adhoc

completed
2026-09-24T02:56:34.037142+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
297.4 s
total steps
480
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 two slim pen-like objects. I’ll sort the plush animals into the left basket and the slim objects into the right, starting with the gray plush on the left.
move_to
left_x0.2600left_y-0.0900left_z0.1500left_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]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0216, -0.0261, 0.9996, -0.0154, 0.7967, 0.6106, -0.3744, -0.0124, -0.0166, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0012 right_z=0.1834 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.4855, -1.6342, 9.265, 1.7558, -0.0415, 0.0757, -0.0562, -0.9368, -1.4017, 9.935, 1.7363, -0.0904, -0.0317, -0.0952] 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":0.26,"left_y":-0.09,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"I see plush animals and two slim pen-like objects. I’ll sort the plush animals into the left basket and the slim objects into the right, starting with the gray plush on the left."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe wrist view shows the gray plush to the left of the jaws; the first approach was too far toward the table center. I’m shifting left and lowering toward its body.
move_to
left_x0.2600left_y0.0150left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7158, 0.8116, 0.5186, -0.392, -0.5632, -0.4362, 0.9996, -0.0154, 0.7986, 0.6086, -0.3851, -0.0128, -0.0227, 0.9992] state[eef_state]: left_x=0.2606 left_y=-0.0969 left_z=0.1515 left_yaw=-0.0318 left_pitch=-0.0032 left_roll=-0.0105 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0051 right_gripper=0.9992 state[joint_eff]: [0.0205, -1.4564, 6.4479, 1.5702, -0.4469, 0.0122, -0.0562, -0.7316, -1.5795, 7.6513, 1.7265, -0.0904, -0.0024, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":0.015,"left_z":0.065},"note":"The wrist view shows the gray plush to the left of the jaws; the first approach was too far toward the table center. I’m shifting left and lowering toward its body."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe gray plush’s body is now centered between the open jaws. I’m lowering the fingertips around its soft torso before closing.
move_to
left_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]: [0.1429, 0.6807, 0.1204, -0.0357, 0.12, 0.0513, 0.9995, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0231, 0.9992] state[eef_state]: left_x=0.2574 left_y=0.0193 left_z=0.0611 left_yaw=0.0007 left_pitch=-0.03 left_roll=-0.0144 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0058 right_gripper=0.9992 state[joint_eff]: [0.0615, -0.5402, 6.2838, 2.0488, 0.1832, 0.0806, -0.0171, -0.3897, -1.2103, 7.0632, 1.7998, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The gray plush’s body is now centered between the open jaws. I’m lowering the fingertips around its soft torso before closing."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe fingertips are down around the gray plush’s torso. I’m closing the jaws to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1429, 0.9077, 0.0055, 0.2752, 0.1276, 0.0525, 0.9995, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0231, 0.9992] state[eef_state]: left_x=0.2553 left_y=0.0176 left_z=0.0213 left_yaw=-0.0065 left_pitch=-0.0599 left_roll=-0.0223 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0029 right_pitch=-0.0183 right_roll=-0.0058 right_gripper=0.9992 state[joint_eff]: [0.0615, -1.4017, 5.4906, 1.8437, -0.0513, -0.0122, -0.0073, -0.2256, -1.5795, 7.0496, 1.707, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are down around the gray plush’s torso. I’m closing the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper remains partly open, consistent with holding the plush. I’m lifting a few centimeters to check that the toy comes up with it.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1421, 0.9081, 0.0055, 0.2855, 0.1314, 0.0521, 0.1242, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0231, 0.9992] state[eef_state]: left_x=0.2568 left_y=0.017 left_z=0.0233 left_yaw=-0.0102 left_pitch=-0.0498 left_roll=-0.0233 left_gripper=0.1242 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0187 right_roll=-0.0058 right_gripper=0.9992 state[joint_eff]: [0.0205, -0.7316, 5.9282, 1.5702, -0.022, -0.0122, 0.8816, -0.2393, -1.2103, 7.2957, 1.7021, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The gripper remains partly open, consistent with holding the plush. I’m lifting a few centimeters to check that the toy comes up with it."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gray plush has lifted with the gripper. I’m raising it above the basket rim before carrying it across.
move_to
left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1417, 0.6327, 0.2375, -0.2497, 0.1314, 0.0479, 0.1255, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.2526 left_y=0.0163 left_z=0.0819 left_yaw=-0.0086 left_pitch=-0.0773 left_roll=-0.0309 left_gripper=0.1255 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0031 right_pitch=-0.0214 right_roll=-0.006 right_gripper=0.9992 state[joint_eff]: [-0.1983, -0.5402, 9.5385, 1.663, 0.022, -0.022, 0.1294, -0.1026, -1.2103, 7.2547, 1.707, -0.0317, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23},"note":"The gray plush has lifted with the gripper. I’m raising it above the basket rim before carrying it across."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe gray plush is secure and clear of the table. I’m carrying it over the left basket, keeping it above the rim.
move_to
left_x0.4750left_y-0.1750left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1417, 0.7242, 0.82, -0.7856, 0.1318, 0.0441, 0.1269, -0.0151, 0.8051, 0.6083, -0.3851, -0.0116, -0.0235, 0.9992] state[eef_state]: left_x=0.2499 left_y=0.0158 left_z=0.2142 left_yaw=-0.0076 left_pitch=-0.1218 left_roll=-0.041 left_gripper=0.1269 right_x=0.2953 right_y=0.0012 right_z=0.1778 right_yaw=0.0027 right_pitch=-0.0214 right_roll=-0.0062 right_gripper=0.9992 state[joint_eff]: [-0.253, -0.6632, 9.4017, 1.7021, 0.0122, 0.022, 0.1245, -0.0889, -1.306, 7.0359, 1.7314, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.175,"left_z":0.25},"note":"The gray plush is secure and clear of the table. I’m carrying it over the left basket, keeping it above the rim."})
tool
executing move_to over 18 steps (1.8s)
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 plush is positioned over the left basket. I’m lowering it into the opening before release.
move_to
left_x0.4800left_y-0.1750left_z0.1200
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]: [-0.4683, 1.7668, 1.6352, -0.6922, -0.3229, -0.3805, 0.1292, -0.0151, 0.8097, 0.6075, -0.3855, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.4585 left_y=-0.1651 left_z=0.2241 left_yaw=0.0032 left_pitch=-0.2084 left_roll=-0.0291 left_gripper=0.1292 right_x=0.2955 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992 state[joint_eff]: [-1.0188, -8.9915, 9.7436, 1.8681, -0.3443, 0.2222, 0.2222, -0.0615, -1.6479, 7.2684, 1.7118, -0.0366, -0.0659, -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":0.48,"left_y":-0.175,"left_z":0.12},"note":"The plush is positioned over the left basket. I’m lowering it into the opening before release."})
tool
executing move_to over 7 steps (0.7s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe gray plush is inside the left basket’s opening. I’m opening the gripper to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4698, 1.882, 1.3849, -0.3977, -0.3149, -0.3824, 0.1301, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.4667 left_y=-0.1716 left_z=0.1137 left_yaw=0.0041 left_pitch=-0.2744 left_roll=-0.0028 left_gripper=0.1301 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992 state[joint_eff]: [-0.0479, -9.935, 6.8171, 1.663, -0.232, -0.0024, 0.0855, -0.1709, -1.3333, 7.1453, 1.7363, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray plush is inside the left basket’s opening. I’m opening the gripper to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe gray plush is released in the left basket. I can now see three slim markers; while the left arm lifts clear, the right arm will descend onto the white-and-black marker already aligned beneath it.
move_to
left_x0.4400left_z0.2400right_x0.3000right_y0.0100right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 1.8984, 1.3739, -0.4026, -0.3145, -0.3939, 0.9957, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.4639 left_y=-0.1681 left_z=0.1009 left_yaw=0.0184 left_pitch=-0.3032 left_roll=0.0046 left_gripper=0.9957 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992 state[joint_eff]: [-0.1436, -11.5214, 7.6103, 1.409, -0.1441, 0.0708, -0.1832, -0.3077, -1.2786, 7.1316, 1.7851, -0.0659, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_z":0.24,"right_x":0.30,"right_y":0.01,"right_z":0.005,"right_gripper":1},"note":"The gray plush is released in the left basket. I can now see three slim markers; while the left arm lifts clear, the right arm will descend onto the white-and-black marker already aligned beneath it."})
tool
executing move_to over 12 steps (1.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe white marker sits slightly left of the right jaws, so I’m correcting that alignment at table level. The left arm will approach the remaining tan plush, well away from the right arm.
move_to
right_y0.0350right_z-0.0050left_x0.2650left_y-0.2600left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4904, 1.8324, 1.7626, -0.9142, -0.3157, -0.4404, 0.9968, 0.0391, 1.4258, 0.1009, 0.7292, 0.0101, 0.0151, 0.9992] state[eef_state]: left_x=0.4409 left_y=-0.1692 left_z=0.2117 left_yaw=0.0304 left_pitch=-0.3522 left_roll=0.0034 left_gripper=0.9968 right_x=0.3038 right_y=0.0137 right_z=0.0119 right_yaw=0.018 right_pitch=-0.0352 right_roll=0.0137 right_gripper=0.9992 state[joint_eff]: [-0.5265, -11.5761, 9.1282, 1.536, -0.3053, 0.1783, 0.105, 0.294, -2.5778, 1.5795, 0.1294, 0.2515, -0.2515, -0.0952] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.035,"right_z":-0.005,"left_x":0.265,"left_y":-0.26,"left_z":0.16},"note":"The white marker sits slightly left of the right jaws, so I’m correcting that alignment at table level. The left arm will approach the remaining tan plush, well away from the right arm."})
tool
executing move_to over 14 steps (1.4s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe white marker is centered, so I’m closing the right gripper. The closer view also reveals a small brown plush beside the large tan one; I’m lowering the left jaws around the tan plush’s torso.
move_to
right_gripper0.0000left_x0.2350left_y-0.3050left_z0.0350left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.029, 1.6444, 1.3449, -0.9203, -0.5388, -0.9298, 0.9968, 0.1658, 1.5948, 0.0921, 0.9798, 0.0978, 0.0868, 0.9992] state[eef_state]: left_x=0.2702 left_y=-0.2662 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.3764 left_roll=0.0189 left_gripper=0.9968 right_x=0.314 right_y=0.0387 right_z=0.013 right_yaw=0.0322 right_pitch=0.0401 right_roll=0.0338 right_gripper=0.9992 state[joint_eff]: [-0.1162, -9.7709, 5.8188, 0.8523, -0.4078, -0.0904, -0.0024, 0.4718, -2.441, 3.535, 1.1258, 0.2418, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.235,"left_y":-0.305,"left_z":0.035,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The white marker is centered, so I’m closing the right gripper. The closer view also reveals a small brown plush beside the large tan one; I’m lowering the left jaws around the tan plush’s torso."})
tool
executing move_to over 13 steps (1.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left fingertips have met the tan plush’s soft body, so I’ll close around it. The right gripper has a marker-sized opening; I’m lifting it to verify the white marker is held.
move_to
left_gripper0.0000right_z0.0800
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]: [-1.3056, 1.8488, 0.9539, -0.2531, -0.9569, -1.1114, 0.9968, 0.1684, 1.5951, 0.0917, 0.9859, 0.0937, 0.083, 0.1683] state[eef_state]: left_x=0.2379 left_y=-0.3115 left_z=0.0557 left_yaw=-0.0062 left_pitch=0.0081 left_roll=-0.0265 left_gripper=0.9968 right_x=0.3144 right_y=0.0403 right_z=0.014 right_yaw=0.0404 right_pitch=0.0452 right_roll=0.0332 right_gripper=0.1683 state[joint_eff]: [-0.1026, -5.5863, 3.2889, 0.6227, -0.0366, -0.0806, -0.0073, -0.4581, -4.2188, 3.3709, 1.6923, 0.0317, -0.0317, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.08},"note":"The left fingertips have met the tan plush’s soft body, so I’ll close around it. The right gripper has a marker-sized opening; I’m lifting it to verify the white marker is held."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe white marker has come off the table with the right gripper. I’m raising it for transport and giving the tan plush a short test lift.
move_to
left_z0.1200right_z0.2300right_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]: [-1.3102, 1.8458, 0.9489, -0.2188, -0.9913, -1.1156, 0.5185, 0.1684, 1.0958, 0.2008, 0.3843, 0.0933, 0.0826, 0.1716] state[eef_state]: left_x=0.2403 left_y=-0.3134 left_z=0.0624 left_yaw=0.0067 left_pitch=0.0464 left_roll=-0.0533 left_gripper=0.5185 right_x=0.3118 right_y=0.04 right_z=0.0731 right_yaw=0.0409 right_pitch=0.052 right_roll=0.0339 right_gripper=0.1716 state[joint_eff]: [0.3487, -8.2667, 5.7094, 0.5836, -0.1099, 0.0122, 0.9792, -0.0615, -2.6188, 8.8, 1.6972, -0.0024, -0.0415, 0.7106] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"right_z":0.23,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The white marker has come off the table with the right gripper. I’m raising it for transport and giving the tan plush a short test lift."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteBoth objects are held. I’m raising the tan plush clear of the table while carrying the white marker over the right basket.
move_to
left_z0.2450right_x0.4800right_y0.1850right_z0.2300left_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]: [-1.3113, 1.7634, 1.0325, -0.4301, -0.9874, -1.1198, 0.5192, 0.2123, 0.9138, 0.783, -0.4274, 0.1642, 0.0879, 0.1739] state[eef_state]: left_x=0.2382 left_y=-0.3088 left_z=0.0989 left_yaw=0.0045 left_pitch=0.0316 left_roll=-0.0139 left_gripper=0.5192 right_x=0.3151 right_y=0.042 right_z=0.2193 right_yaw=0.0222 right_pitch=0.0106 right_roll=-0.0047 right_gripper=0.1739 state[joint_eff]: [-0.2256, -10.8786, 8.6085, 0.8669, -0.5446, 0.0024, 0.7497, 0.7453, -1.853, 9.2786, 1.5458, 0.0757, 0.2027, 0.7204] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.245,"right_x":0.48,"right_y":0.185,"right_z":0.23,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"Both objects are held. I’m raising the tan plush clear of the table while carrying the white marker over the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe white marker is above the right basket, and the tan plush is lifted securely. I’m lowering the marker into its basket while moving the plush over the left basket.
move_to
left_x0.4750left_y-0.1750left_z0.2700right_z0.1150
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]: [-1.3056, 1.6901, 1.4933, -1.0023, -0.9348, -1.1378, 0.5196, 0.4866, 1.7298, 1.4117, -0.3267, 0.374, 0.2245, 0.1751] state[eef_state]: left_x=0.2368 left_y=-0.3159 left_z=0.2221 left_yaw=-0.0004 left_pitch=-0.0253 left_roll=-0.0048 left_gripper=0.5196 right_x=0.4712 right_y=0.1803 right_z=0.2122 right_yaw=0.0487 right_pitch=-0.0336 right_roll=-0.0293 right_gripper=0.1751 state[joint_eff]: [-0.1026, -9.894, 8.4034, 0.9158, -0.6716, 0.1734, 0.4371, 0.6085, -9.4838, 9.0735, 1.4774, 0.3394, 0.1343, 0.3248] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.175,"left_z":0.27,"right_z":0.115},"note":"The white marker is above the right basket, and the tan plush is lifted securely. I’m lowering the marker into its basket while moving the plush over the left basket."})
tool
executing move_to over 19 steps (1.9s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteI’m releasing the white marker into the right basket. The tan plush hangs toward the near-right edge of the left basket, so I’m shifting it farther inward as I lower it.
move_to
right_gripper1.0000left_x0.5100left_y-0.1200left_z0.1700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5129, 1.7401, 1.6039, -0.6155, -0.4438, -0.3786, 0.5216, 0.4896, 1.8179, 1.1347, 0.0174, 0.366, 0.2245, 0.1752] state[eef_state]: left_x=0.46 left_y=-0.1679 left_z=0.2418 left_yaw=0.0491 left_pitch=-0.1035 left_roll=0.0117 left_gripper=0.5216 right_x=0.467 right_y=0.1813 right_z=0.1148 right_yaw=0.058 right_pitch=-0.0547 right_roll=-0.0337 right_gripper=0.1752 state[joint_eff]: [0.1299, -9.2513, 10.1265, 2.0049, -0.2027, 0.4029, 0.1978, -0.294, -8.5675, 6.4205, 1.8535, 0.1294, -0.0513, 0.6911] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.51,"left_y":-0.12,"left_z":0.17,"left_pitch":0},"note":"I’m releasing the white marker into the right basket. The tan plush hangs toward the near-right edge of the left basket, so I’m shifting it farther inward as I lower it."})
tool
executing move_to over 9 steps (0.9s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe white marker is visible in the right basket. I’m centering the bulky tan plush more fully over the left basket, while the right arm lifts away to approach the blue marker.
move_to
left_x0.5400left_y-0.0750left_z0.1800right_x0.3200right_y0.1400right_z0.1900right_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]: [-0.3622, 1.7912, 1.322, -0.181, -0.3607, -0.2615, 0.5236, 0.49, 1.8263, 1.1282, 0.0158, 0.358, 0.218, 0.9955] state[eef_state]: left_x=0.501 left_y=-0.1194 left_z=0.17 left_yaw=0.0667 left_pitch=-0.0411 left_roll=0.0107 left_gripper=0.5236 right_x=0.465 right_y=0.1819 right_z=0.1076 right_yaw=0.0679 right_pitch=-0.0718 right_roll=-0.0413 right_gripper=0.9955 state[joint_eff]: [0.2803, -8.6496, 6.2017, 1.8388, -0.1099, 0.1392, 0.2076, -0.1299, -10.1812, 6.9402, 1.6435, 0.0806, -0.0024, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.075,"left_z":0.18,"right_x":0.32,"right_y":0.14,"right_z":0.19,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The white marker is visible in the right basket. I’m centering the bulky tan plush more fully over the left basket, while the right arm lifts away to approach the blue marker."})
tool
executing move_to over 12 steps (1.2s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe tan plush is almost centered, so I’m making one final sideways correction. The blue marker is aligned with the right jaw column, and I’m descending to grasp it at table level.
