left_y=0.0012 left_z=0.1751 left_yaw=0.0077 left_pitch=-0.0293 left_roll=0.0056 left_gripper=0.9968 right_x=0.2781 right_y=0.2017 right_z=0.078 right_yaw=0.0035 right_pitch=0.0171 right_roll=0.0351 right_gripper=0.144\nstate[joint_eff]: [-0.0068, -1.5795, 7.0359, 1.7314, -0.0708, -0.0464, -0.0122, -0.1709, -5.6684, 7.8291, 1.3114, 0.3932, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f35751af677ef4bb54b6fd45b96f17a2ce2beb33478ca071e8c9ac3cad8274f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25c9d6abeb6ac4a0d8c5db7ef6bf8489807ebefd0a5529dd2944bee8e54b4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdfee2cdef9bc8dcdfab6017d7e5a4fe31ad4d087f6479e2c89b095725f446f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 7.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0288, 0.8238, 0.6327, -0.3481, -0.0406, -0.0307, 0.9966, 1.0618, 1.4487, 0.3008, 0.1658, 0.7849, 0.717, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.002 left_z=0.1916 left_yaw=0.0059 left_pitch=0.0254 left_roll=0.0075 left_gripper=0.9966 right_x=0.2284 right_y=0.1605 right_z=0.0132 right_yaw=0.0431 right_pitch=-0.0639 right_roll=-0.0645 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.388, 7.3504, 1.9512, 0.0073, -0.0904, 0.1245, 0.4855, -5.0393, 6.5162, 1.3358, 0.7399, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8303, 0.6147, -0.3748, -0.0444, -0.038, 0.9968, 0.984, 1.7206, 0.45, 0.4088, 0.7818, 0.6659, 0.144]\nstate[eef_state]: left_x=0.2992 left_y=0.0012 left_z=0.176 left_yaw=0.0077 left_pitch=-0.0255 left_roll=0.0054 left_gripper=0.9968 right_x=0.2759 right_y=0.1966 right_z=0.0085 right_yaw=-0.002 right_pitch=-0.0023 right_roll=-0.0041 right_gripper=0.144\nstate[joint_eff]: [-0.1299, -1.5658, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, 0.0342, -7.0769, 3.7538, 1.2186, 0.4274, 0.0073, 1.0183]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8314, 0.6147, -0.3775, -0.0444, -0.038, 0.9968, 0.984, 1.4448, 0.5545, 0.0723, 0.7738, 0.6651, 0.144]\nstate[eef_state]: left_x=0.2989 left_y=0.0012 left_z=0.1751 left_yaw=0.0077 left_pitch=-0.0293 left_roll=0.0056 left_gripper=0.9968 right_x=0.2781 right_y=0.2017 right_z=0.078 right_yaw=0.0035 right_pitch=0.0171 right_roll=0.0351 right_gripper=0.144\nstate[joint_eff]: [-0.0068, -1.5795, 7.0359, 1.7314, -0.0708, -0.0464, -0.0122, -0.1709, -5.6684, 7.8291, 1.3114, 0.3932, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f35751af677ef4bb54b6fd45b96f17a2ce2beb33478ca071e8c9ac3cad8274f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25c9d6abeb6ac4a0d8c5db7ef6bf8489807ebefd0a5529dd2944bee8e54b4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdfee2cdef9bc8dcdfab6017d7e5a4fe31ad4d087f6479e2c89b095725f446f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_07346563d9cbf888016ab4625b415487d0bccae553bf12cb3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.17,\"right_z\":0.205},\"note\":\"The black-capped marker lifted with the gripper. I’m carrying it above the center of the right basket, which is reserved for markers.\"}",
  "call_id": "call_Ldu1RvTpCAKP9xoQNwvqMTVy",
  "id": "fc_07346563d9cbf888016ab46260f6c887d0817d303c97849d64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ldu1RvTpCAKP9xoQNwvqMTVy",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8333, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.4274, 1.8538, 1.4456, -0.2184, 0.3313, 0.2424, 0.1487]\nstate[eef_state]: left_x=0.2987 left_y=0.0012 left_z=0.1741 left_yaw=0.0077 left_pitch=-0.0339 left_roll=0.0058 left_gripper=0.9968 right_x=0.5088 right_y=0.1726 right_z=0.1844 right_yaw=0.0126 right_pitch=-0.0212 right_roll=0.0236 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.6479, 7.1179, 1.7118, -0.0562, -0.0562, -0.0122, -0.6222, -10.4821, 9.7162, 1.6532, 0.2906, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889bf7a968b510a548fa22388592be4f4820415ead1d00826a987ec2a048d31d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b816b7be980cb22fb2bc1eb73cbd60d5cad375c453e74085024021000321ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bc666eb7db6f19b92cf1555e5390f157917d3b04b1a5757426e12e7a5b225d",
      "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 · 2.692 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8295, 0.6151, -0.3725, -0.0441, -0.0376, 0.9968, 0.9867, 1.7092, 0.4458, 0.3977, 0.8001, 0.6693, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0011 left_z=0.1769 left_yaw=0.0071 left_pitch=-0.0221 left_roll=0.0054 left_gripper=0.9968 right_x=0.2753 right_y=0.1931 right_z=0.0112 right_yaw=-0.013 right_pitch=0.0073 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.9077, 8.6359, 1.9414, -0.0317, 0.022, -0.0024, -0.335, -4.3829, 3.0838, 0.4762, -0.2711, -0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8314, 0.6147, -0.3775, -0.0444, -0.038, 0.9968, 0.984, 1.4448, 0.5545, 0.0723, 0.7738, 0.6651, 0.144]\nstate[eef_state]: left_x=0.2989 left_y=0.0012 left_z=0.1751 left_yaw=0.0077 left_pitch=-0.0293 left_roll=0.0056 left_gripper=0.9968 right_x=0.2781 right_y=0.2017 right_z=0.078 right_yaw=0.0035 right_pitch=0.0171 right_roll=0.0351 right_gripper=0.144\nstate[joint_eff]: [-0.0068, -1.5795, 7.0359, 1.7314, -0.0708, -0.0464, -0.0122, -0.1709, -5.6684, 7.8291, 1.3114, 0.3932, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8333, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.4274, 1.8538, 1.4456, -0.2184, 0.3313, 0.2424, 0.1487]\nstate[eef_state]: left_x=0.2987 left_y=0.0012 left_z=0.1741 left_yaw=0.0077 left_pitch=-0.0339 left_roll=0.0058 left_gripper=0.9968 right_x=0.5088 right_y=0.1726 right_z=0.1844 right_yaw=0.0126 right_pitch=-0.0212 right_roll=0.0236 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.6479, 7.1179, 1.7118, -0.0562, -0.0562, -0.0122, -0.6222, -10.4821, 9.7162, 1.6532, 0.2906, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889bf7a968b510a548fa22388592be4f4820415ead1d00826a987ec2a048d31d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b816b7be980cb22fb2bc1eb73cbd60d5cad375c453e74085024021000321ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bc666eb7db6f19b92cf1555e5390f157917d3b04b1a5757426e12e7a5b225d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJrQPyDriSHw2MW6DhwdIVMUZlTg1cQ3ftMkvrCCEKtgYej4qSuFRiVEV9bcbneP2mB4FjdSQtuM9Wj-r_UK21qhJYSBZNN2Oy2g634BJCSeAynrKRkj6z38dGpLiVwXDXRJtq27o0OdBj5WbB4T3gdL5A1C5HmaZs9V4H_hddunB9ss2ulY9IzsuIGOFcX1gXQAW23Tx9P7AEZT31k3pRF5oDpTjwpioxGbTxyM_WGfaBIy-4bedg_FGEqdXk11dE0hUkPEfKNSBpy4FL0DE1o_hLf55DjoT2YKNAMvaog6RGDuBcVCwQ7kXgDw1gkjsyvosVp-ymu_8ulMwgWQYVnhTeNr0NOWKEcIewX4b5uIWX7MbL2qvt6q9VKwXk8gATVovMh2aKz6j2enGWVKfdBIhokdq0v3CRazQ1ctYFEDkSdjf7_1nLTxziY_TZcq4_Z83nN71oV9j7E2ctom-c08R6UiKHe8NLml3cucOZP82wWenZmDH0GOG0MMsBaT9lZvWqvmNGdI3M2OpPHhtDSrVB5d6gmZYCnm2ab1e8UhBaO0F0Ve7hE3gemVS0C6pU59AmE-7xk7QVHGpccL6GOXc3rOAHgbd0bwDZx7VQ25DAWJBClgSBPSw6MWnugnr9m4iyd-qbsrsl_9cBZWJL3aTEvHcYv0WE0SGd8gowziZUGkrx1HM9Q_XwuXEG7HFzqsjg5h3VPv3xNZupxczuyIyB4mkhhTbIfjHijzN7Hp8ueNuB38QCSdk77900GjLrnvP-KYbbmP87hxNqnX7DrZs03ipkBFc6VlpkgAEPPpEApPLMJC7n6MAfTXkCrq4Tey0KpyB50slFvHxLq0VDQ5M8aTAjTqSG1cbEMuzqx-C5BjKF7adpM5hCmxXVg5eoiflbUCZrrZguKjRsMa9Sm6HhV1CXes3EsPBX4g0kERiRnFOAVvp1XF0IWRHGrPDeINNWlelTvrvHz2pEep-ourtmgs4E6xiYvOGduWDWXHYzRSiCaBxyrJrIw11jHPc9mxSsakpITluM7XvR40NwxMCgw_CLGiCukmsUXI1WmJWyj47xEqaikeXTR8Q4GjMdKZzy08NCTDCSGUC3ov08sq2vtx4IO3QrIrOCb2_Pyvo0B3wYothKW5zpLQIj_qB4UzZ294n4jec9xPnZFNAWzI0sASdcoN7NiTc_RGmLy2C5L0fxaCY2rS56kJ--BqZ7wtIvqDmRf8XGj30lDdmbfRGEKOaO759XmGh6iMeCZ01UqNZ62-GCxRE8ZSf6_uybZE9ilgSqHQ92qkpv2kmdzUioHfi6fVy85EzJY-uIgtbolUPqc4A8h-qdV0RqPqCjjpNCthSE2FRzOMXxB-zf1kwqscuVbEcg27Kd2DwA5gvqJsQlkpHWfPdRcdc_Set52H2acjQIUC2xHuhhXaSYbtjnaePgzz4SyidEj-4NLs08sUx1ctWQ-vh5TOu4xzv_mnvVY944ttCnHncqgr2FYNoM_ew-Es1YWwvyP7Q5iKBufOIo8NGjGOpvRy_mzGnwiLlL9Tzhaz5T86ZmQXBM5uoU2jpxBaFyLyu_LdCMDPEWP_xtFe05RcSjbVZlc3bjkWqh8m87exTCKdRWffPSNdl5hxyHYG47XMHfPLfDoFJLtp2ruNT1SdNTU_UhoNXyX61Z0gBs-sX3c944Ln-ZpPzpf0gltXVRLdGmg3O5urT5URcyIFZHtG1q0UuO7uAGFYe4JNauEvKLbkMZ6cHW426ahBAwBnmDtNvZ9f2bpNVd__1HMYx3nr6QrEhNMUsxa52rI4xdWfqk9wwty3gWCkZ1VmHp6CfdmDAcSxX7NOXDzXbVGdQjG-orRam2ijbvyt6_tEjh6C-BytDZEBokNrqJzz5bzS_ERuDWwgYkxdBYwJ_rZNaCr-2-p22uqez3FYxHb-VHJ6PTuLz0--LBALu3vIwnNoZnxaB-ss1hFBk4oSAVj8bQUd__UgYv7V8xxq_TWX4Q31B9L9-yXDkMdltqVqPx6yprZVqkssd4QTKXbl-bL_g-1FOzgz_inUUV6wxmgjXigkrX476A3qA7Ex5ffRL5CY4auTBUMXSeqD8UD9IMK6ZTm7uasr7CMiC9VMx4Mw_M-bQldM19WEYoC8k5bsMI0MQVnQK21F04NCrUGEyxaxqIBZ-XTuKV9mWFOgCSdPDBRs92HsHAqdPk4LASZnR-t280soAIHSLA_5U0kC6h6goWK6TW_5mLumw0isINqWQBirle8AdfO1l2v77yDm19-R8OEcIeEooEbsZ86CmbTpuvmNR7eZJ4CnKimmE8zs7-JcH7lBzxFNHrDPsPX7xBhwhlZ10GpWsFn7qGh0ogBaM0NNn-ExJc3AdqMGY-5FJT1hI7ceHqiRWxI4pUWkJKzmpqyLSC4y_T49TYQW3_WAs1YtTAdIGGhHdMMQSnyEF6J9usHA-Xghc7UrWVTbMqN1iSchMgSc-yMybQU17sKaKdFS6AzknC8tLCiaem0QEeNJ9n0FQgGrj_l80Gl7IsD4bwvBrryHFBTDGiiOuM0e4Z7_SFeFYwWQ9JubEXBXT5zbGd2oz-XVKQ1rTZ6g8zBYLkPhoKYtvOOeOpTtSvXCH9iLc-UMuZw3M4398E-JCLHicwGNu1ITfN3q9PtZz2M7vYLBan1YSYBvIYBP78kMLgITvNGqhDUhExOBXxgrmc8epg0l3Bz_tjJ1t14eRKdPdr_ws8-Mv_ikJTa31EpQ6A6Fce68QVsYVZk",