move_to
left_y-0.0300left_z0.1600right_x0.3300right_y0.1450right_z-0.0050
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]: [-0.2325, 1.8641, 1.4189, -0.2386, -0.2642, -0.2211, 0.525, 0.6575, 1.1954, 0.8192, -0.2745, 0.5144, 0.3595, 0.9963] state[eef_state]: left_x=0.5271 left_y=-0.0737 left_z=0.1615 left_yaw=0.096 left_pitch=-0.0946 left_roll=0.0003 left_gripper=0.525 right_x=0.329 right_y=0.1488 right_z=0.188 right_yaw=0.0347 right_pitch=0.0051 right_roll=0.0081 right_gripper=0.9963 state[joint_eff]: [0.3897, -9.347, 10.3043, 2.0781, -0.0708, 0.3639, 0.1294, 0.3487, -4.588, 6.8308, 1.7851, 0.3932, 0.105, 0.0757] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.03,"left_z":0.16,"right_x":0.33,"right_y":0.145,"right_z":-0.005},"note":"The tan plush is almost centered, so I’m making one final sideways correction. The blue marker is aligned with the right jaw column, and I’m descending to grasp it at table level."})
tool
executing move_to over 13 steps (1.3s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe tan plush is now centered over the left basket, so I’m releasing it. At the same time, I’m closing the right jaws around the blue marker.
move_to
left_gripper1.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1337, 1.8641, 1.3903, -0.218, -0.1783, -0.1795, 0.5266, 0.6468, 1.7657, 0.3813, 0.7757, 0.5034, 0.3607, 0.9963] state[eef_state]: left_x=0.5296 left_y=-0.036 left_z=0.1509 left_yaw=0.1009 left_pitch=-0.1175 left_roll=-0.0172 left_gripper=0.5266 right_x=0.3365 right_y=0.1519 right_z=0.013 right_yaw=0.0318 right_pitch=0.0355 right_roll=0.0387 right_gripper=0.9963 state[joint_eff]: [0.8547, -12.506, 5.5453, 1.7607, -0.0952, 0.2027, 0.149, -0.7043, -4.1778, 1.935, 0.1392, 0.0073, -0.1148, -0.0073] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":0},"note":"The tan plush is now centered over the left basket, so I’m releasing it. At the same time, I’m closing the right jaws around the blue marker."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe blue marker is held, and I’m test-lifting it. The tan plush settled across the near basket rim rather than fully inside, so I’ll regrasp its center and reposition it.
move_to
left_x0.4800left_y-0.0900left_z0.2500right_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]: [-0.1329, 1.8629, 1.3842, -0.2203, -0.1795, -0.1905, 0.9978, 0.6468, 1.7775, 0.3744, 0.812, 0.4973, 0.3565, 0.1503] state[eef_state]: left_x=0.5279 left_y=-0.0352 left_z=0.1484 left_yaw=0.1087 left_pitch=-0.1245 left_roll=-0.0234 left_gripper=0.9978 right_x=0.3371 right_y=0.1535 right_z=0.0134 right_yaw=0.0385 right_pitch=0.048 right_roll=0.048 right_gripper=0.1503 state[joint_eff]: [-0.212, -9.9624, 7.2957, 1.6386, -0.105, 0.0513, -0.0073, -0.0615, -7.2684, 4.2462, 1.2869, 0.2173, -0.0269, 1.0085] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.09,"left_z":0.25,"right_z":0.085},"note":"The blue marker is held, and I’m test-lifting it. The tan plush settled across the near basket rim rather than fully inside, so I’ll regrasp its center and reposition it."})
tool
executing move_to over 7 steps (0.7s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe blue marker has lifted successfully. I’m lowering the left jaws around the tan plush’s protruding torso, which should give better control than the previous off-center grasp.
move_to
left_x0.4100left_y-0.1900left_z0.0750left_pitch0.0000left_roll0.0000left_yaw0.0000right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2878, 1.7515, 1.5616, -0.5739, -0.2836, -0.3054, 0.9982, 0.6468, 1.4536, 0.4473, 0.4171, 0.4858, 0.3557, 0.1531] state[eef_state]: left_x=0.4873 left_y=-0.089 left_z=0.2187 left_yaw=0.1058 left_pitch=-0.1651 left_roll=-0.0245 left_gripper=0.9982 right_x=0.3342 right_y=0.1535 right_z=0.0737 right_yaw=0.0481 right_pitch=0.046 right_roll=0.0537 right_gripper=0.1531 state[joint_eff]: [-0.4718, -11.9453, 9.5658, 1.5458, -0.188, 0.1587, 0.022, -0.3624, -5.8462, 8.253, 1.7656, 0.2466, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.19,"left_z":0.075,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_z":0.23},"note":"The blue marker has lifted successfully. I’m lowering the left jaws around the tan plush’s protruding torso, which should give better control than the previous off-center grasp."})
tool
executing move_to over 11 steps (1.1s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe left jaws are around the tan plush’s torso, with contact limiting the descent. I’m securing that grasp while moving the blue marker above the right basket.
move_to
left_gripper0.0000right_x0.4800right_y0.1850right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6147, 1.7039, 0.9047, 0.2588, -0.5468, -0.3817, 0.9982, 0.6468, 1.1988, 0.881, -0.289, 0.4778, 0.3523, 0.1531] state[eef_state]: left_x=0.4296 left_y=-0.1865 left_z=0.1264 left_yaw=0.0317 left_pitch=0.1056 left_roll=-0.0595 left_gripper=0.9982 right_x=0.3357 right_y=0.1563 right_z=0.2091 right_yaw=0.0568 right_pitch=0.029 right_roll=0.0446 right_gripper=0.1531 state[joint_eff]: [-1.2103, -3.5077, 3.0017, 0.6032, 0.1441, -0.1148, -0.022, -0.3487, -5.7641, 9.7846, 1.6484, 0.2515, 0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.48,"right_y":0.185,"right_z":0.23},"note":"The left jaws are around the tan plush’s torso, with contact limiting the descent. I’m securing that grasp while moving the blue marker above the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteI’m lifting the new plush grasp to see whether the protruding body follows. The right arm is lowering the blue marker into its basket.
move_to
left_z0.2300right_z0.1150
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]: [-0.6109, 1.7054, 0.8967, 0.3119, -0.569, -0.3859, 0.1699, 0.4812, 1.7103, 1.3659, -0.2676, 0.3325, 0.247, 0.1531] state[eef_state]: left_x=0.4339 left_y=-0.1833 left_z=0.1336 left_yaw=0.0592 left_pitch=0.1465 left_roll=-0.0814 left_gripper=0.1699 right_x=0.4698 right_y=0.1843 right_z=0.2111 right_yaw=0.0659 right_pitch=-0.0138 right_roll=0.0253 right_gripper=0.1531 state[joint_eff]: [-0.6222, -8.3077, 7.0906, 1.1502, 0.0366, -0.0024, 0.7399, -0.6085, -9.0872, 9.5795, 1.7558, 0.1734, 0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"right_z":0.115},"note":"I’m lifting the new plush grasp to see whether the protruding body follows. The right arm is lowering the blue marker into its basket."})
tool
executing move_to over 7 steps (0.7s)
step 254
top_cam
camera top_cam step 254
assistant
agent noteThe tan plush is following the new grasp. I’m moving it farther over the left basket to compensate for how it hangs, and releasing the blue marker into the right basket.
move_to
left_x0.5800left_y-0.1050left_z0.2550left_pitch0.2000right_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]: [-0.6117, 1.6127, 1.1084, -0.049, -0.5728, -0.4011, 0.1729, 0.4782, 1.8011, 1.1076, 0.0341, 0.3275, 0.2466, 0.1531] state[eef_state]: left_x=0.4341 left_y=-0.1832 left_z=0.1952 left_yaw=0.0653 left_pitch=0.1031 left_roll=-0.0584 left_gripper=0.1729 right_x=0.4637 right_y=0.1804 right_z=0.1133 right_yaw=0.0665 right_pitch=-0.0583 right_roll=0.0087 right_gripper=0.1531 state[joint_eff]: [-0.1299, -11.0427, 9.9624, 1.7314, -0.1636, 0.1197, 0.3004, 0.1709, -8.5812, 6.3795, 1.8681, 0.1978, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":-0.105,"left_z":0.255,"left_pitch":0.2,"right_gripper":1},"note":"The tan plush is following the new grasp. I’m moving it farther over the left basket to compensate for how it hangs, and releasing the blue marker into the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 266
assistant
agent noteThe tan plush is farther inside, but the basket appears to have shifted with the grasp. I’m lowering gently to set everything down, while the right arm approaches the small brown plush.
move_to
left_z0.1350right_x0.2900right_y0.3900right_z0.1700right_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]: [-0.2787, 1.9266, 1.5597, -0.1238, -0.3275, -0.2417, 0.175, 0.4782, 1.8179, 1.0935, 0.0353, 0.3275, 0.2424, 0.9964] state[eef_state]: left_x=0.5663 left_y=-0.0992 left_z=0.2159 left_yaw=0.1139 left_pitch=0.0981 left_roll=-0.0523 left_gripper=0.175 right_x=0.4605 right_y=0.1787 right_z=0.0998 right_yaw=0.0679 right_pitch=-0.0856 right_roll=-0.0067 right_gripper=0.9964 state[joint_eff]: [0.2256, -11.2889, 10.6462, 2.2735, 0.1001, 0.4713, 0.1978, -0.2256, -10.7009, 7.6376, 1.5556, 0.0317, 0.0122, -0.0269] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.135,"right_x":0.29,"right_y":0.39,"right_z":0.17,"right_pitch":0,"right_yaw":0,"right_roll":0},"note":"The tan plush is farther inside, but the basket appears to have shifted with the grasp. I’m lowering gently to set everything down, while the right arm approaches the small brown plush."})
tool
executing move_to over 18 steps (1.8s)
step 284
assistant
agent noteThe left descent has stopped, so I’m opening the jaws rather than pressing farther. The small brown plush is centered near the right fingertips, and I’m lowering around its body.
move_to
left_gripper1.0000right_x0.3000right_y0.4000right_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2806, 1.977, 1.3712, 0.1783, -0.3214, -0.2432, 0.1765, 1.1976, 1.9835, 1.6043, -0.6338, 0.865, 0.8852, 0.9971] state[eef_state]: left_x=0.5703 left_y=-0.1025 left_z=0.166 left_yaw=0.1107 left_pitch=0.1556 left_roll=-0.0806 left_gripper=0.1765 right_x=0.2944 right_y=0.3931 right_z=0.1623 right_yaw=0.0455 right_pitch=-0.0223 right_roll=0.0078 right_gripper=0.9971 state[joint_eff]: [0.1162, -7.9385, 4.9709, 1.6679, -0.1783, -0.0366, 0.1441, 0.4171, -10.5094, 8.1573, 0.7741, 0.8376, 0.149, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.30,"right_y":0.4,"right_z":0.035},"note":"The left descent has stopped, so I’m opening the jaws rather than pressing farther. The small brown plush is centered near the right fingertips, and I’m lowering around its body."})
tool
executing move_to over 9 steps (0.9s)
step 293
assistant
agent noteThe small brown plush is between the right jaws, so I’m grasping it. The left arm will move clear of the basket and line up with the remaining yellow marker.
move_to
right_gripper0.0000left_x0.3000left_y-0.1100left_z0.1600left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2802, 1.977, 1.3632, 0.2001, -0.3321, -0.255, 0.9954, 1.1965, 2.1616, 1.3838, -0.2352, 0.8528, 0.8795, 0.9972] state[eef_state]: left_x=0.5709 left_y=-0.1006 left_z=0.1673 left_yaw=0.1274 left_pitch=0.1695 left_roll=-0.0929 left_gripper=0.9954 right_x=0.2968 right_y=0.4016 right_z=0.0441 right_yaw=0.054 right_pitch=-0.0317 right_roll=0.0073 right_gripper=0.9972 state[joint_eff]: [-0.3897, -11.1795, 7.4325, 1.6386, -0.0269, 0.0659, -0.1197, -0.4444, -10.4547, 5.1487, 0.8718, 0.4664, -0.0513, -0.0073] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.3,"left_y":-0.11,"left_z":0.16,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The small brown plush is between the right jaws, so I’m grasping it. The left arm will move clear of the basket and line up with the remaining yellow marker."})
tool
executing move_to over 21 steps (2.1s)
step 314
assistant
agent noteThe yellow marker is aligned beneath the left jaws, so I’m lowering to table level. I’m also test-lifting the small brown plush; the tan plush still needs a final placement after these smaller objects.
move_to
left_x0.3100left_y-0.1000left_z-0.0050right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6411, 1.05, 0.6384, -0.1997, -0.5144, -0.3859, 0.9967, 1.1965, 2.1731, 1.3804, -0.2123, 0.8444, 0.8753, 0.1734] state[eef_state]: left_x=0.3111 left_y=-0.1192 left_z=0.1696 left_yaw=-0.0216 left_pitch=0.0378 left_roll=-0.0355 left_gripper=0.9967 right_x=0.2968 right_y=0.4042 right_z=0.0391 right_yaw=0.0611 right_pitch=-0.0347 right_roll=0.0141 right_gripper=0.1734 state[joint_eff]: [-0.212, -2.8923, 6.3111, 1.4628, -0.2222, -0.0317, 0.1245, -0.335, -13.0803, 5.4496, 0.9353, 0.4078, -0.0073, 0.7741] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.10,"left_z":-0.005,"right_z":0.10},"note":"The yellow marker is aligned beneath the left jaws, so I’m lowering to table level. I’m also test-lifting the small brown plush; the tan plush still needs a final placement after these smaller objects."})
tool
executing move_to over 12 steps (1.2s)
step 326
assistant
agent noteThe arms did not track those moves and their orientations changed, indicating contact in the crowded center. I’m backing the left arm away before moving the right arm again.
move_to
left_x0.2500left_y0.0150left_z0.2300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5488, 1.6695, 0.2256, 1.1999, -0.4953, -0.4541, 0.9968, 1.1603, 2.154, 1.3884, -0.524, 0.8436, 0.8139, 0.1762] state[eef_state]: left_x=0.3491 left_y=-0.1108 left_z=0.085 left_yaw=0.132 left_pitch=0.3206 left_roll=-0.3315 left_gripper=0.9968 right_x=0.2915 right_y=0.3481 right_z=0.0258 right_yaw=0.0324 right_pitch=-0.1616 right_roll=-0.2931 right_gripper=0.1762 state[joint_eff]: [-0.8684, 0.1846, -0.335, -1.9707, 0.4567, 1.4188, 0.0024, 2.5915, -18.8786, 11.959, 2.3028, 0.3053, 0.5983, 0.2857] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.015,"left_z":0.23,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The arms did not track those moves and their orientations changed, indicating contact in the crowded center. I’m backing the left arm away before moving the right arm again."})
tool
executing move_to over 12 steps (1.2s)
step 338
assistant
agent noteThe left arm has backed off somewhat, and the contact loads have fallen. I’m moving the right arm up and toward its own side to separate the arms and check its grasp.
move_to
right_x0.3000right_y0.2500right_z0.1800right_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]: [-0.4603, 1.3315, 0.1665, 0.926, -0.4141, -0.4274, 0.9969, 1.1572, 2.1532, 1.3956, -0.5259, 0.8528, 0.8074, 0.1785] state[eef_state]: left_x=0.3331 left_y=-0.0818 left_z=0.1124 left_yaw=0.1335 left_pitch=0.3175 left_roll=-0.3239 left_gripper=0.9969 right_x=0.2942 right_y=0.3482 right_z=0.0292 right_yaw=0.0304 right_pitch=-0.1521 right_roll=-0.2963 right_gripper=0.1785 state[joint_eff]: [-0.0342, -3.6171, 4.9846, 1.7851, 0.0366, 0.0855, -0.0073, 0.0068, -11.2752, 4.9026, 0.7692, 0.2955, 0.0366, 0.2222] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.25,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The left arm has backed off somewhat, and the contact loads have fallen. I’m moving the right arm up and toward its own side to separate the arms and check its grasp."})
tool
executing move_to over 10 steps (1.0s)
step 348
assistant
agent noteThe small brown plush is now lifted, and the arms are separated. I’m keeping it safely raised while the left arm makes a straight, corrected descent onto the yellow marker.
move_to
left_x0.3100left_y-0.1000left_z0.0080left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.3000right_y0.2500right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4606, 1.3392, 0.1577, 0.9054, -0.4072, -0.4419, 0.9969, 1.0256, 1.5349, 1.0664, -0.4446, 0.7952, 0.7166, 0.1807] state[eef_state]: left_x=0.3298 left_y=-0.0815 left_z=0.102 left_yaw=0.1282 left_pitch=0.2834 left_roll=-0.3184 left_gripper=0.9969 right_x=0.2991 right_y=0.2568 right_z=0.1655 right_yaw=0.006 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.1807 state[joint_eff]: [-0.0479, -3.9316, 5.6684, 2.0098, -0.1538, 0.0952, -0.0171, -0.4034, -7.7607, 6.5846, 1.2332, 0.4176, -0.1148, 0.2173] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.1,"left_z":0.008,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.3,"right_y":0.25,"right_z":0.23},"note":"The small brown plush is now lifted, and the arms are separated. I’m keeping it safely raised while the left arm makes a straight, corrected descent onto the yellow marker."})
tool
executing move_to over 10 steps (1.0s)
step 358
assistant
agent noteThe yellow marker is centered between the left fingertips. I’m closing the jaws around it before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5758, 1.6119, 0.2012, 0.7719, -0.4747, -0.3729, 0.9969, 1.0145, 1.5108, 1.2373, -0.6624, 0.7734, 0.6987, 0.1833] state[eef_state]: left_x=0.3073 left_y=-0.099 left_z=0.0082 left_yaw=0.0046 left_pitch=0.0022 left_roll=-0.028 left_gripper=0.9969 right_x=0.2986 right_y=0.2533 right_z=0.2091 right_yaw=0.0171 right_pitch=-0.054 right_roll=-0.0425 right_gripper=0.1833 state[joint_eff]: [-0.3897, -4.8205, 5.2034, 1.6093, -0.3053, 0.1392, -0.0171, -0.5812, -8.4171, 9.4564, 1.1111, 0.4127, 0.0269, 0.2564] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow marker is centered between the left fingertips. I’m closing the jaws around it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 368
assistant
agent noteThe yellow marker is secured; I’m test-lifting it. I’m moving the right arm away from the center so the left arm can reach the marker basket without another arm collision.