  "id": "rs_07346563d9cbf888016ab46265420087d0b87e4a4748cf8e0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.17,\"right_z\":0.29,\"right_pitch\":0.35},\"note\":\"The right basket slid forward during the approach, so the marker is not yet over its opening. I’m raising the gripper and moving to the forward reach limit before releasing.\"}",
  "call_id": "call_nMKMbQHm5wRcRoI114EoAvCG",
  "id": "fc_07346563d9cbf888016ab46269fe5087d0a25b3a36752921ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nMKMbQHm5wRcRoI114EoAvCG",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.836, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3752, 2.0075, 1.6981, -0.02, 0.3271, 0.0895, 0.1487]\nstate[eef_state]: left_x=0.2988 left_y=0.0012 left_z=0.1733 left_yaw=0.0077 left_pitch=-0.0366 left_roll=0.0059 left_gripper=0.9968 right_x=0.5853 right_y=0.1734 right_z=0.2572 right_yaw=0.0344 right_pitch=0.2553 right_roll=-0.0033 right_gripper=0.1487\nstate[joint_eff]: [-0.1573, -1.7573, 7.1453, 1.707, -0.0611, -0.0562, -0.0122, -0.9368, -11.2068, 10.5778, 2.1758, 0.1245, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b72a6b86cba53f3bba9a8477fc77a682f9e0f461c44d85908ddf1992c5d1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729e331b112895c9998ebfe645a5693ee5e4b6c6db8973a681f8880ba609f963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2532bfdc84d60faad9f024cefe71e4884b8e47e8d4fdfc43cac09b42318b15ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 10.63 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8303, 0.6147, -0.3748, -0.0444, -0.038, 0.9968, 0.984, 1.7206, 0.45, 0.4088, 0.7818, 0.6659, 0.144]\nstate[eef_state]: left_x=0.2992 left_y=0.0012 left_z=0.176 left_yaw=0.0077 left_pitch=-0.0255 left_roll=0.0054 left_gripper=0.9968 right_x=0.2759 right_y=0.1966 right_z=0.0085 right_yaw=-0.002 right_pitch=-0.0023 right_roll=-0.0041 right_gripper=0.144\nstate[joint_eff]: [-0.1299, -1.5658, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, 0.0342, -7.0769, 3.7538, 1.2186, 0.4274, 0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8333, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.4274, 1.8538, 1.4456, -0.2184, 0.3313, 0.2424, 0.1487]\nstate[eef_state]: left_x=0.2987 left_y=0.0012 left_z=0.1741 left_yaw=0.0077 left_pitch=-0.0339 left_roll=0.0058 left_gripper=0.9968 right_x=0.5088 right_y=0.1726 right_z=0.1844 right_yaw=0.0126 right_pitch=-0.0212 right_roll=0.0236 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.6479, 7.1179, 1.7118, -0.0562, -0.0562, -0.0122, -0.6222, -10.4821, 9.7162, 1.6532, 0.2906, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.836, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3752, 2.0075, 1.6981, -0.02, 0.3271, 0.0895, 0.1487]\nstate[eef_state]: left_x=0.2988 left_y=0.0012 left_z=0.1733 left_yaw=0.0077 left_pitch=-0.0366 left_roll=0.0059 left_gripper=0.9968 right_x=0.5853 right_y=0.1734 right_z=0.2572 right_yaw=0.0344 right_pitch=0.2553 right_roll=-0.0033 right_gripper=0.1487\nstate[joint_eff]: [-0.1573, -1.7573, 7.1453, 1.707, -0.0611, -0.0562, -0.0122, -0.9368, -11.2068, 10.5778, 2.1758, 0.1245, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b72a6b86cba53f3bba9a8477fc77a682f9e0f461c44d85908ddf1992c5d1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729e331b112895c9998ebfe645a5693ee5e4b6c6db8973a681f8880ba609f963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2532bfdc84d60faad9f024cefe71e4884b8e47e8d4fdfc43cac09b42318b15ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJvPE7BDrEAoNfTEB2_I_jlO_59mFo673Hk27TfJf7wndrlPtN2u-VMaGD51Catkm1j-3QeFaDMRcEeuQzx5qmn01LhZClHOT4XsPW1lux8-w0uLaYeveGSxwZRIm2uCj5pOO1jGwXH0l2FCyiZHZLi068O-narkWH56RoQdAQqnSsuSC7SyPnORPa8dN5Lzg5oQ5hH42eLHFfauB7E88D-1v-vI21VmDNtYuMxvdnMwF7IWV6mnrmiMoS2oGS9EC920HgTPiL4DvrH-aKoYxZuDAU7Q7d153TK1dXHuSlMwki10ruXKilp_tZswkkKhWVE1JJFTSiU-D5Z0L2VHQOOUd1QHrqjM40pUG6Uhdkou-ymfuro38MTdTEPZlm4Fr87bUIx3TVmcSqwXQiSFP8-ntsP6_mAqoM5piX3XY2mf5iznN78eHOuI3YEzt_dzSbbpuIgdmlMUPrHizhmFjYWlddX0DN3YeGSEs85B-y2AC_RhiOn6c0nTvU75xXK9mV8OcWKv0lMUH_e2KtK-8Uedl0Z4xVTmGqsxLIUsTzQ9GpfFkDqGO0DJfVAf5RAJ9xSDaTR4MZfwtTBfRVqZP5mjtXRcFqPHPfM4NI3mE6LBDi6rv0GArjJLlFOFRF1uIHyh_x67t9G0hr1ULOhkiAli0IJpOmsaj6RT2Qk3EG2V6-HXbNfDnpmuaDNN6Q8L7wDusfUbwZ5iOmQfRHQgZaQO-GHiIofkdtQklhkzvnnTRmJeu_RSNmQan0Wd8uHZb-a32NAm2EGpKC2UTNhzLUr9cNitSwo5QgWu6fmXlZ0RN0h_UxMRkcl-VxS-t8pDMHsriEZ19OM-UABwph5ooZdpu1PBklixTpusbVNjCT5lvKr0d5lNojHRrTpm7f4XqoHyMkwdrUU1_T0-Tg9FxwPeh8125wJSQaVoBPGKwW9K97Kb8KGOSjfc74J9wICkMkgQaaFNW4f73bUOGvYIVKWAgGU1iqEN8aAz14l2K4OGJBGZhNHnhhxhwqgExNHU9HRH866qrDXUcO-fKYXBYt8LCDT-VJzAaKQ9KS15kgwuQJ035xBblA3qSveSq1kWTzdhrKVwVW4RxlZfhMsBCunK8pOKrTsO1n1oMxicB2JNdPXGadp9aFFtr92s6SUwTLk6pYhZAG_nwq8cIuvyLjgtd-dEaFwixXM63eHh2cKDGSgKcp41IzVQK9DPqRQzFiRqusOXF55nUENUDROZ0IC6VVE36lfRPil9h5VVcX8qHE=",