move_to
left_z0.0900right_x0.3000right_y0.0700right_z0.2500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5777, 1.623, 0.202, 0.7708, -0.4717, -0.3744, 0.1535, 1.013, 1.5116, 1.2407, -0.6689, 0.7547, 0.6952, 0.1849] state[eef_state]: left_x=0.3062 left_y=-0.0995 left_z=0.0048 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0246 left_gripper=0.1535 right_x=0.2975 right_y=0.255 right_z=0.2075 right_yaw=0.0288 right_pitch=-0.0688 right_roll=-0.0402 right_gripper=0.1849 state[joint_eff]: [0.0615, -5.5316, 3.5214, 1.5897, -0.1978, -0.022, 1.1062, 0.0342, -6.4205, 6.5026, 1.2479, 0.4518, 0.0122, 0.149] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_x":0.3,"right_y":0.07,"right_z":0.25,"right_pitch":0,"right_roll":0},"note":"The yellow marker is secured; I’m test-lifting it. I’m moving the right arm away from the center so the left arm can reach the marker basket without another arm collision."})
tool
executing move_to over 16 steps (1.6s)
step 384
assistant
agent noteThe yellow marker lifted successfully, and I’m raising it above the basket rim. I’m setting the brown plush down on the clear right side of the table rather than stretching the right arm toward the displaced left basket.
move_to
left_z0.2350right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5785, 1.1606, 0.3553, 0.1459, -0.4713, -0.3752, 0.1551, 0.4137, 0.9459, 0.9249, -0.6022, 0.3527, 0.2295, 0.1871] state[eef_state]: left_x=0.3034 left_y=-0.0981 left_z=0.0798 left_yaw=0.0005 left_pitch=-0.0162 left_roll=-0.0204 left_gripper=0.1551 right_x=0.3009 right_y=0.0694 right_z=0.2435 right_yaw=-0.009 right_pitch=-0.0191 right_roll=-0.0046 right_gripper=0.1871 state[joint_eff]: [-0.0752, -3.9453, 8.7316, 1.5116, -0.1929, 0.0122, 1.0281, -0.212, -2.8786, 6.8855, 1.7705, 0.0904, -0.0122, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.235,"right_z":0.04},"note":"The yellow marker lifted successfully, and I’m raising it above the basket rim. I’m setting the brown plush down on the clear right side of the table rather than stretching the right arm toward the displaced left basket."})
tool
executing move_to over 14 steps (1.4s)
step 398
assistant
agent noteThe brown plush is resting on the table, so I’m releasing it. The left arm is carrying the yellow marker toward the near-left part of the marker basket.
move_to
left_x0.4900left_y-0.4000left_z0.2400left_pitch0.2000right_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]: [-0.5785, 1.0088, 0.878, -0.5323, -0.4713, -0.382, 0.1614, 0.4065, 1.2381, 0.2203, 0.3328, 0.3508, 0.2169, 0.1885] state[eef_state]: left_x=0.3049 left_y=-0.099 left_z=0.223 left_yaw=0.0042 left_pitch=-0.0194 left_roll=-0.024 left_gripper=0.1614 right_x=0.2948 right_y=0.0647 right_z=0.0354 right_yaw=-0.0092 right_pitch=-0.0761 right_roll=-0.0391 right_gripper=0.1885 state[joint_eff]: [-0.2393, -2.7692, 9.2239, 1.5751, -0.2027, 0.0024, 1.0281, 0.5128, -2.4547, 4.0957, 1.0672, -0.105, 0.1001, 0.1441] camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.4,"left_z":0.24,"left_pitch":0.2,"right_gripper":1},"note":"The brown plush is resting on the table, so I’m releasing it. The left arm is carrying the yellow marker toward the near-left part of the marker basket."})
tool
executing move_to over 27 steps (2.7s)
step 425
assistant
agent noteThe yellow marker is above the right basket’s opening. I’m lowering it for release and returning the empty right arm to its parked position.
move_to
left_z0.1200right_x0.2960right_y0.0000right_z0.1850right_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]: [-0.8886, 2.3299, 2.1944, -0.4431, -0.8158, -0.5045, 0.1614, 0.4057, 1.2415, 0.21, 0.3485, 0.3466, 0.2134, 0.998] state[eef_state]: left_x=0.4889 left_y=-0.3923 left_z=0.2256 left_yaw=0.0341 left_pitch=0.1768 left_roll=-0.044 left_gripper=0.1614 right_x=0.2936 right_y=0.0647 right_z=0.0335 right_yaw=-0.0046 right_pitch=-0.0755 right_roll=-0.0386 right_gripper=0.998 state[joint_eff]: [-0.5949, -14.5026, 8.8274, 1.4872, -0.2759, 0.486, 1.0281, -0.1299, -3.3573, 6.3795, 1.4628, 0.1001, -0.0171, -0.1294] 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":{"left_z":0.12,"right_x":0.296,"right_y":0,"right_z":0.185,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow marker is above the right basket’s opening. I’m lowering it for release and returning the empty right arm to its parked position."})
tool
executing move_to over 10 steps (1.0s)
step 435
assistant
agent noteThe yellow marker is within the basket opening, alongside the other two markers. I’m opening the left gripper to release it.
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]: [-0.8871, 2.36, 1.8633, -0.1108, -0.8089, -0.5072, 0.1614, -0.0074, 0.8066, 0.5671, -0.3267, 0.0254, 0.001, 0.9979] state[eef_state]: left_x=0.4866 left_y=-0.3893 left_z=0.1245 left_yaw=0.0279 left_pitch=0.1562 left_roll=-0.0255 left_gripper=0.1614 right_x=0.2979 right_y=-0.0031 right_z=0.1706 right_yaw=-0.034 right_pitch=-0.0056 right_roll=-0.0058 right_gripper=0.9979 state[joint_eff]: [-0.1846, -12.9983, 6.2564, 1.7314, -0.3199, 0.0024, 1.0281, -0.1846, -2.2359, 9.4974, 1.6142, -0.0757, -0.0464, -0.022] camera 'top_cam' (step 435): [image omitted: streamed camera frame] camera 'left_cam' (step 435): [image omitted: streamed camera frame] camera 'right_cam' (step 435): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow marker is within the basket opening, alongside the other two markers. I’m opening the left gripper to release it."})
tool
executing move_to over 9 steps (0.9s)
step 444
assistant
agent noteAll three markers are now in the right basket, and the gray plush is in the left basket. I’m withdrawing the arms; the tan and brown plush animals remain on the table, so the sorting task is not yet complete.
move_to
left_x0.2960left_y0.0000left_z0.2400left_pitch0.0000left_roll0.0000left_yaw0.0000right_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]: [-0.8871, 2.3749, 1.8553, -0.1116, -0.8089, -0.5175, 0.9954, -0.0124, 0.8097, 0.5682, -0.3542, 0.0151, -0.0151, 0.9979] state[eef_state]: left_x=0.4857 left_y=-0.3882 left_z=0.1124 left_yaw=0.0306 left_pitch=0.1417 left_roll=-0.0161 left_gripper=0.9954 right_x=0.2945 right_y=-0.0027 right_z=0.1646 right_yaw=-0.0217 right_pitch=-0.0351 right_roll=-0.014 right_gripper=0.9979 state[joint_eff]: [-0.3487, -15.1316, 7.4735, 1.5214, -0.2906, 0.0855, -0.0024, 0.3214, -1.5521, 6.9538, 1.9853, 0.0806, 0.0904, -0.0122] camera 'top_cam' (step 444): [image omitted: streamed camera frame] camera 'left_cam' (step 444): [image omitted: streamed camera frame] camera 'right_cam' (step 444): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.24,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"All three markers are now in the right basket, and the gray plush is in the left basket. I’m withdrawing the arms; the tan and brown plush animals remain on the table, so the sorting task is not yet complete."})
tool
executing move_to over 35 steps (3.5s)
step 479
assistant
agent notePartially completed: classified the objects as plush animals and markers. All three markers are in the right basket, and the gray plush is in the left basket. The tan and brown plush animals remain on the table. Repositioning the bulky tan plush displaced the left basket, and the remaining action budget is insufficient to finish safely. Both grippers are empty and the arms are withdrawn.
give_up
hindsightThere are three plush animals and three markers; the small brown plush and white marker are initially easy to miss. Explicitly command yaw/pitch/roll during subsequent moves to avoid accumulating orientation drift. Grasp the tan plush near its center: an off-center grip left its body hanging outside the basket. A regrasp near the basket rim caught and displaced the basket instead. These arms can contact through their wrist bodies even with grasp points around 15–20 cm apart in the center; keep one arm out of the central workspace during low grasps. Successful marker grasp locations were approximately right (0.31,0.04,0.01) for white, right (0.33,0.15,0.01) for blue, and left (0.31,-0.10,0.008) for yellow.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0563, 0.8494, 0.8192, -0.5369, -0.1047, -0.0849, 0.9967, -0.001, 0.8192, 0.6186, -0.4252, 0.0174, -0.0158, 0.9979] state[eef_state]: left_x=0.3005 left_y=0.0052 left_z=0.231 left_yaw=0.0642 left_pitch=-0.0024 left_roll=-0.0049 left_gripper=0.9967 right_x=0.2919 right_y=0.0002 right_z=0.1705 right_yaw=-0.0118 right_pitch=-0.0653 right_roll=-0.0163 right_gripper=0.9979 state[joint_eff]: [0.0205, -1.8393, 9.2923, 1.8242, 0.0659, 0.1001, 0.1294, 0.1846, -1.2239, 10.0991, 1.7656, 0.0855, 0.0317, -0.0122] camera 'top_cam' (step 479): [image omitted: streamed camera frame] camera 'left_cam' (step 479): [image omitted: streamed camera frame] camera 'right_cam' (step 479): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: classified the objects as plush animals and markers. All three markers are in the right basket, and the gray plush is in the left basket. The tan and brown plush animals remain on the table. Repositioning the bulky tan plush displaced the left basket, and the remaining action budget is insufficient to finish safely. Both grippers are empty and the arms are withdrawn.","hindsight":"There are three plush animals and three markers; the small brown plush and white marker are initially easy to miss. Explicitly command yaw/pitch/roll during subsequent moves to avoid accumulating orientation drift. Grasp the tan plush near its center: an off-center grip left its body hanging outside the basket. A regrasp near the basket rim caught and displaced the basket instead. These arms can contact through their wrist bodies even with grasp points around 15–20 cm apart in the center; keep one arm out of the central workspace during low grasps. Successful marker grasp locations were approximately right (0.31,0.04,0.01) for white, right (0.33,0.15,0.01) for blue, and left (0.31,-0.10,0.008) for yellow."})
tool
give_up: Partially completed: classified the objects as plush animals and markers. All three markers are in the right basket, and the gray plush is in the left basket. The tan and brown plush animals remain on the table. Repositioning the bulky tan plush displaced the left basket, and the remaining action budget is insufficient to finish safely. Both grippers are empty and the arms are withdrawn.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0216, -0.0261, 0.9996, -0.0154, 0.7967, 0.6106, -0.3744, -0.0124, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0012 right_z=0.1834 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6342, 9.265, 1.7558, -0.0415, 0.0757, -0.0562, -0.9368, -1.4017, 9.935, 1.7363, -0.0904, -0.0317, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba695421748d51cf8a7c187956774124c68451fa4bb52fee0f51fd45af18735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796a5265f332c101cd4b884f5caf072da574d33a9be952462c9fea329753f4a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1293425eeb6b213b77565e286b07b456c27061610a48b324f5702bc48bd1d48e",
      "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 · 5.542 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0959d906c01483fd016ab49171e7dc87d09dca3068e62dd4c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.09,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"I see plush animals and two slim pen-like objects. I’ll sort the plush animals into the left basket and the slim objects into the right, starting with the gray plush on the left.\"}",
  "call_id": "call_Xl108Kii3l10h4sCCvld60AB",
  "id": "fc_0959d906c01483fd016ab491794f9887d08a85d688c46ca283",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xl108Kii3l10h4sCCvld60AB",
  "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]: [-0.7158, 0.8116, 0.5186, -0.392, -0.5632, -0.4362, 0.9996, -0.0154, 0.7986, 0.6086, -0.3851, -0.0128, -0.0227, 0.9992]\nstate[eef_state]: left_x=0.2606 left_y=-0.0969 left_z=0.1515 left_yaw=-0.0318 left_pitch=-0.0032 left_roll=-0.0105 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -1.4564, 6.4479, 1.5702, -0.4469, 0.0122, -0.0562, -0.7316, -1.5795, 7.6513, 1.7265, -0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc63b0d9fab49262456b08d545030a423e8674a63fe237ad0aecfca14aae6798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6cd6415fb95c43db08ccf94ac6dc10a449660f6186e4379fbfc750d9ef4360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5012c7c6b356550c4b7590ed0c0ae304366dfd8e233c7a2446c7f6198e99e790",
      "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 · 3.37 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0216, -0.0261, 0.9996, -0.0154, 0.7967, 0.6106, -0.3744, -0.0124, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0012 right_z=0.1834 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6342, 9.265, 1.7558, -0.0415, 0.0757, -0.0562, -0.9368, -1.4017, 9.935, 1.7363, -0.0904, -0.0317, -0.0952]",
      "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]: [-0.7158, 0.8116, 0.5186, -0.392, -0.5632, -0.4362, 0.9996, -0.0154, 0.7986, 0.6086, -0.3851, -0.0128, -0.0227, 0.9992]\nstate[eef_state]: left_x=0.2606 left_y=-0.0969 left_z=0.1515 left_yaw=-0.0318 left_pitch=-0.0032 left_roll=-0.0105 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -1.4564, 6.4479, 1.5702, -0.4469, 0.0122, -0.0562, -0.7316, -1.5795, 7.6513, 1.7265, -0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc63b0d9fab49262456b08d545030a423e8674a63fe237ad0aecfca14aae6798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6cd6415fb95c43db08ccf94ac6dc10a449660f6186e4379fbfc750d9ef4360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5012c7c6b356550c4b7590ed0c0ae304366dfd8e233c7a2446c7f6198e99e790",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGCNfzxNmX25OGwwF0k9oM-0g7ycNnSMDqjwGX1HsQ387CRtJqZxExGF8O3zmeODtYATGUwsF6BCdvBe0vyPzJBY_gSrZa_LF9WS5VJ6BHVjX_M-XnYPRbPG1DHgIlgruTlfHH5N_Gym5bR9-UC0js3Ntmujy0_sressr66Qcp00Da69j8eYOmjzQOYl5LOB0g5IlPOrwqMcWjRxFFsB0FBnOSihXpBI3hN5hM4_KilrLNLebe1K7ajFI4jaehkfHutMS-M-qXq-BLERIw9W3f5mpk9QOl395NBZrfHGE2utrsFKvlv0xupVeEy5rZ638CDDAa6864uppWiO7f6XZ7F-4xeqHYwL7uB3bNoVfbH_2I6gEqUK7hOvC-IN1rfwO9aqhJ0Dhdxsph5jwWPdehKAhq5g3RgVxc7bijG-evYAqmkPTHW3xAbXv6M7vMd-PU7EcWwpFo-l9EJR__9wWxEmxNP2rLs5b3CNOXT3UXji_nOTqGn341axEj3lty4G2K8rjpvpHeS4rCx9x-PSzSN8Ghe7dZUp-D_yE7X0xgWWVDCXnTxYioQ6bdJhcnpiUiypSSzOG66K61_NuAwvkd6yknOL0-ka1Nl7HXbHAMzvplh03e4VNSrEhNMjogGNY0z9zPMP_I-TnKbCLTceNhuU4Wkt_-PB_o8s69uzxaPlB7APYV1HkJggtfZmw_xHy6J-H5gPU5JrA5FdwAncfnbNcA6uZREzfIXwU1evPUiuaKRKQ2rVMcY8zze8yGO9EKryAPAk_SMVbMXXMD7OjtA1LO9AbUtLbmd08_e-i77TiP_E2CmB8LxHIb2HbPYTJ1GIDt72XJ65Kiv25NrHHN2-gPN0O_s-R3ePOXNJWh2TdTCjSxYAJNWgrrEA8GzljYT52BvpHgWP4U2WLKhPgqnCUVPxuXd3V79zX14qUtJhgDQjaQD5RnVIyhJ5UPjTfjug0TA1RqPM9-n4COFaHVmvxHfiusnZMvibsROzq2xgIZnXRKzhlEqXMSsB9zqA87gP-KvcKKgSk45KQVY2g6MW7vFAblpfbtJeqNwHCD0nUJmipu93rp7NQbXwypVM_EXKS9NXrKoVh0ph9vbvscZT7-0bMCYiuJyrRFOX7DDIfIBbbbUGr8RYBlcUixV6iXrPt-wt637VOnW7OlQ1eyUt7LcPT3x71k4KIJkJR4W3pSgxm8WWARIuvoXhfEKX2y3uzVNnK6B4BMp8lqGfMy80CCSKD4aIg9j_6KHJaJk1V3ibXRhetf_mdtEFUJF3nKJgx8xOfuR7c_Jpy7MQtwh3n5MRREGAXAro9gTKl0Y6e_Fs2cRimTVcYwCQ5pfpH2425y-mqTgsq1jOvU61ioSf8qcyMy8PwLEkATc9-YKaw5FJGWVE7D6uJo0qpqN21Ixq_BPtRAK77Qkz4-evEycva8yjc5AOUZTZFWT71JsES896cEkLY88J3uWHkJfGE5Q9wr76gCiNFtz6b-9p60TMdIKjXICL3v4AInT-QIaL9ErF_TPpTHk5B6NFTyxTu351c1Wrvicrcj8fk8XO5qV_j1kijCI6Gqmtaq1OCA4z9KQDENPY1FUdxhwb6cG58wGwLive6BYpcktng4DPWZ1Zy66sySlFsfX8_9bZDLFadjy8gppCfvIFNU81lEr64uDWhvnG6iS-Va9K9v4IgPgdfHg_Ztx-0H38wtmTmz3jb8_GFDaqqePhgjwq9yG3G780KC3-FAM-8-tlnTi6DZjFwBpZMB60gqRSHXiCsIcXcGTbS9_yMX-TPafLNaGcC-VcgDuwa_D1SLMz0icKKwEsEEi1wexAzC5K_inavnhOlU29qk2uOnjCLWK0oCBL5Tg7DPG2f3vMvXJUbZJLNGbUs00tbRHS_3HKQ1uVNseB3CpO4ufmGo9H7HlbyfcqwsZJplBf4EusEq6HyGckmdnhPkEpHgDrisMN-vYbDKpOyYMXlFo0Vzjl9-2QQs-xZfuPH0u9BGUvPzrnxhA5I4J_rPxaV7aF7B25TwemUaOMHdMyPSxj6_9_njGpIFieXJ5JWuBzvp4n_Ddekho-DTMb86sOgQuLbhB6krBL3QEWBeLQgS2mfyujQZAcgMNt2ZGOs3dCsjkoSu8hLxCEAqxEoYT7eSNP1yJp5owW2dDP-y365Qg3Y98J8PM7BfA4675",
  "id": "rs_0959d906c01483fd016ab4917d9b1087d0a849cdcf09ab9d93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":0.015,\"left_z\":0.065},\"note\":\"The wrist view shows the gray plush to the left of the jaws; the first approach was too far toward the table center. I’m shifting left and lowering toward its body.\"}",
  "call_id": "call_X0e3i8jErcwonSTjQRy08xtv",
  "id": "fc_0959d906c01483fd016ab4918140d087d0b242ec5e7f9c70ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0e3i8jErcwonSTjQRy08xtv",
  "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]: [0.1429, 0.6807, 0.1204, -0.0357, 0.12, 0.0513, 0.9995, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2574 left_y=0.0193 left_z=0.0611 left_yaw=0.0007 left_pitch=-0.03 left_roll=-0.0144 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -0.5402, 6.2838, 2.0488, 0.1832, 0.0806, -0.0171, -0.3897, -1.2103, 7.0632, 1.7998, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3abd4ecfbd1730f98369ec0b8da16839c03e80df17f8273cdd363acd20e8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3b541fbb7d0b694daef98264c8f481573e517bf611a3460e8c4861da10817c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4a91196301c50ad25d3058dad8e509f7317222ec2cbafce814ff1b53c34da4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.809 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]: [-0.7158, 0.8116, 0.5186, -0.392, -0.5632, -0.4362, 0.9996, -0.0154, 0.7986, 0.6086, -0.3851, -0.0128, -0.0227, 0.9992]\nstate[eef_state]: left_x=0.2606 left_y=-0.0969 left_z=0.1515 left_yaw=-0.0318 left_pitch=-0.0032 left_roll=-0.0105 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -1.4564, 6.4479, 1.5702, -0.4469, 0.0122, -0.0562, -0.7316, -1.5795, 7.6513, 1.7265, -0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1429, 0.6807, 0.1204, -0.0357, 0.12, 0.0513, 0.9995, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2574 left_y=0.0193 left_z=0.0611 left_yaw=0.0007 left_pitch=-0.03 left_roll=-0.0144 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -0.5402, 6.2838, 2.0488, 0.1832, 0.0806, -0.0171, -0.3897, -1.2103, 7.0632, 1.7998, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3abd4ecfbd1730f98369ec0b8da16839c03e80df17f8273cdd363acd20e8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3b541fbb7d0b694daef98264c8f481573e517bf611a3460e8c4861da10817c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4a91196301c50ad25d3058dad8e509f7317222ec2cbafce814ff1b53c34da4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJGHyKq8YhxGZwFTVCrhs5_9gDP0YnWaox_KyxhWXor1StHlenrHpjI1lezlDAuLtxsk89fH4Fd2q_2Aj1WVBJX11tpqFOWj-kCfa7SOyOST0fjdR8aiPcKm-DYTYeDTfZXaiZ6EjZUKT6VBqXlK_Fk3QJSzaLk5n352wIk_p5LdKkU5xSt4QAEYNikLtYAnP1JxkLXdRIyT_ms_NvtOmpPQGj7BiuRWCMPfSO22GSuQOsb-oXzCvwn-RpQZOXewDkgh7JpY3mlG3JPlobAeEAAtQfs09YoOnB7GttxRNgAjZ5uIzIyodZ9BYzRyAlCO6ovaVawdeKEI1xnzMgxMDcJzapmrntdnMDBlBLvwEvtvoG-1hs753PYdapBH_R0oMegQJNgwN40JN1zbuzuZbRBzHknRFaDe2xgshRQ-Skj5QB6gBaDQx-pReOEcR3XmAcRnkzZfPiopYFgbEoGd5WMTYJF-1_sS4UV9zICqhH5-5gZ_dB4FRl19NJ1KxdHAL-UPLrAX5KnlkV7PoNEsxTjo0OAloqCcYMCt76rfe_fse8Xgp34Fe-7EKsyCACOhbq8vxnvwZLy10thsoYFQ0XLe48_KiL0UUYYan_y1c9yw80Ia4LZeEMkJuaKxYl274cGruLddzCBUCwmpmzBuECuWOSGd418qfMN9FKmsEH9XUE12d7zBdUaYu8QcVbpFHofl4hwAJaVkqgp6JrVClvpEQGz94ohXVcBXJctRPVwLSGTAnJpH4-N_mgiwdGaLIkFAE2imgntPcdF8UIilOEczQaE1wDi69LE1yg4WGzviAbtsxYVZdnxoG1Y20wXViN9xhzUcXJ1sutS6D6T1M72xnbGfQA9PoPW2vcgE64iiIIBAoh7lN3Lv8guFkMHp1Lra9Ah33CBkIfrbxbYEe0-GsBlogo58xfWOO3lrcb33jdH20KkAte2ayXocF_8SwgpvHmJpKM_uhSb4Ccq2gVdh7b4bXwSsIBUwDTVlEhQwRVV_NP_lxeZOiY2ap_dsxzqpdziTaqcj2QKw9tnol9mXwIpeGU5gzPb_XQ7thdnqSUB2jWlQD88LuB4tahpdWdyOuhpc5dgKadjHdEfsXPQUla0OpZHhOp3l4S70LYdAWhVfVXVWFT1iXgYq48iYX7tWoNf9btVIcm8LJ56QY8GHqESC_1z9EjOgcpLIxQD2ZKhj-eCcJRgAnTakKb8ilGcayq62vywiI1hxuBnkbFeO446THQNS9qOEoG-Bvn2Rw7lESUro1eNdmqPQo_wnGBymkU1pngZUCLek3VUvhtVhhPsoBaeCbHePmvXhrLNf7ihka_-0LuhjokPIOQ_7U76g451bhY3q1aKhAyeZWdhZ4EFoH9SsaVDLFLYwV7rD1Hvu9QoIzF9i9sZmhrfJzbj9XXhSDKacOKJC--kotRoZtJiol0sQ3x0mR4YBE0Rbd_vWycK5L-GHNP76TmSRnLE17Uf6cBWqRO2tVwDzssprvI6eTngxOdGOk5Q_uPXkp3ofB_eUARc2XSsFejr6MyhmF-18bvKUS8WCZm6qEk_eiF3seIuUV0wXLVwHOjM_RUow5TdNPqNaDlUToqAigBGT",
  "id": "rs_0959d906c01483fd016ab49185b33487d082e030e656b8b175",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The gray plush’s body is now centered between the open jaws. I’m lowering the fingertips around its soft torso before closing.\"}",
  "call_id": "call_k0ieyq2JooTNVtqgoK9sTz52",
  "id": "fc_0959d906c01483fd016ab49187079487d0894f17de8d345e46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k0ieyq2JooTNVtqgoK9sTz52",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1429, 0.9077, 0.0055, 0.2752, 0.1276, 0.0525, 0.9995, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2553 left_y=0.0176 left_z=0.0213 left_yaw=-0.0065 left_pitch=-0.0599 left_roll=-0.0223 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0029 right_pitch=-0.0183 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4017, 5.4906, 1.8437, -0.0513, -0.0122, -0.0073, -0.2256, -1.5795, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dc127f95ccd601114eb1fd414e27b99d7d876062e82754082f9f8f2b42b28a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865849a8127d0485e1b53e37c233d95db16187ccd3add8107ab8e40ccdf03244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190d6546ca88f418ab3fe6cb4c58f456947b1d5560db754aa52341fb958c795b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.289 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0216, -0.0261, 0.9996, -0.0154, 0.7967, 0.6106, -0.3744, -0.0124, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0012 right_z=0.1834 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6342, 9.265, 1.7558, -0.0415, 0.0757, -0.0562, -0.9368, -1.4017, 9.935, 1.7363, -0.0904, -0.0317, -0.0952]",
      "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]: [0.1429, 0.6807, 0.1204, -0.0357, 0.12, 0.0513, 0.9995, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2574 left_y=0.0193 left_z=0.0611 left_yaw=0.0007 left_pitch=-0.03 left_roll=-0.0144 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -0.5402, 6.2838, 2.0488, 0.1832, 0.0806, -0.0171, -0.3897, -1.2103, 7.0632, 1.7998, -0.0464, -0.0464, -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]: [0.1429, 0.9077, 0.0055, 0.2752, 0.1276, 0.0525, 0.9995, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2553 left_y=0.0176 left_z=0.0213 left_yaw=-0.0065 left_pitch=-0.0599 left_roll=-0.0223 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0029 right_pitch=-0.0183 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4017, 5.4906, 1.8437, -0.0513, -0.0122, -0.0073, -0.2256, -1.5795, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dc127f95ccd601114eb1fd414e27b99d7d876062e82754082f9f8f2b42b28a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865849a8127d0485e1b53e37c233d95db16187ccd3add8107ab8e40ccdf03244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190d6546ca88f418ab3fe6cb4c58f456947b1d5560db754aa52341fb958c795b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are down around the gray plush’s torso. I’m closing the jaws to secure it.\"}",
  "call_id": "call_5cZyNtl0j9GoPwXOd2ljQctN",
  "id": "fc_0959d906c01483fd016ab4918a157887d08ceee8897443b64e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5cZyNtl0j9GoPwXOd2ljQctN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1421, 0.9081, 0.0055, 0.2855, 0.1314, 0.0521, 0.1242, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2568 left_y=0.017 left_z=0.0233 left_yaw=-0.0102 left_pitch=-0.0498 left_roll=-0.0233 left_gripper=0.1242 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0187 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -0.7316, 5.9282, 1.5702, -0.022, -0.0122, 0.8816, -0.2393, -1.2103, 7.2957, 1.7021, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78adc93e32367f94afedc3557c4a21ab6647d74fd358e6f281a8458b697645f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecd00643f5a9bfc639c77b1f20d4b79a3b727b285f7aa32deab990edb707bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed1f5ea569d32e06ee46216da81548e2d6ed8ac86a2572e2caa5f4e13470d93",
      "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 · 6.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7158, 0.8116, 0.5186, -0.392, -0.5632, -0.4362, 0.9996, -0.0154, 0.7986, 0.6086, -0.3851, -0.0128, -0.0227, 0.9992]\nstate[eef_state]: left_x=0.2606 left_y=-0.0969 left_z=0.1515 left_yaw=-0.0318 left_pitch=-0.0032 left_roll=-0.0105 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0051 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -1.4564, 6.4479, 1.5702, -0.4469, 0.0122, -0.0562, -0.7316, -1.5795, 7.6513, 1.7265, -0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1429, 0.9077, 0.0055, 0.2752, 0.1276, 0.0525, 0.9995, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2553 left_y=0.0176 left_z=0.0213 left_yaw=-0.0065 left_pitch=-0.0599 left_roll=-0.0223 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0029 right_pitch=-0.0183 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4017, 5.4906, 1.8437, -0.0513, -0.0122, -0.0073, -0.2256, -1.5795, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1421, 0.9081, 0.0055, 0.2855, 0.1314, 0.0521, 0.1242, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2568 left_y=0.017 left_z=0.0233 left_yaw=-0.0102 left_pitch=-0.0498 left_roll=-0.0233 left_gripper=0.1242 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0187 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -0.7316, 5.9282, 1.5702, -0.022, -0.0122, 0.8816, -0.2393, -1.2103, 7.2957, 1.7021, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78adc93e32367f94afedc3557c4a21ab6647d74fd358e6f281a8458b697645f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecd00643f5a9bfc639c77b1f20d4b79a3b727b285f7aa32deab990edb707bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed1f5ea569d32e06ee46216da81548e2d6ed8ac86a2572e2caa5f4e13470d93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper remains partly open, consistent with holding the plush. I’m lifting a few centimeters to check that the toy comes up with it.\"}",
  "call_id": "call_7paYYuvE4Pg2z0ZfOCI8UwjZ",
  "id": "fc_0959d906c01483fd016ab4918ce70487d08906ffab0437c37e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7paYYuvE4Pg2z0ZfOCI8UwjZ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.6327, 0.2375, -0.2497, 0.1314, 0.0479, 0.1255, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2526 left_y=0.0163 left_z=0.0819 left_yaw=-0.0086 left_pitch=-0.0773 left_roll=-0.0309 left_gripper=0.1255 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0031 right_pitch=-0.0214 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -0.5402, 9.5385, 1.663, 0.022, -0.022, 0.1294, -0.1026, -1.2103, 7.2547, 1.707, -0.0317, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290005ae597db56a8ca48282675bdd1e0e1fd4216f1b6aca2ce0626d164efb83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632ef0e65ad3faed7fb377fe51fabd57a3ebc4e553434fc58e5092ba1283443",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6613f0b42bebb566238e82b60893497fa43cc82c6c2459e99468d1ccb949064",