  "id": "rs_07346563d9cbf888016ab4626ddb6c87d083a6ed1913f140f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The black-capped marker is now centered over the right basket. I’m releasing it into the marker basket.\"}",
  "call_id": "call_d21B7auS6XhKiTDt4NV88gqo",
  "id": "fc_07346563d9cbf888016ab4626e636c87d0bc80db90a26e9ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d21B7auS6XhKiTDt4NV88gqo",
  "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]: [-0.0341, 0.8379, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3717, 2.0094, 1.6966, -0.0193, 0.3275, 0.0822, 0.995]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1728 left_yaw=0.0077 left_pitch=-0.0385 left_roll=0.006 left_gripper=0.9968 right_x=0.5861 right_y=0.1714 right_z=0.2555 right_yaw=0.0349 right_pitch=0.2528 right_roll=-0.0115 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.6889, 7.1316, 1.6874, -0.0659, -0.0708, -0.0122, -0.0068, -11.7949, 7.2547, 1.8046, -0.0024, 0.0757, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c80d06932e4736f758a624117f62b6eca310ad46ef1c422426b91997461512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f4ae0a39f893ef298e52f3d55dba2d3ffce066f6299705457d9c9aaa382dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a39f5bbec91080aebcc86f3444cb769ae0c217c714506cdf3571a0a82ba58c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 2.296 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8314, 0.6147, -0.3775, -0.0444, -0.038, 0.9968, 0.984, 1.4448, 0.5545, 0.0723, 0.7738, 0.6651, 0.144]\nstate[eef_state]: left_x=0.2989 left_y=0.0012 left_z=0.1751 left_yaw=0.0077 left_pitch=-0.0293 left_roll=0.0056 left_gripper=0.9968 right_x=0.2781 right_y=0.2017 right_z=0.078 right_yaw=0.0035 right_pitch=0.0171 right_roll=0.0351 right_gripper=0.144\nstate[joint_eff]: [-0.0068, -1.5795, 7.0359, 1.7314, -0.0708, -0.0464, -0.0122, -0.1709, -5.6684, 7.8291, 1.3114, 0.3932, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.836, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3752, 2.0075, 1.6981, -0.02, 0.3271, 0.0895, 0.1487]\nstate[eef_state]: left_x=0.2988 left_y=0.0012 left_z=0.1733 left_yaw=0.0077 left_pitch=-0.0366 left_roll=0.0059 left_gripper=0.9968 right_x=0.5853 right_y=0.1734 right_z=0.2572 right_yaw=0.0344 right_pitch=0.2553 right_roll=-0.0033 right_gripper=0.1487\nstate[joint_eff]: [-0.1573, -1.7573, 7.1453, 1.707, -0.0611, -0.0562, -0.0122, -0.9368, -11.2068, 10.5778, 2.1758, 0.1245, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8379, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3717, 2.0094, 1.6966, -0.0193, 0.3275, 0.0822, 0.995]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1728 left_yaw=0.0077 left_pitch=-0.0385 left_roll=0.006 left_gripper=0.9968 right_x=0.5861 right_y=0.1714 right_z=0.2555 right_yaw=0.0349 right_pitch=0.2528 right_roll=-0.0115 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.6889, 7.1316, 1.6874, -0.0659, -0.0708, -0.0122, -0.0068, -11.7949, 7.2547, 1.8046, -0.0024, 0.0757, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c80d06932e4736f758a624117f62b6eca310ad46ef1c422426b91997461512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f4ae0a39f893ef298e52f3d55dba2d3ffce066f6299705457d9c9aaa382dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a39f5bbec91080aebcc86f3444cb769ae0c217c714506cdf3571a0a82ba58c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJ66At07XqZxXkbzj14yA4RpmvBl_Bh2rHMmT3QT4QB3hAoxtizTE4eR9rXsz03h7vUqZhJr2znAb7H8NRJbalgW91b-nQWauRWTwtPOVIRKHA2YORbIbwhZCk2LhTKg3s9e2BW_s7o6tILQ0OAAWhbpctD_srwVVL-OEBcvKhArDGWlCdxXiqSEsF6bpvrMGINV4GZUL9hAUZszgcH-H3EVBkHyjX0X5sbsPn_uzVY47YJUmehSUVgvb0SBvD0Zm-gjxG0mPTbNp8_T89dt-I5KygnOWUB7KUWI4rCZQkpGeJNAe9tmcjTwBbk4KxFI5hcIJw_HNx7IsUsN2U2lzeZmUPPqIrFT3nmDVvgG-5ldQC3rs30lWIXo8izIl5BuvDYl2tUpCVmOyixfLrsGfqEkrCi6CjY41dDJsobmiPcYWlI5o1FVI5ShIRtEMKehXLsb4GHngr3tJk0na-EflSmMIbsrCoBYvjrVOf-LT12MWKZ70E_5DodQv2TnpX_-4_C75Z4ykGxWqNFk04fxOjyGFeZbA-gy-Xn21SUpBf1Mme1ccJL7KTmZSfklumPCKGwC0FuFruLLe4p6ShdKGySz5beaOuhuEnieqjp4RcLnhvzUiHhdRlAe-nCjvIxtdpdfApFFtivaTiujiQAgTpNXUR8FrAf-8zFJQkwYp5dvL-8ptiSjd8ssIs-74PD9DJSCQaNr40H_nrziQ9jakFV-snXGFdpLMWJhbwybRZvYcbM00uzW4lGwIr6_UCjBUCn734yTGc5fXJVqlxeg5ZWNJ0h0LGV7-_I_3zwARFTtIl4MVr_EwI2qFP1Wxzz-N041zYGwytWTW5zr6evjbkCxxyIOsd12fLldhSGBzZ1c1AyQK0bkjabCDvXE3FYxJQjJ4LVwfrnxgvNxfO3qeRjnUuKTCTG6eWlB56iR9-X0kgj-D24RpOwmmpQFy2cAoc1QksJfXtEoPahrJ3Ks7oUTltBXWkqfEJfSd94MiYigcLEzXhAV11M9ntqXfUopA6yrrBk8QNwTKdBPIvnnYaCK0gDCDFHUcr5jYf0h_iH36uq7O9e1CENfti1rV3zp3A_J2vnrTFgzsP_lorPIbH7ShTobUstplos6zNuAvplXM92NoMRPaq5hPwinPzupmKqYUVyXyOFgfnIM1oMjRvNLFyGkc5ohJxdViPvGuS-zKZa-PDKnmdxy_I_-yvqXu0t7TKOI9hZ05OmHeIEGxE3mB4iIxwo6TIbTij1IisqVyC3VyNjuOhkgssX3T8JH6AepiCK8FDkGKP_PHgGwF9QWc_ByQIuti5LoNK5ZZz3EMxkm4o4QoSkB5mqhMyn2iewIbsIJhNAb_uwbDidCvg7j-TrRG-Uko-HI40-tNI2Atqd9VOg9Jq23GNIYW8j31zJGF1L9kiQLkNMzzTb2lLZrv3zEG-uPph0M6SVf2fpKhSaIDRYfTzDl_kzlSt2AxbAqCXO-UkPQgCunm1GMiN8RKUiWwn4p1Z8evUGhLaVGbJ9Btwoi9D630ASwYe7aVyw1WW05fIo0x57BHAkmHia2Vxs2jgcu_pOhv1eg4APvYicGr6tpzUc5puDoY-AUQvegUxgvXSnKmrqgHJVQWR_NfSIGk-lbget9eXFrovSgQElH2A3tRwy4xfwA066BzcN3GnRHIc_vTraQoUOkg8g2yyp0RwtijZd3pGJR4xH9Pf1V4C57DA8GafcXdA8Qq28jVrtap2KE5qzscWsAmBzc3Uv-BW8SOHbCp_nIG8CTpXMjZsnO-oyCeGvyyZmIpBU0NR8M5gTGQSWqSIlDKnRCwwFMxfh6VD_21UrzcLUTYlF2RZY2419VeEJ9wzisTX8R6fwhToutBpdmTS5nwTLxLjjuxkCvcQcjDDSZp0dMQWM7RVIn-5jks_XeLwYexMn_Y5IaLvB92iNSd6EORz4CVxXsCYkDegpJQh2ixTcDtS_mNM9sbrikLtT87IkqaooYljOGJlyme_36ecUz6SG0pMHRhoqaqUTZ-TcZ6pz7P8q9IuGXM5RZMWDWTJRAQOFDRFyE1Ywg-68L6ANQajcdtDv04Zu-myUIoQckmG0K0XAvF27BVcoKwElDftFGHYl5zpslgqQtcpGJvSdT8zaKC3AsaEz7t7B727veImc2FmClofKF89HVYU7K_OBud-pjEfBtFZvBgx1gb54FdYY1XyeN-TQlt7sQVynrhDAIOZaovhFPuhZZQEAqI-jTNjpxbpe_mcmkLJMkpvOv35yPsLnwJ1xlofcPjNYNbr95Bf2hWepynYP8CLk-vXNupD_DwbAOjGIieTKPCOyGnzwJZssDlm_oOUO5fk7ResD4g3GOCewqPIiPz5tcwVBqFmey-5NBPIEI0HGl0dNN8eud8Vz-Gtjd4NeTS3WeFffxyVJCt15ONboFbshLvYrQmlHBmYtQGpmNZXHPLUiBwG9okVuxAcnJQxEEDp-QGyxXFvy0Z-4qg5rr77R2AZL5uU0ZVIKVlCGAKPDuPcTt7EsEzCyY7PVm4WwogHhjeuMd7M0_JCgmXOw3BCmN8bI6l8kEZqPkUhWaUADqTYuQiicvyoJUEaMKAgQptIg2WnYzG8cXEWxlmWPuk_BPtE0fM0uL936QR_ZKdtr7mLivwod9J5NfH1C5hw56WJO54XD3M3cRaZPnr3cEwws6hIxdAv3tQU9JPl1oKYRN22Pe2mS4tIVww22U6U-l_oDnyRaFxECzmyHZwfxtCUc9hV3EGK0s-UQuHcNE-t9d3pcWiZM0idI6xtFPdJLNWQzXXG6WWBfnGbE5XUJ35y_qW8w0KZA_PES40K4ZAHGtOtir--BqUqEYVNf2_4L6AI3WTK7tvf3D35JQXJ0xC7dLpuOFqW_019gZrnDRsaB0P5cn4MprAsipYeVsHFV7j5Cskhvfgl1BvxJTi5CllMwI7ZJg0ZACBVwG7ydQ3vZpTH1C13o9fQ2IZbKwlz3mw7t_rDcknhyVIOzBoQL9fYJuj79XeSjG3WcjF31Z32pR8BJV4tBb3z5hI45LzgRoCf2humVhDp3DS7clLTnAMH4Hj0PmsR-cpwgc_vEzgBBWxeoojsd_SQPZLn8Xayuwf1upsT3WtXdbArXBO6E_utoUXUUjTtBQMiHtNp8KKFMHC8ARt-qltOyZ0xapj-tQFVL55coRllaq0GzUrCAN7RUAMA1HuxWjDHlaUzOyZNwrZ7Ye8K4AsBQtcvhxt7y28c5MIUhIGJ8fWxxhsXuWNiLSGuBD1IdBUdKhY6paR3zwPIjBis4fKZQ5_BdmVwgWUOBkSGjs2Wmt7FCyy8IPhoVa6Dqrt56alxMia9DrWMxjgU6FXcJkAiQS6mthKDUak9pvq26hVWnEqVfeutzb3Cpil5YSBDcKl_etGG0IwxjQFJwIr5ulIrAA5xY725D7DPrxdxH8TwwQcULNvyWKu84R1xszSeWqbvqn6ZmcVnLE04e_pZwNH7oG01gobBpf9-OWp14OzjKgeZkyER79Kusbdo1XsV-Mj-I2lp0Ak7kAAmFKeTJ6r-yS96RO-y5GylMQc6D4R_3GQyz4DESbU_m1uv_02LTUS8GglVeJEhuk64p3NOXkbomelNTD9ApeVH7lKSCaozm1WwGQ4Id6jrp27yyD2wr4IawDrKvKslYQ4kXVIjNjfPhgn_86AZ8-Vi3x6wsJcLeZZi1hRg0nePUdbyxJxzbWJDysTYwM9QczMOFRfm0La7X6sd2WEQJUVKDFy7ZEXs=",
  "id": "rs_07346563d9cbf888016ab462715eb487d0b65a75c1777410c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.265,\"right_z\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The black-capped marker is visible inside the right basket. I’m returning to the blue marker on the table and lowering the open jaws around its middle.\"}",
  "call_id": "call_pUaKYsECfvBgWM8JFo69V51L",
  "id": "fc_07346563d9cbf888016ab4627983e087d0b90e5095ea0bbe25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pUaKYsECfvBgWM8JFo69V51L",