      "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 · 2.713 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 20 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]: [0.1429, 0.6807, 0.1204, -0.0357, 0.12, 0.0513, 0.9995, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2574 left_y=0.0193 left_z=0.0611 left_yaw=0.0007 left_pitch=-0.03 left_roll=-0.0144 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0029 right_pitch=-0.0145 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -0.5402, 6.2838, 2.0488, 0.1832, 0.0806, -0.0171, -0.3897, -1.2103, 7.0632, 1.7998, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1421, 0.9081, 0.0055, 0.2855, 0.1314, 0.0521, 0.1242, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2568 left_y=0.017 left_z=0.0233 left_yaw=-0.0102 left_pitch=-0.0498 left_roll=-0.0233 left_gripper=0.1242 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0187 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -0.7316, 5.9282, 1.5702, -0.022, -0.0122, 0.8816, -0.2393, -1.2103, 7.2957, 1.7021, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.6327, 0.2375, -0.2497, 0.1314, 0.0479, 0.1255, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2526 left_y=0.0163 left_z=0.0819 left_yaw=-0.0086 left_pitch=-0.0773 left_roll=-0.0309 left_gripper=0.1255 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0031 right_pitch=-0.0214 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -0.5402, 9.5385, 1.663, 0.022, -0.022, 0.1294, -0.1026, -1.2103, 7.2547, 1.707, -0.0317, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290005ae597db56a8ca48282675bdd1e0e1fd4216f1b6aca2ce0626d164efb83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632ef0e65ad3faed7fb377fe51fabd57a3ebc4e553434fc58e5092ba1283443",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6613f0b42bebb566238e82b60893497fa43cc82c6c2459e99468d1ccb949064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJGWA15KuSlvnzX9LLaFR2z9q_NbdHlS21nV0yzVjauHUDw9fg5Xtska0gD5M3oFv_IsawrJdEzWJMPg4y5rmVzMjRT8H_Arh-wDVCGupnieaZQ5SkHiXkbFztMHF14Xo9IipxvIELccH1kOTxoQZZ-b1QU8zjOanLL1mJ7yqGnIWJrHTT6Vqal3qQN8oa9V9tromnuy0AqhVWotBS0fK4a6ySDK9VSuDKN3F8IjGBxF-h8OrvKDTbSG2ul2W3zZCgXvzDLuJmmeX37g3HAezSD7x3vhOieTeeQbEvsDK91TwoHEiRTUv45OsttqokNmB9gpdXZ1tA5KyW0jhV6_Oy1GvGeM4gqBDI6AHkInMS161x0y6iwZ-UE-mVlkhAcg74jWjpXMaU5gl8u7veiaaHaDMnCe40nqWbyzSMixQXgKKT6aTC6zw-_xQO7J3gG5Ul5NvOCvP15EGKNw7bvOG3Y2DA7eshIFnMcmAOiIi18y7ulSmPPsfMMZ836CJIMrQkX44aXd5Sq01Z6MtuFFFtXxzyleCN7yWwkmcN7m4FibLY2QQOYbEWda8BOkyTHp9qpbirDfE1dWqMRmefcDCsxdUjGABO7IzVcE_QUffeNvpwOE8yDRC2HVYc3NR0CUDAkzoaLSImsCBEtNGqAJMifScwd4kinDGdC3g0j2EiM8z7gvpvXz5A_dc94j_BFnAdqwOlm7Q6AbGAX2MFL0XT3HCTjckzPT1c1SGaPhDGNdAJ2JW-xEEHwW5p9jB3A_x0E1LoS1tRR4tfnFhebsZLXqILAm99stkHK9bpWFNw1XwKTcJ_mlx-23WvWYTEoSH_kOuUARtC20XrbiJNz-qnzrcGkBo6GMVOLtcAmSVZed62bXpjFTwKOema_zdAm-qDUkMg22Tu7k_vpmQqnQQFPZWYImRHzxHeOAZ1zzSbn45n8sfcZ4IL47kubqUa6mCWRwX1VUbzMbxsTi_TF96QxjhOZFy3dREyUPBhX_jBgdVD97iNiGVzDtGvWcYxBVkkpHQbPRXwJvVpXCArJvDaELjm_Pw84lSXaZWu7TcE0rLglKgWHivNyVC_5I_IdsEwN0fcbl1C2rIXUynYLUtgBjEUM07gzuB3E3eW72cJReqWnwOr_7zCUqCyWFCOyaXmHCIngyRJEXMdFH4Llsz7qUCm1IMrfBpZeNM-4VCocsm0gm0l6ACe1OXPZtd6duz9eYnUlpwHNL3znlSQYstKLki-T1iE5UXFORRWz3ctu8uXKIrxz1DgP7OlixRiC0pMvMH5eRCCZEW25SuNKqiAGGimPJW8lxR9-SKzHSQ3dipK5CSJ_ba5GU-TS-sLdpzlILX4cGEwAYGQ-SKsNxGKWbJpIujAC9KxcgPNPHqbIvd79LPd3WlWBflfsu_RO3oDHFpF5lbGKWk5LmEu7QDrXV5Qow1i7M3VqfdJ04Ira0idL-gew8CFcY2mAddwEAXPtyif-hO4v6ANru6Ri3P931RcqOt-xVFSkFqPUvL5a11ljx9fqdqYCATfj48C5QTYEHev3xFqMUkVeULTRtGEmnWD0tEiconjZmdByOHAkZelh2YK6DhnYQ8_Vhiz-enQKyEDtEmKf6d1zOBBOm2H-t5Y-YyyZEB_Y7HFDS1BzNILOJhNJlfWRdIdEReZYAXqN0e5patmBBfL_fxKTdcG5iBw==",
  "id": "rs_0959d906c01483fd016ab4919117c487d0982fd0c5c92107fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The gray plush has lifted with the gripper. I’m raising it above the basket rim before carrying it across.\"}",
  "call_id": "call_X1T4sJTyI3trzsidDPIzfyYi",
  "id": "fc_0959d906c01483fd016ab4919374bc87d0af6a4cca4bcb0a63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X1T4sJTyI3trzsidDPIzfyYi",
  "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]: [0.1417, 0.7242, 0.82, -0.7856, 0.1318, 0.0441, 0.1269, -0.0151, 0.8051, 0.6083, -0.3851, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2499 left_y=0.0158 left_z=0.2142 left_yaw=-0.0076 left_pitch=-0.1218 left_roll=-0.041 left_gripper=0.1269 right_x=0.2953 right_y=0.0012 right_z=0.1778 right_yaw=0.0027 right_pitch=-0.0214 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.6632, 9.4017, 1.7021, 0.0122, 0.022, 0.1245, -0.0889, -1.306, 7.0359, 1.7314, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:762ce15074273075a5f976779b46bce1238961aa6a7d663e9c3d92a8bb9c13a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12360fbde92bd4c9cd3cf97e80e597e2f804c71c04b24574edd39b842ba3322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0f0cbab4c92f2f047ded5d0ed71fbb68473054a9606347b90eb052f0334060",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.154 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 20 changed as sent

message 24 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]: [0.1429, 0.9077, 0.0055, 0.2752, 0.1276, 0.0525, 0.9995, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2553 left_y=0.0176 left_z=0.0213 left_yaw=-0.0065 left_pitch=-0.0599 left_roll=-0.0223 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0029 right_pitch=-0.0183 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4017, 5.4906, 1.8437, -0.0513, -0.0122, -0.0073, -0.2256, -1.5795, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.6327, 0.2375, -0.2497, 0.1314, 0.0479, 0.1255, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2526 left_y=0.0163 left_z=0.0819 left_yaw=-0.0086 left_pitch=-0.0773 left_roll=-0.0309 left_gripper=0.1255 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0031 right_pitch=-0.0214 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -0.5402, 9.5385, 1.663, 0.022, -0.022, 0.1294, -0.1026, -1.2103, 7.2547, 1.707, -0.0317, -0.0855, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.7242, 0.82, -0.7856, 0.1318, 0.0441, 0.1269, -0.0151, 0.8051, 0.6083, -0.3851, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2499 left_y=0.0158 left_z=0.2142 left_yaw=-0.0076 left_pitch=-0.1218 left_roll=-0.041 left_gripper=0.1269 right_x=0.2953 right_y=0.0012 right_z=0.1778 right_yaw=0.0027 right_pitch=-0.0214 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.6632, 9.4017, 1.7021, 0.0122, 0.022, 0.1245, -0.0889, -1.306, 7.0359, 1.7314, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:762ce15074273075a5f976779b46bce1238961aa6a7d663e9c3d92a8bb9c13a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12360fbde92bd4c9cd3cf97e80e597e2f804c71c04b24574edd39b842ba3322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0f0cbab4c92f2f047ded5d0ed71fbb68473054a9606347b90eb052f0334060",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.175,\"left_z\":0.25},\"note\":\"The gray plush is secure and clear of the table. I’m carrying it over the left basket, keeping it above the rim.\"}",
  "call_id": "call_1i8z8Y8isy8A5A1bN6y3RM5b",
  "id": "fc_0959d906c01483fd016ab4919adff887d0a51e88c2256860c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1i8z8Y8isy8A5A1bN6y3RM5b",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.7668, 1.6352, -0.6922, -0.3229, -0.3805, 0.1292, -0.0151, 0.8097, 0.6075, -0.3855, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4585 left_y=-0.1651 left_z=0.2241 left_yaw=0.0032 left_pitch=-0.2084 left_roll=-0.0291 left_gripper=0.1292 right_x=0.2955 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -8.9915, 9.7436, 1.8681, -0.3443, 0.2222, 0.2222, -0.0615, -1.6479, 7.2684, 1.7118, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc04c165bd0cd1454a6cc1ba63f0e89974438f5eaa1907a975c22acf2d52ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d430ad4d7506bf145647625600e0f3fa780ec40647dec055a2ef3b8d645d0aec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5531e62a2d97c84193481c0f4e107643729812444ff8a0bde1213399dea7ef39",
      "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 · 2.033 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 24 changed as sent

message 27 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1421, 0.9081, 0.0055, 0.2855, 0.1314, 0.0521, 0.1242, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.2568 left_y=0.017 left_z=0.0233 left_yaw=-0.0102 left_pitch=-0.0498 left_roll=-0.0233 left_gripper=0.1242 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0187 right_roll=-0.0058 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -0.7316, 5.9282, 1.5702, -0.022, -0.0122, 0.8816, -0.2393, -1.2103, 7.2957, 1.7021, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.7242, 0.82, -0.7856, 0.1318, 0.0441, 0.1269, -0.0151, 0.8051, 0.6083, -0.3851, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2499 left_y=0.0158 left_z=0.2142 left_yaw=-0.0076 left_pitch=-0.1218 left_roll=-0.041 left_gripper=0.1269 right_x=0.2953 right_y=0.0012 right_z=0.1778 right_yaw=0.0027 right_pitch=-0.0214 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.6632, 9.4017, 1.7021, 0.0122, 0.022, 0.1245, -0.0889, -1.306, 7.0359, 1.7314, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.7668, 1.6352, -0.6922, -0.3229, -0.3805, 0.1292, -0.0151, 0.8097, 0.6075, -0.3855, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4585 left_y=-0.1651 left_z=0.2241 left_yaw=0.0032 left_pitch=-0.2084 left_roll=-0.0291 left_gripper=0.1292 right_x=0.2955 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -8.9915, 9.7436, 1.8681, -0.3443, 0.2222, 0.2222, -0.0615, -1.6479, 7.2684, 1.7118, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc04c165bd0cd1454a6cc1ba63f0e89974438f5eaa1907a975c22acf2d52ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d430ad4d7506bf145647625600e0f3fa780ec40647dec055a2ef3b8d645d0aec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5531e62a2d97c84193481c0f4e107643729812444ff8a0bde1213399dea7ef39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGwx2Bm1Zq22kraKbkD45N9ZKweYoLJxqF4IJjGOJixvpMMuZ2gXc34AZBT5-G3QNbYmqIu5_QUG6qANSQ3sfd5JlPxIw7iu8NzO3Q7x_Td7loG9ruyhCECvy1IvnXL5gl0VQmt9X_j7i42VZZGLfCKg6vZMxG2aK9KDqXTrw4WQB_0ygQGjadQAU4cSmITOunF979CmlUgh-s483t4v9-vj-2sKGylYjDayIgI1Xxm86uWCVttGK-c1CQjxn-SiBqbxLXdc6ayChnka7qd10Uz8bANZ3GUYdLlxULTbUe1maMc5Cz0oRr-drGVW56YtYnpt6lw99_t2KUUsPil4dnJppqzcmqHlBL8V2KidGdYvSS61YpjEYOlguwAVKXF4xgR0BFex751SyLVHUGgYAK8Zku5VlowSrw394rD_Vhu63ITChYptioN7q4TguoeND666WJs96FHKJQ63MX-yMBJft1HY_497mKg1ua-yQbPIyJPRUIa4teOIh90Rna-QGJamwM5Kz8cGzui-lHZpxFU2Uls-UhYXwslFMbWWT1WA4JcuR7tWN9ovIBrnbHXNe5FKP5oK1aiVT0feNXHxfrPtWTUSUlnuzGiYTL5pPIre-DPQxz8ySBViaG-872mkM71kQK30W1Tu-8UwHw44lMa75nAOlWPx8RtoULLYcZkNuNj9hUpiWJmQSGWDywMlKC4_8J9H2onMpgU_DNVdwUHpQ9LfK-elyJq4Ybfk2w95pxvt9HsjBoUgwZovcJfk49cOdzODso-RXkhbNbTaC5RjrZHSDGsyaRiwjVNMik6Tr4FSIIkiV26zldwQtMDECub46sLDtBiIy5iSU-53o-ftbOx1utSbbW7n-vvP503UbWLALWmj_iFfrEXWXMGZt8_JjRwQ5XUSFt6Bm4fd2hAWDoNtQYulg_LQRhiVmgDkWSaooHLdmLprY4EQymZDxQbFWBw1G7kfz8Z2TSLPogENwrQN1_gzTdpwOkwyyt98Njjacuktq9ipGUEzQFdEwCoHUH5fKNWxZpQiZXv91SgiFGdPSZ7Zv9oGysXpkngD6Rkw58EnKgUpBcL60YrfYLYYJ7FmpDISIyeSoaUz2OBarV0Gwukb6WRFg1nKFMrzIjSW1TJ4dYkv6D1cBs8EQy8y8YMNM-C9jTmymdA-f53Mj1GMo5VoB8n_1NiUPcdB2yiYlOJXp-Ho48rB27tzYvGNqQvBZr0h-jH3am-3XKo9SZdZPk1_zUXJfaoKG6HOEl4_uQzQ_lBgQyGLL1BpouGw33N5aq-itnfowLjybF5rRVLkAqVhobizZKwouNn3kwgw2dmYPUUsfcsYRp-Y03Xm5_w7CA-mA_Te5UYL2gh7Z5k_Sy2eEMCDJFBx98zERu7LU_vYYpLbNprSiQMvdm3HwjKI5T62yq9VH2qQFRo9EAJLQthDKMinKjIgL520LA=",
  "id": "rs_0959d906c01483fd016ab491aee61c87d0bd0f36bb150987af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.175,\"left_z\":0.12},\"note\":\"The plush is positioned over the left basket. I’m lowering it into the opening before release.\"}",
  "call_id": "call_5VEuQS7jWx1zUDO3CR5Nrj1R",
  "id": "fc_0959d906c01483fd016ab491afca4087d0b7e15fb36ff0b57a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5VEuQS7jWx1zUDO3CR5Nrj1R",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.882, 1.3849, -0.3977, -0.3149, -0.3824, 0.1301, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4667 left_y=-0.1716 left_z=0.1137 left_yaw=0.0041 left_pitch=-0.2744 left_roll=-0.0028 left_gripper=0.1301 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.935, 6.8171, 1.663, -0.232, -0.0024, 0.0855, -0.1709, -1.3333, 7.1453, 1.7363, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf0cb136208a2f8b80456c50d2c521e21a6d9456c49fbc606887d727ba8529e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7e09f9dc38e6a1f29bb81c7bc09397341e7c763d25a8e4178d0625f5f955f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d4bcd565ee9ba16567dead5dd18056b35a25d329bdf10dfa89be730e1f741c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 12.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 27 changed as sent

message 31 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.6327, 0.2375, -0.2497, 0.1314, 0.0479, 0.1255, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2526 left_y=0.0163 left_z=0.0819 left_yaw=-0.0086 left_pitch=-0.0773 left_roll=-0.0309 left_gripper=0.1255 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0031 right_pitch=-0.0214 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -0.5402, 9.5385, 1.663, 0.022, -0.022, 0.1294, -0.1026, -1.2103, 7.2547, 1.707, -0.0317, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.7668, 1.6352, -0.6922, -0.3229, -0.3805, 0.1292, -0.0151, 0.8097, 0.6075, -0.3855, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4585 left_y=-0.1651 left_z=0.2241 left_yaw=0.0032 left_pitch=-0.2084 left_roll=-0.0291 left_gripper=0.1292 right_x=0.2955 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -8.9915, 9.7436, 1.8681, -0.3443, 0.2222, 0.2222, -0.0615, -1.6479, 7.2684, 1.7118, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.882, 1.3849, -0.3977, -0.3149, -0.3824, 0.1301, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4667 left_y=-0.1716 left_z=0.1137 left_yaw=0.0041 left_pitch=-0.2744 left_roll=-0.0028 left_gripper=0.1301 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.935, 6.8171, 1.663, -0.232, -0.0024, 0.0855, -0.1709, -1.3333, 7.1453, 1.7363, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf0cb136208a2f8b80456c50d2c521e21a6d9456c49fbc606887d727ba8529e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7e09f9dc38e6a1f29bb81c7bc09397341e7c763d25a8e4178d0625f5f955f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d4bcd565ee9ba16567dead5dd18056b35a25d329bdf10dfa89be730e1f741c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is inside the left basket’s opening. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_M91STGEIps7D9CzAyZGGlSgF",
  "id": "fc_0959d906c01483fd016ab491b292bc87d09c9bfb5bfcaa383b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M91STGEIps7D9CzAyZGGlSgF",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.8984, 1.3739, -0.4026, -0.3145, -0.3939, 0.9957, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.1681 left_z=0.1009 left_yaw=0.0184 left_pitch=-0.3032 left_roll=0.0046 left_gripper=0.9957 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.5214, 7.6103, 1.409, -0.1441, 0.0708, -0.1832, -0.3077, -1.2786, 7.1316, 1.7851, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a656f33f44396713d74da0358592eacece3428dbe9f8ba152f07be111eaa780d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4475cd70c31d1adbc23fc7e677a2def3b98fbbe36a48195ec8082ca06342f810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240d059c3f1c24ce375414a6d8930e5f84ff26ab6ad47f2b9ae2fbaba1cc7a3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 6.261 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 31 changed as sent

message 34 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1417, 0.7242, 0.82, -0.7856, 0.1318, 0.0441, 0.1269, -0.0151, 0.8051, 0.6083, -0.3851, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2499 left_y=0.0158 left_z=0.2142 left_yaw=-0.0076 left_pitch=-0.1218 left_roll=-0.041 left_gripper=0.1269 right_x=0.2953 right_y=0.0012 right_z=0.1778 right_yaw=0.0027 right_pitch=-0.0214 right_roll=-0.0062 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.6632, 9.4017, 1.7021, 0.0122, 0.022, 0.1245, -0.0889, -1.306, 7.0359, 1.7314, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.882, 1.3849, -0.3977, -0.3149, -0.3824, 0.1301, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4667 left_y=-0.1716 left_z=0.1137 left_yaw=0.0041 left_pitch=-0.2744 left_roll=-0.0028 left_gripper=0.1301 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.935, 6.8171, 1.663, -0.232, -0.0024, 0.0855, -0.1709, -1.3333, 7.1453, 1.7363, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.8984, 1.3739, -0.4026, -0.3145, -0.3939, 0.9957, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.1681 left_z=0.1009 left_yaw=0.0184 left_pitch=-0.3032 left_roll=0.0046 left_gripper=0.9957 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.5214, 7.6103, 1.409, -0.1441, 0.0708, -0.1832, -0.3077, -1.2786, 7.1316, 1.7851, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a656f33f44396713d74da0358592eacece3428dbe9f8ba152f07be111eaa780d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4475cd70c31d1adbc23fc7e677a2def3b98fbbe36a48195ec8082ca06342f810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240d059c3f1c24ce375414a6d8930e5f84ff26ab6ad47f2b9ae2fbaba1cc7a3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHArjt2Z68Y0mIAOttPpEQJV9FD71W-huA_oiw0vwe7raqwNwSLJUrATsh_7zmMV2_X0DFxVv0JQy6s3zfPTYVelEyrpDA5YOVK6LnHVR2WGLBv8cpVXVl1w7kSkvYRRrZgAIsbnGKMwcWaStP-JtvQsjknz36RkRKIqhnRXe7RNd89h0bvTfNSJ5F8H6AloOu6p3bc_QtvF_drkBg03-TJ11hsmjfsCLTtgw50TZmx6vCZYkt3xo7a1Wi6_Rou9vkvVqtDszhHipvkM0-SdL2Y6z8FldGxJziqPU93n2V3hI02giEbf60Ti1A-ZD5tfD9NJbcXsM3xYIGPTnO3RSQTdVwO9ZTtmfWb0hHsWU6LAoVtjJjHDZVAAZg1MjDtbPxk8dFRgU6bYuP6-KSLLTIFzBDgkuYc_27e7yU7z-gTCGfI_UdClfhPeNBS2fOVu6EIJfSISL9PdVbZM2hzCxASpjPNgtpt6ii3Su90FEYZoMQYxFqo6xjhuLwghSIms2sHLVhQgcvsyVElh6wjEGaomtXY3OXabRh-Kqaba6WWmIR5x9zXXUkZtAU9wwRcDMy_JpVorQzwSzkJHdtLKi8EjJaffksS1pCsMp16SuXFbN71BZP6ANtOiaIqTl3hpkdOIXg8xUEhpE7jlq5IYYOxJNo_utQ1JsuOECDNh-X5xeXoV3JY6Z6a1lM4faUIu5Ax0d6PGWFb-DBbnC15tEj6xYCfJc7uJLSYg6zQGTQjy3euo0I9mHss68YM8rGVHNkIGkJEnwsIsRvIOy0t5NuoFxpamcRpgjUlGbplK2TsQnLqd18B0vMg7BDAzvd5vV_y7Qy2u7uQiBr0QffAI4owSeB5n1nu0yeNiaoQeA2LyRZFHbZTGR5ixwb3Y3DjnnsAtOKbzuDTepmnFvX0K5pVoSOqIMBMZjDYMjYyjTW5Ed164J1gRXaZ009dKyJ75-1n9akTTv0SyNbX8U7f3b2GZTm0g2dAYvWMb1GRqFxL2H9lmOBDzHdvJxFmjGBo8qwjcL_JVUOm3ZNAA_WyS4Z4oVHOjGx-Rh_ennf3mgl5XTousY9OXR5nL5wLuIvlaLjEmdNColOwMELCrs5qE6rEE30Ii0mK2_FXYS8NRr58qUTGcOa05LnAPlCz7V0evyMil-Y4Ycs6U0CX_VrGF7NKL4ID0LhdU4gVUgfq26bho57rLBKyzIL40hCkDETd22wrGYdPFDvMLmyMVhRRWk5qIOJ2_4wbesKlA9xpZjD7dDBXlzQDh66R6qnAEKIDmCqTZXPfvR_qI7sdM2ctenFO9fBqrBdQDCnz5RAVW4LP7zWxcckc07DjOx_y8KQdox2b342-rXF2tqKED0L5JhS3-NM3B_jq-0NGoqb-6Pit0knm3wNPZhwkS1-pzKtvYl92T1sew6VPTAvePZ2h97xBoSOrhO8pi8uqSU5DamKdBGR8UKWNHG2TsSCE08eSKJ2DL5iQPurou0bha9rz_hS3bMBoaNWDrc7wYaQU3y6Ayse3DYGZMmfl02rBXS2ZtYin-lab0nLrN73ytp5HKj27yQu2BjInTAdn4k8x5plpj7zLWaFRfSf90DVk2D4c-6R0nb14nvzECWasanT_Mb8xv_Lw3GTZJGn8swkgGxYHTdOqdIl1wxUIt24VmwF2yhjjiXxjaOAR8g16xIQvNbkvtYoNRCtlqJzRSTiV6CeiJ_1Ct5Zfs6MG1PdUCndjUZSFtnibBmDTq39lzXPtEist16o9I1jYH7FwIpcTCmQ1G87NQY3tmwmnPd-Rm-pJtUwi8bK5mqbdx_eMBwOZn8DPlKvGy0O_uy6-Z5rZ59E_9Giyqv6LlERAu1yXYAxhq-_Wo_yDSuaFG7VALTuHxRaHSTOLu6XoxEEo3SjDIuu84P-1Ptau7awMfjMpu8__PA5v46w0rcD6CmVODsSxaOVIYtCY-a787G3yagDzeAeOrplVN0smJ4tL6b-d09uCc2ASOmCuCmpKZTKZq1KCiUXtx14kGdpgWEr_uZqz2AU25rgvC6v-rIoQ8SDRcp3CNGmzZ55QcK9jOJcZyvrC6SXgoQ0rpfKkIJrAKgHxchrc-Lgvowerfn04_oju-qcqjjvITuVJNXZ2Uq7wmW5E3LFwM0YRxpLqnt_ozH1VNVa76ehcv8NphqCckLvSjDJy7t7437UuIB3TQlOhlh4TCbeuYEbAmK6k8qbyYgN7KUPLG9hEUr-bje_PkKeWKLbjVvfyEfbbb2jHwzhUD_TTmCuPsxUEFZlo8ZaiyP7p2OEgKPGliFi1zr6E2MiySdwDajA_o1zmQKeIXZLGMotd-_MQ1teCDeJTKbriPQETIhCuTGH9EeJolECDzloYUwZql4d4rHUuhloA8yZy9mcvPWYZz2a60Hx3QelP6WjY6ACtnVB62VBUf2qLGSHOLArG9Tgl59459UVb4Kd-scVgxfaAU42SEbmPfqOUW-Nc-HapodPa4UYCBIZSahENo3kGLL3SAo2Ew5X6CK_QbUotG2WeVrNbGOngL-F_h2V3vgs8kvcNOleefg9TiqJZjhHweTGvsS6E-8Jm_okI-ppr6fufDF2nwq62lXgyROtqqHXlmrLY05wuGLy-gr8NMjjhStIOFEkCWu3jlhswlSJdNEcvug3wx6OH3r2lwqascjptdbQZTUdFDj9rrkxefNSoDPyG5cUEkaTnar7G0vsiokRKkpuXZkTSkDEMKwaZxoH3tDgoIurjjsCfBUe6SclA8ZIo3dCgddASYQ3byH9fR-TqhhF-ZEtBGtTdkH2Dacg8V-R8pic9t8e3eTO4Wuvvzz7DFdyncg_DV51k4iPCZ0PFMzQkFlsPm9f7LIawDRsBQLD-BGRkmiK4sS0_fhvnqZ99qkr9oDJ3Ef5ngOEl3RaGSPXAwYVv_Jc8pQheG3nGeQAW0LuvHUaHTadccHs5Wain-kkR29cnEs8lf6x3gkrmkV_hRVtoUQX3fr5TAHsSKjJfxNlYnTmJ8GR4oeQinkIpJSfTte0w_bogZRDFx61V3zkfZh49duRLnZS5glPJGxKRybYSL18dlp3Y22lquqVpcUDMDuZfsOu9J85DdHMyFwTFmkaTOqV0ikA8l4Szx8hSaT4iefLPS7dJ-SFgMXM0etaN1Tq3JNj7DL9ZlSUDxRUrhrgQjx3CFiGIO3fWY9_wEucEMLNK-ONy-XSgCAg3OAuk2IGHBr3rS6PrgctgG2vv4U750u-p9r1muO3Eg5SWKJ48G4M686w7K0v14jJWN7YXlk6ArW0UKyN__cGY1kIaww0rMTe3KhqbzFslQmIPlRCN-UEza7lAqRCLulh3EftVjM47rKopS3ifDLFus9O679ktz78ii4Z3HD8aBYsKu9i9ouu2tgqG-nkl0_SmQFSkPQug_Gjn2fKZnFS1QmarpkdEykJlXJP95vug4MJeRpxgFdsAVHG7nZdLbCjPzOQidDp3bIIUpQrwEne0XecdEWqTXQ-zic3p8lQ4YFYzyV5VOgfuj1aepRgUqD1Ybn9A1EXdZ0KUs1EhpuZSzX73l8AQhKjyAdI5gk98bTwBvfjZ6OPhefvSpV5sWLhqnaHPcNSNsYKT3LmgqTtlTEuJb76RaOH14GE35rVOZ_YV5Eoh8B1uCvxlPZMtNbSvoW-kUUIQcgttOe4hGylDwtZqEqBy02t6ZF4eVFzdNVivuftDvXfQRujLlj9NYRR1YtsnRYpSJWZ7q9E-YWre_VjHwBirIA5zcidBDvbe0X--RebeBTr3YOh42ALrzgEx9JYfNuw4jfIYGgruAzGLIJ2_7ILVk3O0RfCJffXmCf6Czf-mKdZrFLxSI5r_jC3_Hf4t6tWCufSSlzkBYaQ_dAScXyA60TYr2BIe-aLCqzkMMLqg_nMgMhmgHBCRfnbxkj43PBzbuLZEc8rad2CrgPu1qcRfXa7miIET7UWcpiA=",
  "id": "rs_0959d906c01483fd016ab491b56d5887d09c56eb4ea9fb7179",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.24,\"right_x\":0.30,\"right_y\":0.01,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The gray plush is released in the left basket. I can now see three slim markers; while the left arm lifts clear, the right arm will descend onto the white-and-black marker already aligned beneath it.\"}",
  "call_id": "call_5jbGuOb0HXAeQaLz8dHcPvMd",
  "id": "fc_0959d906c01483fd016ab491bef85087d0a3b859b1ba1e6f7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5jbGuOb0HXAeQaLz8dHcPvMd",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4904, 1.8324, 1.7626, -0.9142, -0.3157, -0.4404, 0.9968, 0.0391, 1.4258, 0.1009, 0.7292, 0.0101, 0.0151, 0.9992]\nstate[eef_state]: left_x=0.4409 left_y=-0.1692 left_z=0.2117 left_yaw=0.0304 left_pitch=-0.3522 left_roll=0.0034 left_gripper=0.9968 right_x=0.3038 right_y=0.0137 right_z=0.0119 right_yaw=0.018 right_pitch=-0.0352 right_roll=0.0137 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -11.5761, 9.1282, 1.536, -0.3053, 0.1783, 0.105, 0.294, -2.5778, 1.5795, 0.1294, 0.2515, -0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58347f2138d935ba9b35bd22b70684980c62e2961e12b209dd07ec75b571726d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c3e9d4b293b9a9a4db7a153214c232b0d895df9e5eb42a320fbdd9bf33c9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3ec4751c6564801b900232efdf46972ba34de18d220c72851998884fbf8334",
      "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 11 attempt 0 · /responses · status 200 · 7.793 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 34 changed as sent

message 38 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.7668, 1.6352, -0.6922, -0.3229, -0.3805, 0.1292, -0.0151, 0.8097, 0.6075, -0.3855, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4585 left_y=-0.1651 left_z=0.2241 left_yaw=0.0032 left_pitch=-0.2084 left_roll=-0.0291 left_gripper=0.1292 right_x=0.2955 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-1.0188, -8.9915, 9.7436, 1.8681, -0.3443, 0.2222, 0.2222, -0.0615, -1.6479, 7.2684, 1.7118, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.8984, 1.3739, -0.4026, -0.3145, -0.3939, 0.9957, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.1681 left_z=0.1009 left_yaw=0.0184 left_pitch=-0.3032 left_roll=0.0046 left_gripper=0.9957 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.5214, 7.6103, 1.409, -0.1441, 0.0708, -0.1832, -0.3077, -1.2786, 7.1316, 1.7851, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4904, 1.8324, 1.7626, -0.9142, -0.3157, -0.4404, 0.9968, 0.0391, 1.4258, 0.1009, 0.7292, 0.0101, 0.0151, 0.9992]\nstate[eef_state]: left_x=0.4409 left_y=-0.1692 left_z=0.2117 left_yaw=0.0304 left_pitch=-0.3522 left_roll=0.0034 left_gripper=0.9968 right_x=0.3038 right_y=0.0137 right_z=0.0119 right_yaw=0.018 right_pitch=-0.0352 right_roll=0.0137 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -11.5761, 9.1282, 1.536, -0.3053, 0.1783, 0.105, 0.294, -2.5778, 1.5795, 0.1294, 0.2515, -0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58347f2138d935ba9b35bd22b70684980c62e2961e12b209dd07ec75b571726d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c3e9d4b293b9a9a4db7a153214c232b0d895df9e5eb42a320fbdd9bf33c9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3ec4751c6564801b900232efdf46972ba34de18d220c72851998884fbf8334",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJHH7Qz8j6aYe27lTX7OEe-gTSkw-UYlhZovbjJnOCPVBiKZnERAMLvCKstzHihfIt_-T13n0ejr1mTrMb4R_zj7OKzY4eDDV_Qh4Xuftbv5K-fRjpbvtkU1QwaUV4YcQu4kKSU4Lkn-rXW27yrbf3saInZIioCiWRIsyeDqa1TiOzcGCUumFnHWOG3ugVzyPZFc2JpnQGHmT-XikwyO07PPpx7bChcbTzSNTZes0LANhMjj2U9WbU3cBh01Q-jGe66Npkw71aMznDS4Ye6uZssS_0ts4vRX4dQfp2SW2CJffXER1_Dv2m2ISnpsAA9dkw53P--eaAsjoFsBRwsa_XyyIDYCtXjsemNuXcXxrEWU4Muud4rrnPk844cJOGiNPJRVBpijr-1mxyL4FYDAQDl_H-gHdljK301swnM9RKBq8zqI70cFAbR6GnaB5ZhdYHzi8zk1OntMw0c-VFgSJhxUyBSqsMwGsEsMepuOOCVBChL9z5SMF_2aXwwf3i-GF7ZAuBwGhwwFkJdu3AjMJzCnVSr_i7D6WaF0ZUwgz-RqxMtgN3A2GUZv_3vyYOQBWiVU_LXNViPkbPCX97reC4XaCB1pt-Eclnj-7pqVKhHNd3NJCzHPPDW7cBgHC4FYOknysa0XVeoMMMfnHyMQeEQx2Mmg752fYVH_pIHvkM6g1-ZUsqJq35a6qDniiRyMfcpEJP49RonGa85htCczW5RggX7CuH5jeVip_pdj5Q4jQjywSuRg8kw14Z6Tek3nzfSoIbEIiFxgHV1uvZI1qHDlTIG0fhzInPmqEnYSLEX4MqNWVDD3Vy9zWlshdk1lBL8Cl1K3NL6EWEdbwXRD_hZ7KSNpPFQMCoyxmiaRFhm8Xhx4HIgq6XnBp3gG1v4EDTObedNijoThSzvDHCHbgp1zp8wlXdaMVFdo4AdJjLhKHathVWB9EHGHbWgvEmQ8ab0mFpRJNnVwTDqJydr_CvcOZYZYUhni7WTjkBSD2SUMWVY6pXpx1RBFb42h7YHTGrDqM2R3OdvJvZ5e5d1nmZfJxtbjnpstp_8fVSl6kCMc8MkBuVlKho1NxNtyeEe1J3KNFPKbqPbtxY46LvIcnA8hpYGoHP7XPtWEmI8J2HOqy1IGxs3mIxKWoowmBdQFyXmRZicC-bhuwqrq_LUxJ-Lm1rfbxstubChv6Jdb_BSjNAfn8d6Mi7bcAobbFJjwGlBYdaNt4y3LiSHNPFAFNC59Jprl8oXIYWODM9cX5J2BF5SlZTdaRocHgPjpBbPAkfTPe_etwW4xXrYoaA4BWlMLo0JFARdOzMMvAZKZDVvcAyYp5GH5hGpQK3_CfizkN1xAO0F5OIHroIFLBJS2uFNFM8EicY0Bl4DrDhodsRWpIyN3BG56H33HFldSc6jQIbDblQcAhXdcW3rx7TFrU7a7H6OMLuSQm2TTPPTZLY8cCLc3gkI_GrGUD4zUy1LkBAN9SgQMmfi5tbvExj_5A5rr6vFF4662CRJNOuiN9yZv5myAg_yIrqkE2uQY_qPi8Jdzg66o9uYOgtgyD9D4gqKgHP0Yrk8DmFs4p4A5Sll1pVjgJHXu6LLUp571NkLiQ_Qi",
  "id": "rs_0959d906c01483fd016ab491c56f0c87d0a23a712c25895b09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.035,\"right_z\":-0.005,\"left_x\":0.265,\"left_y\":-0.26,\"left_z\":0.16},\"note\":\"The white marker sits slightly left of the right jaws, so I’m correcting that alignment at table level. The left arm will approach the remaining tan plush, well away from the right arm.\"}",
  "call_id": "call_AxaLJPKp75KR8RnenbC9hSrL",
  "id": "fc_0959d906c01483fd016ab491c6a96487d0be551c692032a13f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AxaLJPKp75KR8RnenbC9hSrL",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.6444, 1.3449, -0.9203, -0.5388, -0.9298, 0.9968, 0.1658, 1.5948, 0.0921, 0.9798, 0.0978, 0.0868, 0.9992]\nstate[eef_state]: left_x=0.2702 left_y=-0.2662 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.3764 left_roll=0.0189 left_gripper=0.9968 right_x=0.314 right_y=0.0387 right_z=0.013 right_yaw=0.0322 right_pitch=0.0401 right_roll=0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.7709, 5.8188, 0.8523, -0.4078, -0.0904, -0.0024, 0.4718, -2.441, 3.535, 1.1258, 0.2418, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9eda7e672702d88f79dce2fccd682fbfe31e792e33b5de6c994256588ffeead",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf3f312d40291a5bb191e9f178cdd462dd2ccb35693bce13de0adf9a7bc91e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9afe5a270c98b0a9aef5b9a16ccdf00d436a0327593339d5da172c96141a3e",
      "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 · 4.38 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 38 changed as sent