  "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]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 1.1088, 1.8931, 0.717, 0.2737, 0.8417, 0.767, 0.9963]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0077 left_pitch=-0.0392 left_roll=0.006 left_gripper=0.9968 right_x=0.2795 right_y=0.2737 right_z=0.0121 right_yaw=0.0308 right_pitch=0.0164 right_roll=0.0232 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4974, 7.0496, 1.6777, -0.0415, -0.0708, -0.0073, 0.5128, -6.0923, 4.0684, 0.7399, 0.2857, -0.0122, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906ef71b0acdc867a13520a56d945ce709fc7337611d6793b2f85527075b7738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e384495d4ab199e6a29f8352d33b8f24aa711b0202882e1dba85be1728dc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ebd32804639fce2c993f5d3a9497ae42c10b0f01636fb1dd228d5dd892c673",
      "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 · 5.744 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8333, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.4274, 1.8538, 1.4456, -0.2184, 0.3313, 0.2424, 0.1487]\nstate[eef_state]: left_x=0.2987 left_y=0.0012 left_z=0.1741 left_yaw=0.0077 left_pitch=-0.0339 left_roll=0.0058 left_gripper=0.9968 right_x=0.5088 right_y=0.1726 right_z=0.1844 right_yaw=0.0126 right_pitch=-0.0212 right_roll=0.0236 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.6479, 7.1179, 1.7118, -0.0562, -0.0562, -0.0122, -0.6222, -10.4821, 9.7162, 1.6532, 0.2906, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8379, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3717, 2.0094, 1.6966, -0.0193, 0.3275, 0.0822, 0.995]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1728 left_yaw=0.0077 left_pitch=-0.0385 left_roll=0.006 left_gripper=0.9968 right_x=0.5861 right_y=0.1714 right_z=0.2555 right_yaw=0.0349 right_pitch=0.2528 right_roll=-0.0115 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.6889, 7.1316, 1.6874, -0.0659, -0.0708, -0.0122, -0.0068, -11.7949, 7.2547, 1.8046, -0.0024, 0.0757, -0.0513]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 1.1088, 1.8931, 0.717, 0.2737, 0.8417, 0.767, 0.9963]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0077 left_pitch=-0.0392 left_roll=0.006 left_gripper=0.9968 right_x=0.2795 right_y=0.2737 right_z=0.0121 right_yaw=0.0308 right_pitch=0.0164 right_roll=0.0232 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4974, 7.0496, 1.6777, -0.0415, -0.0708, -0.0073, 0.5128, -6.0923, 4.0684, 0.7399, 0.2857, -0.0122, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906ef71b0acdc867a13520a56d945ce709fc7337611d6793b2f85527075b7738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e384495d4ab199e6a29f8352d33b8f24aa711b0202882e1dba85be1728dc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ebd32804639fce2c993f5d3a9497ae42c10b0f01636fb1dd228d5dd892c673",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJ_7C5NZ39iDhOedtNEFMi3IvLw85mlop3Aod69f3UrXfBCy8bEWhfDm0HyVRGK294_zialdn9GvGkC-i4H0gydsijNDV1Ga1xLjAjEPlOt1bSJA4hlny1_dx8G5DGpXBXUR9bUXSC6-A3_XVLjn5WJewGC6zi7aIVlrbg34JdYQvoCzWisuulrR02apdf9uS0zxtcAt3jelS0oxqrCcUBZfDP3cs4od_xev-_7u3fIRwlsbDTWCxad6qoqSkf6Svo5wHOr1uGLOXxdVjAMBVxVZwJGwqRpwoy_IQn-M0k9S1tNuAdgkPMiea1P9dw9lT9TrhDHTKIkTXzHmkf4foSYM-QKQ9ZvIq2w-7ox65go5da1kjMsDaXwH0VLW8J1M55al2gwhXkCCoOv822N8G3NmUn2FKVRr77SI9vezTnmBHHIcPH7-lQGHVQW-ulR5eBjk2jQf2jLSqSrFRBjzVZXv2oEfi8j8KaZGm2V0sjoB-Vqwmd4TBpMQrqq0GjeDlGdbFK2qGcfrTIeJ3yl521-ofyt4f_O0T_ILFOoI5VNK7ks6hn3BLHbfAhoGkiyeAcKdQeMDc5XtBEL7n0zdS3CeZkYDsBA4Ww8D-PA3P8xtK6lY9VQfXsiwOdrRR4hwTdSoYow0PNIS7klopwuisRTkw0IIWryrzzAkut7fIMlJVstqWyenmNqr8TA28f9AxoipAkeTAzWmSXyL93pq9jEjseqwVB9Yafq8yikHp3FUxnClrISbi_XNl7qpPRgr-EGhdluVX6rp3D5-KdCHIDosrMNPjBPRuZ7wYxYDlKrB0zQq_6HgBBCNYX1CB1CPCuiqHnI2YtkpT1LSIqIXYYCUBaXaRmGoqOWjc0CD9t80JhQyIOP1e48r-Yl8xPHXCOepiinrUX42Ffxpzj1pJ7i5DrsGGS8YM9ZHM916gFSgih1RhgQUn5XJeX446KztfaED55B0IdojzR0l7R0-LwSQRItyPQ4JmG6eIpb43EvQpm6J41r80O0g2lWTXWXDGFnYNG1zIOIb35GLcW-nUqCL8Zgv2I-jpoRfveK8AwFCmwpDmlQ3akge9s_2ektUjBNX5Z-F2pmWFM1ByQYIlVfFJrmK39vKWCJQbeLc2TTNzYO2BbnL_p-koyJJXxxAjDCWycwlDJvIbjst9DhRsUneGh9DdgX6gYqq99wVrefqG2nCGETK77YrE64ArRxCE1i4MQ_OkeCX3Nsv-hH36aqsp2VSy0QeLO7iAp-4Cxaq-Q=",
  "id": "rs_07346563d9cbf888016ab4627e54c487d0b89a0226175726c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue marker’s shaft is centered between the fingers. I’m closing the jaws around it.\"}",
  "call_id": "call_uVu1t3EkgoqTKs4aTaoBzwz5",
  "id": "fc_07346563d9cbf888016ab4627e91c487d0bd0753627d9856d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uVu1t3EkgoqTKs4aTaoBzwz5",