message 42 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.882, 1.3849, -0.3977, -0.3149, -0.3824, 0.1301, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4667 left_y=-0.1716 left_z=0.1137 left_yaw=0.0041 left_pitch=-0.2744 left_roll=-0.0028 left_gripper=0.1301 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.935, 6.8171, 1.663, -0.232, -0.0024, 0.0855, -0.1709, -1.3333, 7.1453, 1.7363, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4904, 1.8324, 1.7626, -0.9142, -0.3157, -0.4404, 0.9968, 0.0391, 1.4258, 0.1009, 0.7292, 0.0101, 0.0151, 0.9992]\nstate[eef_state]: left_x=0.4409 left_y=-0.1692 left_z=0.2117 left_yaw=0.0304 left_pitch=-0.3522 left_roll=0.0034 left_gripper=0.9968 right_x=0.3038 right_y=0.0137 right_z=0.0119 right_yaw=0.018 right_pitch=-0.0352 right_roll=0.0137 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -11.5761, 9.1282, 1.536, -0.3053, 0.1783, 0.105, 0.294, -2.5778, 1.5795, 0.1294, 0.2515, -0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.6444, 1.3449, -0.9203, -0.5388, -0.9298, 0.9968, 0.1658, 1.5948, 0.0921, 0.9798, 0.0978, 0.0868, 0.9992]\nstate[eef_state]: left_x=0.2702 left_y=-0.2662 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.3764 left_roll=0.0189 left_gripper=0.9968 right_x=0.314 right_y=0.0387 right_z=0.013 right_yaw=0.0322 right_pitch=0.0401 right_roll=0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.7709, 5.8188, 0.8523, -0.4078, -0.0904, -0.0024, 0.4718, -2.441, 3.535, 1.1258, 0.2418, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9eda7e672702d88f79dce2fccd682fbfe31e792e33b5de6c994256588ffeead",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf3f312d40291a5bb191e9f178cdd462dd2ccb35693bce13de0adf9a7bc91e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9afe5a270c98b0a9aef5b9a16ccdf00d436a0327593339d5da172c96141a3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJHQuw55QBBJk82qjwGTc9F9VAAZ4e90CjQD2Ms83E25G1PsRgUMr7SpVIGMgPkO-D_yII5oMC23P5UBkheku5Tt9XlhMuKhSToQhmFgGPGVjPyFHtTw2b8zWidWdm8Ot6nM7ZXbfr-Lm_zKnXz0dD6AdfB9H2uACcj6K_mHTunhQJdW45fAQpiws88-nWXVP8hVvLW5Paio5FmXRDxEGn6Ihc5XCApBAby8ox7LA2VKfzwH3xgAcRLWJJoHMclLpF9QJaEzVfKuoCuNjCKW6XHA8fFa5vF95FePY5Lz1DZrsneKot0xkyQuelV528YMz6XXH_g2nkhTH9Ff0ArKwvdtvy7xx6QlZ3bOKKeWzL3rvUmoFYaQ1LpBpLEzwKwXoUyjX_34P55eIvh6j_8AC_qL2QMcsCpZ2qrjxvvAEaJTfDuaWJlrgor3OGHyenempdesnAfe_ZMsDkM_cruTSvmV3qJ1dBjoYYTqHeF9Ynt3sEbFC72dwYPm_kdSsUj6o0IXYBhX7LSlEnRgLVhZg8zhJLExzUcFv5QB3SX32Ve3S-ggIFeGDE-p0U01lmmHcsDbe_DolWOsdLwaggIa5-6foWyf9W9AEKT27wISqakppYl5y3BT1vk7Vvs_WpohO88u2xEwoI-OkXV15g-BQndEjimdEFCVQK9CgaGq5rEYwbfyqWya4fWbyUb-1Gxm32yklLqsj7n5pkcgOA4oDZ2PiEn5KQnXOLgltXgxvbQf6zfpNZNGVlcxtyGiHvC4kBF8nlvRPl1BdLPMbIyKB_EqsZEQbGimj7OpvgqK2PbUrspByC8TGOVvxQmhZRr5fd01meFTsXjTcF_jrTePwrAmRkLkuDDi30ZgX-fGG2pBcRjteOeW9lXmV-Daw4xYXFv3bnJu51icewC6LTkGgFFe0VSmPQ0tUbC_dgt-v_YoPYNUBzLxp2Kq_GmhWTjU7vDvQhOub-faJbEWmOg37EPAd0BEhhe6epn4bgHPbquxRIQ2eeBcjZKpAVV2Z_gqv8WOxvPgmyiYkdtxwlpA5I7TM9Ji7Y_9RnbnTj-fpKZpS9tJ3ayJHpFmmdUYGl0BRQ9V98AolZU1anq0jfi8b5VlijOt_rmfUoOqjBVb81eV8eLIU6yjIggXqHgOrTVNfp6eKlM4YJ6zzMdVH8p-Ra6GBlW98_XM5E6vRMYXPJnxVHdpuf5eLRc2uD7T09Y_1owzjczx2dHbb5qhASQLrVTFCpYzssfpIbrGYg_RXC2u_GRl_z_fWw5Kk2RNj2HzAHTZ4kCRzpYA372y3Q5G8GmtnM-3wZpXk9BynYrPsUzbOGip7iMz-6PYMtRcjzlo1OB29oP_BmBkmV7rtnbEn1_GPmTcOrTFT3gbg3236W3s-b_tPwaVFKwccwRbL5zoS9CbP3rAaLrhU5aeSqFkJi43rJ6XoQ2BD-oRuVb3yPN4sSuqDGo5twKm-cw-8FzPhiWspH6BJAhRh73KqDybYMo0EX4qWMMfMQXL3BDk570JjRvX4VdrkNaGwZa_SKso8H45JqMbH-oo46uhLO87SJb3TAMJKgDanWsZglFD36MfO11NdOuzxY1ZrlyMypoR5i-696C37rtnDsk846EPFHkz8UJ0we9qpaA61l1Wgbl-mSJW0yoQ7AXOYYFEMdMnNGn5cDVcaq6l27dVfS-gidrl6RMcEVLkdCtCmoVPwDh2AT7nf3Sdp_1YRFBz3SuLxG5_Q57Bebc8ZlSQirJ1SJjuKBWm2Jwfscm7B0fFmfTjPYpg2dHcNUPI9wlKWi2p-sFLc8c7fn-OEjgEmOH2o74QlgELOtA_iQAP9B02Cr885Py6UFelfcDTx8Kiicjg8kxa1EeXsYrO1GhYhieBnc5toJ7zNztqYseH1ojjvzgYNd6aAj2FMPVR7zHXjuMNZLMwb7OFhuUQ0swOOIluGdDqLIsIbKwL9NQQ6KmJuFmRGgbIUWvDBpliI9cyHKUIcZMQhEXCCTqG5LwYnaBXl8zQ-oe-DWvfFUxmB_GEG01Bq3tx_0QQ7dHpuUS7x1mdG2ni1eShBBgmy6TeYLgLmZ1FDBdnc8hTOXP0zeZMPPopGNpeH9Cy_Qsx9kIVDSJ9nJZty91OZDzQltB9QkgH_86zG6gcj67MKx2dwwQN2ILxKUGRxCE7no2BOhUmtZWmOwGulRrufOyw_-tcKSsX9asrBCUmG77fmUHczcXGg6qrQlkCRakUaHtLzueGwQzhtvz_k_Cpp-7XU7LZlUyXK6mh7IwerMO1u-PSk8GFyWPgrsrhp5_eddFW6SuGN2W1HcjkSQ08B_pQwo-PO7pJ1ddY-X8cNbmpoKx4-uB99v5WIpxnbaIHU4FrxWLr_uXS1I8_9wMgRHe2ySLFwBg9OU4JHCEOE9sVgRs8a4PvgtOHjaMlS0iovDBmoJW13CVYGKrIXkHNZTzrVOGNYIkMzzWcofX3KP6JfOhuvjhRyhVXxShypTgPMEpTGZ7g8ukiw0uO8f5a9MBEnbKh50GrtIHziHYLjlsH8fjZo0vngpTAQXCDVJcoPtpbN5fiiBxvjkLJ6gukOjaGDGLU7hw-DM6C8Zk2LNkhLAE2KGWYMULO7q9x4agPE7MuUlyMk7Y7ff-s",
  "id": "rs_0959d906c01483fd016ab491ca797087d0b6e2bef5190e0f3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.235,\"left_y\":-0.305,\"left_z\":0.035,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The white marker is centered, so I’m closing the right gripper. The closer view also reveals a small brown plush beside the large tan one; I’m lowering the left jaws around the tan plush’s torso.\"}",
  "call_id": "call_HFo5Yii0tarM9SmxW8LpaHlv",
  "id": "fc_0959d906c01483fd016ab491cfdcdc87d0abdfa5e4c17043f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HFo5Yii0tarM9SmxW8LpaHlv",
  "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]: [-1.3056, 1.8488, 0.9539, -0.2531, -0.9569, -1.1114, 0.9968, 0.1684, 1.5951, 0.0917, 0.9859, 0.0937, 0.083, 0.1683]\nstate[eef_state]: left_x=0.2379 left_y=-0.3115 left_z=0.0557 left_yaw=-0.0062 left_pitch=0.0081 left_roll=-0.0265 left_gripper=0.9968 right_x=0.3144 right_y=0.0403 right_z=0.014 right_yaw=0.0404 right_pitch=0.0452 right_roll=0.0332 right_gripper=0.1683\nstate[joint_eff]: [-0.1026, -5.5863, 3.2889, 0.6227, -0.0366, -0.0806, -0.0073, -0.4581, -4.2188, 3.3709, 1.6923, 0.0317, -0.0317, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b4487b9eb003239666821baad74aa9fcfc69d79af4601beeecc2b58ba3a72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b40a33ecb4719b04182084bef3d2f09ae276c2bceb1d3a278c9beca1b594ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc20a563d2cba09168380e5027077b087e97f7b6009fd9e7d81f39f529229f4",
      "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 · 5.888 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.8984, 1.3739, -0.4026, -0.3145, -0.3939, 0.9957, -0.0151, 0.8101, 0.6075, -0.3851, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.1681 left_z=0.1009 left_yaw=0.0184 left_pitch=-0.3032 left_roll=0.0046 left_gripper=0.9957 right_x=0.2956 right_y=0.0013 right_z=0.1761 right_yaw=0.0031 right_pitch=-0.0271 right_roll=-0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.5214, 7.6103, 1.409, -0.1441, 0.0708, -0.1832, -0.3077, -1.2786, 7.1316, 1.7851, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.6444, 1.3449, -0.9203, -0.5388, -0.9298, 0.9968, 0.1658, 1.5948, 0.0921, 0.9798, 0.0978, 0.0868, 0.9992]\nstate[eef_state]: left_x=0.2702 left_y=-0.2662 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.3764 left_roll=0.0189 left_gripper=0.9968 right_x=0.314 right_y=0.0387 right_z=0.013 right_yaw=0.0322 right_pitch=0.0401 right_roll=0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.7709, 5.8188, 0.8523, -0.4078, -0.0904, -0.0024, 0.4718, -2.441, 3.535, 1.1258, 0.2418, 0.0171, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.8488, 0.9539, -0.2531, -0.9569, -1.1114, 0.9968, 0.1684, 1.5951, 0.0917, 0.9859, 0.0937, 0.083, 0.1683]\nstate[eef_state]: left_x=0.2379 left_y=-0.3115 left_z=0.0557 left_yaw=-0.0062 left_pitch=0.0081 left_roll=-0.0265 left_gripper=0.9968 right_x=0.3144 right_y=0.0403 right_z=0.014 right_yaw=0.0404 right_pitch=0.0452 right_roll=0.0332 right_gripper=0.1683\nstate[joint_eff]: [-0.1026, -5.5863, 3.2889, 0.6227, -0.0366, -0.0806, -0.0073, -0.4581, -4.2188, 3.3709, 1.6923, 0.0317, -0.0317, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b4487b9eb003239666821baad74aa9fcfc69d79af4601beeecc2b58ba3a72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b40a33ecb4719b04182084bef3d2f09ae276c2bceb1d3a278c9beca1b594ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc20a563d2cba09168380e5027077b087e97f7b6009fd9e7d81f39f529229f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHW1s8DFTaw-b-uyGZmyQk1plGMN11fVwMI2YpwVR8c76iKi0qP-6vJfVBcAZ9wqFn_wUJucsajt0k45cQTem05mAw8nB5NB_EZeGTuChrFtrR3CP8NLd773onHM7fnrydaT6H1QarzsO8VRvzKbvgcZPqmRJyMoqOuvJ58ktUn4zhxhOCPesPVchjBGCgsqk-OjU9b2_dfV7WnGQxvvFQ_jOhSTYTOQUiEbn3OYi2kKpQDXCvY3XkI-k0ugoK7ztFAiOU0HPAN0AE6UhzdEjImr8-NzJc0RNNsY5F8l8rZ1r4DhUbUoGBtwze-6TXaBJwj_hIDQfa1Q6Q418bxiL5B_LwROZZ_jfJTvu51vDe0XKIcfCmACWE1dFevzwTi2pHOGT3hxsdZj7jJDW5CdPXdnbl-t2ey2jTHht92tA5BbQ31TvHEyVmsLhvbFMBA_MhKZOCJhKKcV5Qyr1GY_SK8qeizWCGhcpT5-o_ULaF7dLcf_NIFhkBiQ5E5ast8tPkfHn_hC8lzYRLk_3T3ujkZwvxRqSn431lTQbXtD3tH5YaDb1x8c5w_bVALMDdJy-wmiXo9arS53GZT5fzRBFqnmWIfGduAEzAJKHfolTed36pjF6FL-r0aNNRnpD6CLzEtK3wMhIozyA3YphHBx2qmEOEI_uIunEHLS0eqH8T0a0ekl9b3JaZKOuoBwaG56BIdyfEBzeEFeXa5aGZUoIaNCJIhg-6wNEfoxnsCdUeV6l8XiQO16M4r5GRW5_E2sOrsubercl60QTHW1u5sxtq60FoE0nhm-kY2cS63MsL3f22C3ZHoAKqGLZlVPgKWAWjxLMabxkrLmyIhzGAqEcJ7KKmYwdtwdzkaAUxJgkPR8XZgL5MhcZyyAMORNeGdjMXysw38gUhBnGiJJkxZO8nwC91IVpZH3Ul1cN3uEjSNQdarAs7cxoJhc21xR-9mVG_OLD3bDDFHLMtrZklrXCnMOo2Tpc8YI-crnbkYOqpxbzCJJgS3oJSbpDjmgiSVyuSf9clR550DdKjvKkC8iLP7KUFDm4wYniVdbKRG-9nUof3IpUlbmMeO93jgZjEFXCWBP8G0G7PUzIFIT8YxE89OcYDRCWAcQ7-DI0OvJk8Xj2a9u7ntOTf5FeBqD5XI7DVsUd40P86L1WZAt5evidTlFJGbH5PlGn4KKawVeY0cEIJW-I8L6kloTYBMziST_hdfxTDQeeY99ToEp_tAxlEyklbp0bpQJpZxyhpD49RujS0LA4tctw9j1v5H6YbQ98vR2tOYVmjSsg2bNb_n29oi3OnG_5-S9ch8gigOyjHH8B28RraIDOl2ZoP1Nve2ffK4mb2Gj_uHhOUmo-cAlC0s7uDt4_YQMEVPJr4fPT_h_dAHmXgZBo7yE_rojrdqGuZkk3Izrmix_eazvll_piEf9PINu6mRb5QCLsepnFU-FaQGOxpSny0XOFHcz3VMPsbf5q9uTgm2wwr5NZhQqfpjAkbSCDsba2tllPDHdIFknts=",
  "id": "rs_0959d906c01483fd016ab491d3de7087d0b5e09fd25a2c8153",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.08},\"note\":\"The left fingertips have met the tan plush’s soft body, so I’ll close around it. The right gripper has a marker-sized opening; I’m lifting it to verify the white marker is held.\"}",
  "call_id": "call_5qGVHG4qXl28B5HJCwmGc94q",
  "id": "fc_0959d906c01483fd016ab491d5371087d0b3bdd094f6ba439a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5qGVHG4qXl28B5HJCwmGc94q",
  "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]: [-1.3102, 1.8458, 0.9489, -0.2188, -0.9913, -1.1156, 0.5185, 0.1684, 1.0958, 0.2008, 0.3843, 0.0933, 0.0826, 0.1716]\nstate[eef_state]: left_x=0.2403 left_y=-0.3134 left_z=0.0624 left_yaw=0.0067 left_pitch=0.0464 left_roll=-0.0533 left_gripper=0.5185 right_x=0.3118 right_y=0.04 right_z=0.0731 right_yaw=0.0409 right_pitch=0.052 right_roll=0.0339 right_gripper=0.1716\nstate[joint_eff]: [0.3487, -8.2667, 5.7094, 0.5836, -0.1099, 0.0122, 0.9792, -0.0615, -2.6188, 8.8, 1.6972, -0.0024, -0.0415, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6dc1d43b2420e0e28e2869a94a9e6511884d8c1dbb3466f4b498057d001898",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc8b24e7030d3a7ddd26b1f4d1a735012f292da8c689b399721f20a15694747",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ab9855412e2e62059c3c5f00a3bc340d37d00d23ee3147a1e10af71732fc0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.706 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4904, 1.8324, 1.7626, -0.9142, -0.3157, -0.4404, 0.9968, 0.0391, 1.4258, 0.1009, 0.7292, 0.0101, 0.0151, 0.9992]\nstate[eef_state]: left_x=0.4409 left_y=-0.1692 left_z=0.2117 left_yaw=0.0304 left_pitch=-0.3522 left_roll=0.0034 left_gripper=0.9968 right_x=0.3038 right_y=0.0137 right_z=0.0119 right_yaw=0.018 right_pitch=-0.0352 right_roll=0.0137 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -11.5761, 9.1282, 1.536, -0.3053, 0.1783, 0.105, 0.294, -2.5778, 1.5795, 0.1294, 0.2515, -0.2515, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.8488, 0.9539, -0.2531, -0.9569, -1.1114, 0.9968, 0.1684, 1.5951, 0.0917, 0.9859, 0.0937, 0.083, 0.1683]\nstate[eef_state]: left_x=0.2379 left_y=-0.3115 left_z=0.0557 left_yaw=-0.0062 left_pitch=0.0081 left_roll=-0.0265 left_gripper=0.9968 right_x=0.3144 right_y=0.0403 right_z=0.014 right_yaw=0.0404 right_pitch=0.0452 right_roll=0.0332 right_gripper=0.1683\nstate[joint_eff]: [-0.1026, -5.5863, 3.2889, 0.6227, -0.0366, -0.0806, -0.0073, -0.4581, -4.2188, 3.3709, 1.6923, 0.0317, -0.0317, 0.9597]\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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3102, 1.8458, 0.9489, -0.2188, -0.9913, -1.1156, 0.5185, 0.1684, 1.0958, 0.2008, 0.3843, 0.0933, 0.0826, 0.1716]\nstate[eef_state]: left_x=0.2403 left_y=-0.3134 left_z=0.0624 left_yaw=0.0067 left_pitch=0.0464 left_roll=-0.0533 left_gripper=0.5185 right_x=0.3118 right_y=0.04 right_z=0.0731 right_yaw=0.0409 right_pitch=0.052 right_roll=0.0339 right_gripper=0.1716\nstate[joint_eff]: [0.3487, -8.2667, 5.7094, 0.5836, -0.1099, 0.0122, 0.9792, -0.0615, -2.6188, 8.8, 1.6972, -0.0024, -0.0415, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6dc1d43b2420e0e28e2869a94a9e6511884d8c1dbb3466f4b498057d001898",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc8b24e7030d3a7ddd26b1f4d1a735012f292da8c689b399721f20a15694747",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ab9855412e2e62059c3c5f00a3bc340d37d00d23ee3147a1e10af71732fc0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJHd78byboNxWq2xKlB5sn8MPR-FHXI9mNSnntjZ6T7MwwY09PfdMM-gT95Z7haxMQ0O1GimVnhzuSUncZfj0MMlMfPb5RitKrJHC_Afgh-ax8u29iz0gQ81YI8vGcWLfpa-IteX9MYQGg36CV7ieaqMZOKiVu30Lf4vmHob5aihQMA8ONr-3Uq7iEuWdrTjJvzRv3tXlMg8aYHwuyPrXxmGqHzDANNu-z-rbkZ53y4BAWDlFYgNqVcZNiMmyjDYdbHJsBiZt57fxYv7rGI-WT2gFYL7zMkdESnSJsJ-9z6NsdedXWl8Zd9q8JdDDKgxPO_Kjye3QWVP9DGIgjtKgmCXAClOaI2gNnw0gVN9V__uwy3yGxV94u_OrqifmgXw6i4JAyncXUFV6pnAT6vJZ0CDd1TghDjTWjyfDJGMQmC5XXnBu0uvDd4HaxjJWxP0Nw5Ygo9G41vBPGbb5TTN_nI1b7pkMQEEM65rlgnNQZi656CYkEdgznQRhF2p6snXPCdZ3datcNyrDWV8wX4pAWWFKY14rDmnLDVT_LcIv0IRgS-KlTqKliA4oA42tRba6Z9r6ELUXGlQyNH8VxH-LOeV6Muj-1zKjDlsFEOCXj3A-rccib2RNjo5RuyiB6k5FvPZmdrPAijrGch3RIpW5JAim4aVasRElxxU8VACvxRyzb376kJ6OSR3B0rmj6oegwNYjelVuRtcr3oZKo1A4GdulpmYDPVSRTN8OfmcW37fMHd5MdmbYbeNz88zusgh6DsVc_NBziHLS0VGifq_ySWvSjGJes857tiYOmk3dClvK0yQRr1LhKgoPCxydpBwswLQTuEM8g6THBVk2q3nKlCZvTguZuJmJ3T7NoddNA9DqISyzuIoTjlsZ5BMVwwKJiUQP1uK683-for_R3APC6Q6EvIjXg_nWMcBxc5oef2bGR_LzaC4YYRPyBh_yVEU-Ol0ZumrYxw9XkuXaegzNkzBpBN7ZUPdk94B4DKOo14tGzqpSgqehlltgpOhD77nlaGr7VkABD0NLR3pSUpAyzo9J7wRp5VOxyT4L1EW989VheSwP9T_smwzncLFtSOwMEs6Vr2EpqTmUCHbzD6kU6meZCwXWXQJxJottCnIAHs9nd7gh2bi_SrifpKSj7g-rS5RjDRoanJImPvt4Qo7QyD1NP7WJYl4Jl7puZ1NpPpTOq6ETX61H9gqqCP8wPtrcC8vTdv4NIKBcz5JqfBDzxXa4S5_aLo-Xw2ZeiMDK72t6PUFOMfFAjwHY3VsJouyOnn87A-m4uswN_0KhbEUR6oD4gMKUapQ8ApsmeBu_8md_yzaaLKalO0XbwqUaE-05ha6oRqZx-ZvsduhGRU8nYt7zA==",