  "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]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.0376, 0.9968, 1.1107, 1.898, 0.7166, 0.2813, 0.8265, 0.7635, 0.151]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0075 left_pitch=-0.0392 left_roll=0.0063 left_gripper=0.9968 right_x=0.2781 right_y=0.2766 right_z=0.0096 right_yaw=0.044 right_pitch=0.007 right_roll=0.028 right_gripper=0.151\nstate[joint_eff]: [-0.0752, -1.5658, 7.0906, 1.7118, -0.0757, -0.0024, -0.0122, -0.1983, -8.1846, 4.547, 1.2088, 0.4811, -0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84714f7af0f41923859c153162de614f1006002c35ead90ba3ec93bcfa7b634",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d1dd2c6c465e1256931ca10ce75c94eb47ee33b90f0033aac28c6f95181d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f1ba454fd3ad16323bd89713511b2404fef1c65ad2bcc29360b74580c6bf97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.368 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.836, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3752, 2.0075, 1.6981, -0.02, 0.3271, 0.0895, 0.1487]\nstate[eef_state]: left_x=0.2988 left_y=0.0012 left_z=0.1733 left_yaw=0.0077 left_pitch=-0.0366 left_roll=0.0059 left_gripper=0.9968 right_x=0.5853 right_y=0.1734 right_z=0.2572 right_yaw=0.0344 right_pitch=0.2553 right_roll=-0.0033 right_gripper=0.1487\nstate[joint_eff]: [-0.1573, -1.7573, 7.1453, 1.707, -0.0611, -0.0562, -0.0122, -0.9368, -11.2068, 10.5778, 2.1758, 0.1245, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 1.1088, 1.8931, 0.717, 0.2737, 0.8417, 0.767, 0.9963]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0077 left_pitch=-0.0392 left_roll=0.006 left_gripper=0.9968 right_x=0.2795 right_y=0.2737 right_z=0.0121 right_yaw=0.0308 right_pitch=0.0164 right_roll=0.0232 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4974, 7.0496, 1.6777, -0.0415, -0.0708, -0.0073, 0.5128, -6.0923, 4.0684, 0.7399, 0.2857, -0.0122, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.0376, 0.9968, 1.1107, 1.898, 0.7166, 0.2813, 0.8265, 0.7635, 0.151]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0075 left_pitch=-0.0392 left_roll=0.0063 left_gripper=0.9968 right_x=0.2781 right_y=0.2766 right_z=0.0096 right_yaw=0.044 right_pitch=0.007 right_roll=0.028 right_gripper=0.151\nstate[joint_eff]: [-0.0752, -1.5658, 7.0906, 1.7118, -0.0757, -0.0024, -0.0122, -0.1983, -8.1846, 4.547, 1.2088, 0.4811, -0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84714f7af0f41923859c153162de614f1006002c35ead90ba3ec93bcfa7b634",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d1dd2c6c465e1256931ca10ce75c94eb47ee33b90f0033aac28c6f95181d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f1ba454fd3ad16323bd89713511b2404fef1c65ad2bcc29360b74580c6bf97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGKFzMXy4vPThXcpuD_X5aa_HVOquuIIygpxQQeChtRAdhmXsgrvEJq9nQnCa08V2bO2oIMWPcxL9Mk4KxAsuFF_2DGs7Ckh4oFiHblWsgRkSmz9yIh6km76yWlE42nt2DK7wQhUMnF-uEkWBSxwBt5HKyxJPzf8bumAtWV0gQd8cn2EUFVtYxAUPhbQgna4BWBUe06w1-HRJNHBeRtO-_n9T3gIUsIRS89XPmmv-etYQ0tb7J8FTSq8ZYO5lTH-rx5SkX8uL-dvk6s86DUVo088TMuxzECofNaKc2sp1yUyOy8-rFgxsMlWr0JW7gRRVZRwElIdmvJflEuktK633YED87J87VU2gJKTiXMX0_a6ZR3NQBWGAI03pBUJN3XHrX-AqrJJwBnrjwkqioF5XAOgIwHrmEDRFVBCq3h1OwZItcvhI-0eI5fGXrk3YegXaGTKGb-ZEqL1bY-4ejFT89P5HmmRft92Tgt8KTq0AVxpcf4qvYsPOLZhaPrD7Cmbs7iH_GF7bNJAVBP-7XBwHB8m8suGT7HAPbXK3VVVXOWuBlt1s85JsqZAyGiSD4qHc9HPmumnQ7WgXg7nDwFgKb7PU80p6gHsHjqQJKyf0iaALX1kIAUDq9Am-LeD4w_rg88VZHG9sM8My0Hwma5YqP6dnIK3JqaAcWd5fBOi5Rt2Wi5HoXQPi7pcsoCdIl5NFplAlWfUL5bQwgIYV1q0ShOgY4OwfsKwp0ZaiZVPfq1ughZmdoAgs-VdBZKk8UwxMz1GfIgs2V-Ju5I8rgCXx_dwPAOlztqkVSV5DQF_TOfPDyClFYZbWVmTj8h1kKgaI0CWiYsJ0G631RphkrVQmqr18BmzXoMWdin5mnOdqQdYoftjHTwG0kmLvUD5Rdl1_ARKkXte7oWzOmQCYXCeWgvBdhTPUlPAoQ2V-Kmgaj_BmvlRuo8bJiBhGz2cN1kArdWm0QcTUS-fw0ShcujDXxofnaQXPVC1PrlFkbn_ZU01U7lgkNzuir7no5xBf5uRNUcqEK95bTZvHEU2phMGkm8gs1CW7TXwnK7NsrIM6K84ZgA-hjsUUHJxuqadY5DwVJrq_yFm9wWnJOTCGqTztG-UEDDB5mbKTrNmaBWCQU-CqUfguHvx7z8y78XaTZveIZFe8wjp84lUVG2K-4WsMko9g1RCMRTjrrd3K6nbK_RfCMcyADRhib3juVSEe78OK4b0YUlJ8aL3zsON2LBpNUZ_HYQuhX-cewC8rhNvpfpWTw8=",
  "id": "rs_07346563d9cbf888016ab46284066487d0b8527468b8e002f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.17,\"right_z\":0.32,\"right_pitch\":0.35},\"note\":\"The gripper has closed around the blue marker and is holding its shaft. I’m carrying it on a rising path to the forward-shifted right basket, with extra height to clear the rim.\"}",
  "call_id": "call_TRGt3Chd2fdd6lAg4o4YFwGy",
  "id": "fc_07346563d9cbf888016ab4628464fc87d09a770c3073ed8bca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TRGt3Chd2fdd6lAg4o4YFwGy",
  "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]: [-0.0341, 0.8387, 0.6147, -0.3805, -0.0444, -0.038, 0.9968, 0.3664, 1.9965, 1.7939, -0.054, 0.3008, 0.0818, 0.1559]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1725 left_yaw=0.0077 left_pitch=-0.0396 left_roll=0.006 left_gripper=0.9968 right_x=0.5891 right_y=0.1738 right_z=0.3016 right_yaw=0.046 right_pitch=0.3218 right_roll=0.0212 right_gripper=0.1559\nstate[joint_eff]: [-0.1299, -1.4838, 7.0632, 1.6923, -0.0415, -0.0464, -0.0122, -0.5949, -11.6855, 9.6342, 1.746, 0.0708, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2e1d650375766de2c4e81e09799bab9fea2a991a5da11212f9719e7bf681bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5063ab40e2f3a02c3a9366f24759c450d9c2a4b964a945defe535289fcf2e504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c22a7040259d02a907c994e729b0790ad6b00ac0b1876fd8cee9159d16ee50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 7.14 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8379, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3717, 2.0094, 1.6966, -0.0193, 0.3275, 0.0822, 0.995]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1728 left_yaw=0.0077 left_pitch=-0.0385 left_roll=0.006 left_gripper=0.9968 right_x=0.5861 right_y=0.1714 right_z=0.2555 right_yaw=0.0349 right_pitch=0.2528 right_roll=-0.0115 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.6889, 7.1316, 1.6874, -0.0659, -0.0708, -0.0122, -0.0068, -11.7949, 7.2547, 1.8046, -0.0024, 0.0757, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3801, -0.0444, -0.0376, 0.9968, 1.1107, 1.898, 0.7166, 0.2813, 0.8265, 0.7635, 0.151]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1726 left_yaw=0.0075 left_pitch=-0.0392 left_roll=0.0063 left_gripper=0.9968 right_x=0.2781 right_y=0.2766 right_z=0.0096 right_yaw=0.044 right_pitch=0.007 right_roll=0.028 right_gripper=0.151\nstate[joint_eff]: [-0.0752, -1.5658, 7.0906, 1.7118, -0.0757, -0.0024, -0.0122, -0.1983, -8.1846, 4.547, 1.2088, 0.4811, -0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8387, 0.6147, -0.3805, -0.0444, -0.038, 0.9968, 0.3664, 1.9965, 1.7939, -0.054, 0.3008, 0.0818, 0.1559]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1725 left_yaw=0.0077 left_pitch=-0.0396 left_roll=0.006 left_gripper=0.9968 right_x=0.5891 right_y=0.1738 right_z=0.3016 right_yaw=0.046 right_pitch=0.3218 right_roll=0.0212 right_gripper=0.1559\nstate[joint_eff]: [-0.1299, -1.4838, 7.0632, 1.6923, -0.0415, -0.0464, -0.0122, -0.5949, -11.6855, 9.6342, 1.746, 0.0708, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2e1d650375766de2c4e81e09799bab9fea2a991a5da11212f9719e7bf681bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5063ab40e2f3a02c3a9366f24759c450d9c2a4b964a945defe535289fcf2e504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c22a7040259d02a907c994e729b0790ad6b00ac0b1876fd8cee9159d16ee50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue marker is securely held over the right basket, beside the first marker. I’m releasing it into the basket.\"}",
  "call_id": "call_UexiMHdH05yiKkcZZT5rNkRy",
  "id": "fc_07346563d9cbf888016ab46289da0c87d08fb36ac63959873f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UexiMHdH05yiKkcZZT5rNkRy",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0341, 0.8391, 0.6147, -0.3801, -0.0444, -0.038, 0.9968, 0.3603, 2.0079, 1.7912, -0.0757, 0.2855, 0.0746, 0.9952]\nstate[eef_state]: left_x=0.299 left_y=0.0012 left_z=0.1725 left_yaw=0.0077 left_pitch=-0.0396 left_roll=0.006 left_gripper=0.9968 right_x=0.5904 right_y=0.1731 right_z=0.2883 right_yaw=0.0608 right_pitch=0.2864 right_roll=0.0065 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.2513, 7.0222, 1.6777, -0.0659, -0.022, -0.0122, 0.4171, -12.506, 7.3915, 2.0733, 0.1148, 0.0366, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76659aa0fa6d723f5b104faf714d7aa289eea5630734f17f7a392c03a9a2e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa67187aabced59a777607b40033ab9de4314ba7b737fe38febfc5c1f15136d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b88af633933d23e0ab78aa0efa29955771177d1c4e4796d5ba273f00cc033f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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