  "id": "rs_0959d906c01483fd016ab491d8cb9c87d0b5efab4d53a159d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The white marker has come off the table with the right gripper. I’m raising it for transport and giving the tan plush a short test lift.\"}",
  "call_id": "call_6Ikj0ZPVE5RjlO3KFUGhkPht",
  "id": "fc_0959d906c01483fd016ab491d9e51887d0bd88d3347b283288",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6Ikj0ZPVE5RjlO3KFUGhkPht",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3113, 1.7634, 1.0325, -0.4301, -0.9874, -1.1198, 0.5192, 0.2123, 0.9138, 0.783, -0.4274, 0.1642, 0.0879, 0.1739]\nstate[eef_state]: left_x=0.2382 left_y=-0.3088 left_z=0.0989 left_yaw=0.0045 left_pitch=0.0316 left_roll=-0.0139 left_gripper=0.5192 right_x=0.3151 right_y=0.042 right_z=0.2193 right_yaw=0.0222 right_pitch=0.0106 right_roll=-0.0047 right_gripper=0.1739\nstate[joint_eff]: [-0.2256, -10.8786, 8.6085, 0.8669, -0.5446, 0.0024, 0.7497, 0.7453, -1.853, 9.2786, 1.5458, 0.0757, 0.2027, 0.7204]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2c6a2aadc6dab9729606e38f022eebb347d7e40815bc71d7558e85cb407c81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad5f8e3917b441c37b74c0cb391e160f2c72c2c38dc10dd234ef496ab9a1527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e39c9f0e8c521c7dda62d42f5e1f39b135db4dd10ac87bd2f9616ab72f9be0",
      "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 · 5.517 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.6444, 1.3449, -0.9203, -0.5388, -0.9298, 0.9968, 0.1658, 1.5948, 0.0921, 0.9798, 0.0978, 0.0868, 0.9992]\nstate[eef_state]: left_x=0.2702 left_y=-0.2662 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.3764 left_roll=0.0189 left_gripper=0.9968 right_x=0.314 right_y=0.0387 right_z=0.013 right_yaw=0.0322 right_pitch=0.0401 right_roll=0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.7709, 5.8188, 0.8523, -0.4078, -0.0904, -0.0024, 0.4718, -2.441, 3.535, 1.1258, 0.2418, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3102, 1.8458, 0.9489, -0.2188, -0.9913, -1.1156, 0.5185, 0.1684, 1.0958, 0.2008, 0.3843, 0.0933, 0.0826, 0.1716]\nstate[eef_state]: left_x=0.2403 left_y=-0.3134 left_z=0.0624 left_yaw=0.0067 left_pitch=0.0464 left_roll=-0.0533 left_gripper=0.5185 right_x=0.3118 right_y=0.04 right_z=0.0731 right_yaw=0.0409 right_pitch=0.052 right_roll=0.0339 right_gripper=0.1716\nstate[joint_eff]: [0.3487, -8.2667, 5.7094, 0.5836, -0.1099, 0.0122, 0.9792, -0.0615, -2.6188, 8.8, 1.6972, -0.0024, -0.0415, 0.7106]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3113, 1.7634, 1.0325, -0.4301, -0.9874, -1.1198, 0.5192, 0.2123, 0.9138, 0.783, -0.4274, 0.1642, 0.0879, 0.1739]\nstate[eef_state]: left_x=0.2382 left_y=-0.3088 left_z=0.0989 left_yaw=0.0045 left_pitch=0.0316 left_roll=-0.0139 left_gripper=0.5192 right_x=0.3151 right_y=0.042 right_z=0.2193 right_yaw=0.0222 right_pitch=0.0106 right_roll=-0.0047 right_gripper=0.1739\nstate[joint_eff]: [-0.2256, -10.8786, 8.6085, 0.8669, -0.5446, 0.0024, 0.7497, 0.7453, -1.853, 9.2786, 1.5458, 0.0757, 0.2027, 0.7204]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2c6a2aadc6dab9729606e38f022eebb347d7e40815bc71d7558e85cb407c81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad5f8e3917b441c37b74c0cb391e160f2c72c2c38dc10dd234ef496ab9a1527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e39c9f0e8c521c7dda62d42f5e1f39b135db4dd10ac87bd2f9616ab72f9be0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.245,\"right_x\":0.48,\"right_y\":0.185,\"right_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"Both objects are held. I’m raising the tan plush clear of the table while carrying the white marker over the right basket.\"}",
  "call_id": "call_B7DLe9GWHUlRGHENz9TGggYq",
  "id": "fc_0959d906c01483fd016ab491dfe95c87d0a3ef8f8805647265",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B7DLe9GWHUlRGHENz9TGggYq",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.6901, 1.4933, -1.0023, -0.9348, -1.1378, 0.5196, 0.4866, 1.7298, 1.4117, -0.3267, 0.374, 0.2245, 0.1751]\nstate[eef_state]: left_x=0.2368 left_y=-0.3159 left_z=0.2221 left_yaw=-0.0004 left_pitch=-0.0253 left_roll=-0.0048 left_gripper=0.5196 right_x=0.4712 right_y=0.1803 right_z=0.2122 right_yaw=0.0487 right_pitch=-0.0336 right_roll=-0.0293 right_gripper=0.1751\nstate[joint_eff]: [-0.1026, -9.894, 8.4034, 0.9158, -0.6716, 0.1734, 0.4371, 0.6085, -9.4838, 9.0735, 1.4774, 0.3394, 0.1343, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f66e48f2cb4b4bea556ba30aa9439425a4411bec0f0993ec6c520b9df81f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823de27570f1ea6f31b83b552002a225ea0cd05c3ac23bfc46c79f95a1054eda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afedd387443ea98e4a4cd08caaa88a181ad80068efe365474e641bc04455d433",
      "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 · 5.328 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 57 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.8488, 0.9539, -0.2531, -0.9569, -1.1114, 0.9968, 0.1684, 1.5951, 0.0917, 0.9859, 0.0937, 0.083, 0.1683]\nstate[eef_state]: left_x=0.2379 left_y=-0.3115 left_z=0.0557 left_yaw=-0.0062 left_pitch=0.0081 left_roll=-0.0265 left_gripper=0.9968 right_x=0.3144 right_y=0.0403 right_z=0.014 right_yaw=0.0404 right_pitch=0.0452 right_roll=0.0332 right_gripper=0.1683\nstate[joint_eff]: [-0.1026, -5.5863, 3.2889, 0.6227, -0.0366, -0.0806, -0.0073, -0.4581, -4.2188, 3.3709, 1.6923, 0.0317, -0.0317, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3113, 1.7634, 1.0325, -0.4301, -0.9874, -1.1198, 0.5192, 0.2123, 0.9138, 0.783, -0.4274, 0.1642, 0.0879, 0.1739]\nstate[eef_state]: left_x=0.2382 left_y=-0.3088 left_z=0.0989 left_yaw=0.0045 left_pitch=0.0316 left_roll=-0.0139 left_gripper=0.5192 right_x=0.3151 right_y=0.042 right_z=0.2193 right_yaw=0.0222 right_pitch=0.0106 right_roll=-0.0047 right_gripper=0.1739\nstate[joint_eff]: [-0.2256, -10.8786, 8.6085, 0.8669, -0.5446, 0.0024, 0.7497, 0.7453, -1.853, 9.2786, 1.5458, 0.0757, 0.2027, 0.7204]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.6901, 1.4933, -1.0023, -0.9348, -1.1378, 0.5196, 0.4866, 1.7298, 1.4117, -0.3267, 0.374, 0.2245, 0.1751]\nstate[eef_state]: left_x=0.2368 left_y=-0.3159 left_z=0.2221 left_yaw=-0.0004 left_pitch=-0.0253 left_roll=-0.0048 left_gripper=0.5196 right_x=0.4712 right_y=0.1803 right_z=0.2122 right_yaw=0.0487 right_pitch=-0.0336 right_roll=-0.0293 right_gripper=0.1751\nstate[joint_eff]: [-0.1026, -9.894, 8.4034, 0.9158, -0.6716, 0.1734, 0.4371, 0.6085, -9.4838, 9.0735, 1.4774, 0.3394, 0.1343, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f66e48f2cb4b4bea556ba30aa9439425a4411bec0f0993ec6c520b9df81f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823de27570f1ea6f31b83b552002a225ea0cd05c3ac23bfc46c79f95a1054eda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afedd387443ea98e4a4cd08caaa88a181ad80068efe365474e641bc04455d433",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJHnUbaxy4B2qauZdf13fMJCzKsDVx-9uBxUSaQZ82gex_UusRp8bPXaboPsnaoI_2TZNXkpdZRugX7ICLqOt7n0nlCAyLabwZ_hEtJ0LxPmxYwBMUpPhvL5U8hobYvo_m0ErRTEs7j_flF3eTxnTFp6vggzPYf6-aqYWyhcL8BxzSqxi2nTVC5QUyLGoQaHyxQKjwaLk63UEu7uI0YnE9xOk09T-MbuQNA3Rnp5O6BZERP8x1hbQMuFgp7UilRvdgDYLtIn3ZByo9mMwFPChyk6glUDQ-G9-cHsfgSiobzMEH4XzX4gsHj6d9KFXv4yhTuOJvJcRTHGRkr-axHcQ415X-sQjmdVJR0ABLE87NYD0W51KYaYmBvCSgc534yyL92Sh97si6bEOfK9289LZGPqPvZgYcnBhbbokp79NHBUeLnfH3R1_iFsyF0mAMLDGWNLAA1GGyMqEL5OuNs_5KAZARIfybcW4w1ngyVW_ANiTmg98oeJ6TkMOlnlQwiQuL4kcFamFEQyh0tSIDRL00bAudFcPoDUKKcrmuniMw--aQODkJHSwv5ci3tzmx4wWcIgnU45iowu5ymgKNyQLTbSXYD03tu8bt1ZhfrYp2PVFt11NEm9Q9vpjODAg123UU3-7MpkkE7Lgo-K8D5QEWfqxm3I6bzE8yFJgQjtRAj5PVdTd6bGo4KhombHylu1F4tNi2SLCwpSxTWA4eHZSIkKawA9HXAGGO9JUSOEmnxL2MC8aemqCessUEYXC4fvjpW6pfNLG6ZoWmVlYDNHcxwKhBQgcdpwqqXsWvl08-5dPwl7pSk-PfIkSPUwVMn0C6hBF8kNoHjmL7GzHcQxXUNq8PkfoBWVaKToedIlKIPW7vOyYSWt_yEQkeaTcB5FN2crXwZnt7X8het5a6AsI9WcBMfGuLw7TEUmp2R6sltJiPtIjaZO3kDDCH2Eusjwp07HX3UWEczxMSDrTqpMxmNTjjPDDvtrY-P9Nq-dDXM4sq75kkxnNmiW_m8DD4K1iJTElUgA2VitMD0L5oXf-yy4-YSEO5Oem09aVbf6K6s7tkvojPOw-Wf1hjhZFXNu4MP-hKlnfAurGxh2VL1hmV5MNUP6DnCr4Q-l1uoi4nmhKAgxZPZCfvjiicbN0qMym6R01sXh9xOijW5SORa9i27i-7Omw-YLQ885F75LWNxvQThmLHFwmZV89yWggy2whZLrQb3jWw5DMGakgxoSrSctyQYQRRXVq8ON60Mvl4lwH9iB1g4Q2Z8f463Cpu-Dn6YPSLkNP2hq39mVztHGiu3XSbANI7JZTwOnykUIy8dUNLj69s7yqpRV1xIqoPpEayEH-w0lPnQo88NUB9Ov6F64lrtyYAzxjIj5J0WUrmGe1DxbSC1_CopYWdVpf1am9GYLnvTocwUeniYs9B5yLGXwY7ZL3s0AgkXxf6fZlWJLqfZwoZAFGh0Ssb4LnJxoBWD-HcBbqTJfzeEZAoNBuoRXqjGGsGI1kB4GsQEHpZ0C5h3sV9Yqu0rP8wtxfjGvrneofIi8NWuIJEIvR5zxVGxUx8fdcNWL79hCbPpv_VYim2ew_NHJUthor9GeAJQi4Bfw",
  "id": "rs_0959d906c01483fd016ab491e4ead487d093cbaa38483f467f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.175,\"left_z\":0.27,\"right_z\":0.115},\"note\":\"The white marker is above the right basket, and the tan plush is lifted securely. I’m lowering the marker into its basket while moving the plush over the left basket.\"}",
  "call_id": "call_zA55oaXsPNkoDtZD2jgk1058",
  "id": "fc_0959d906c01483fd016ab491e6fb8087d09312f5e703eaff1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zA55oaXsPNkoDtZD2jgk1058",
  "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]: [-0.5129, 1.7401, 1.6039, -0.6155, -0.4438, -0.3786, 0.5216, 0.4896, 1.8179, 1.1347, 0.0174, 0.366, 0.2245, 0.1752]\nstate[eef_state]: left_x=0.46 left_y=-0.1679 left_z=0.2418 left_yaw=0.0491 left_pitch=-0.1035 left_roll=0.0117 left_gripper=0.5216 right_x=0.467 right_y=0.1813 right_z=0.1148 right_yaw=0.058 right_pitch=-0.0547 right_roll=-0.0337 right_gripper=0.1752\nstate[joint_eff]: [0.1299, -9.2513, 10.1265, 2.0049, -0.2027, 0.4029, 0.1978, -0.294, -8.5675, 6.4205, 1.8535, 0.1294, -0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eafc211909e96929596783975adb45187a7879304eced2500384abec3bf3086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31497cec22e0b28afcda3612ab4b8a23efefb45e9578d0aaf76ad6e2aa55a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b726ccedb1b345abbaa5c6f461f6c8a55fb3a371734bdf2ff54e4fa5d209ec29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.883 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 57 changed as sent

message 61 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3102, 1.8458, 0.9489, -0.2188, -0.9913, -1.1156, 0.5185, 0.1684, 1.0958, 0.2008, 0.3843, 0.0933, 0.0826, 0.1716]\nstate[eef_state]: left_x=0.2403 left_y=-0.3134 left_z=0.0624 left_yaw=0.0067 left_pitch=0.0464 left_roll=-0.0533 left_gripper=0.5185 right_x=0.3118 right_y=0.04 right_z=0.0731 right_yaw=0.0409 right_pitch=0.052 right_roll=0.0339 right_gripper=0.1716\nstate[joint_eff]: [0.3487, -8.2667, 5.7094, 0.5836, -0.1099, 0.0122, 0.9792, -0.0615, -2.6188, 8.8, 1.6972, -0.0024, -0.0415, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.6901, 1.4933, -1.0023, -0.9348, -1.1378, 0.5196, 0.4866, 1.7298, 1.4117, -0.3267, 0.374, 0.2245, 0.1751]\nstate[eef_state]: left_x=0.2368 left_y=-0.3159 left_z=0.2221 left_yaw=-0.0004 left_pitch=-0.0253 left_roll=-0.0048 left_gripper=0.5196 right_x=0.4712 right_y=0.1803 right_z=0.2122 right_yaw=0.0487 right_pitch=-0.0336 right_roll=-0.0293 right_gripper=0.1751\nstate[joint_eff]: [-0.1026, -9.894, 8.4034, 0.9158, -0.6716, 0.1734, 0.4371, 0.6085, -9.4838, 9.0735, 1.4774, 0.3394, 0.1343, 0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5129, 1.7401, 1.6039, -0.6155, -0.4438, -0.3786, 0.5216, 0.4896, 1.8179, 1.1347, 0.0174, 0.366, 0.2245, 0.1752]\nstate[eef_state]: left_x=0.46 left_y=-0.1679 left_z=0.2418 left_yaw=0.0491 left_pitch=-0.1035 left_roll=0.0117 left_gripper=0.5216 right_x=0.467 right_y=0.1813 right_z=0.1148 right_yaw=0.058 right_pitch=-0.0547 right_roll=-0.0337 right_gripper=0.1752\nstate[joint_eff]: [0.1299, -9.2513, 10.1265, 2.0049, -0.2027, 0.4029, 0.1978, -0.294, -8.5675, 6.4205, 1.8535, 0.1294, -0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eafc211909e96929596783975adb45187a7879304eced2500384abec3bf3086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31497cec22e0b28afcda3612ab4b8a23efefb45e9578d0aaf76ad6e2aa55a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b726ccedb1b345abbaa5c6f461f6c8a55fb3a371734bdf2ff54e4fa5d209ec29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJHvxbFmIW_K6ynnfqADNuBwaJbDZFGi1UZjIm78U1ezBHT3IbanfEnphKXSW0oYsIDvViBhmqTtgJURxqOhuJoJfnZXLada_-b_BmWA-58xCRapguZJRZe--3-uFRPb6D47p5oShfsILZRtyzB7_b8EIopzx_A3zdD5QLgJYRRIjT2ySJ0fBH-h8tpb3GECMwvNua4bu8HBK4hsxEgVEos3HlI7kcyvGI4YxIeRucjFFMsyXOet-6ayzb6z_8yUWdEDOA6AeO0-GRnnjs0x5Y5aTPvdjbC4P8weSyNEoPF4S8nVSrr2EP8ieDk03rlI1NtjmRDMHUDCOekHvRLeuy8muyaJx8VIfIj65CjtEjlCrFbjSzg72zLB7zTBXWEQjNRn8ZI2k4Cwr8mEFx7j5qGln04oNiRlf36dMUPYsO3hXHPjv1mB3CRJ8LTEZyExYQajsbjibIfyGm4ZKovSlscB0sbr3rG3QP0Sl_eUNId9dL40phs8l-t337Qa5_oWzgGYxhAI-APUzXifMOdOwgr5QjhRozW234i76Yztq_a2z-pi_ohfyAoNVHD9SXgzluR_TncdeQd5beg1Q-mREXGjdaI4XLc8XwCiNurxs8Q83OSqMKnzU1A_lCki_35C06Nuw6F64F8XpDvfy5X7amA13jEhHfmdOlR0Fh8v2Jo-0KmnYjcxNRZngfs4isXPt-LBMaMiO_vsj8OWT6Ipyydoad5XKcHUL0e5obbvuR8PaXOnVll9slcfMbYKypQUbS8lHJa8bPzfeVp-aIbUAZ9QqYlkFwTaakYUP8RGb4To2jM3bobTNPDYjYaFweJXxqpzxxaf0XOkJvLFyv7wwOoWK1Np9AlhSV52nz5I1x5fS-_3NEfVAdO4r8Ac8HvK3fnmUiSfokBJ0mKnirzh_KqvLzVvYT3oeA4C6Y0S5DCf9fKKJGHmwkqKELew8H4iKnr8IzmCGFG0dvGD3C3ST2vdeeRAyyFYtmTL8QX7KrJDmNgmjknhadCcu5NIV8b94vKLpa4bmT8AHc62mK00Zy8FjnYDFaaDkKTfQ6AgdSiUYEy_13l64dMgnD5m8h9Lp_ITRz7nOm4KrKq9J4Qr3cQoA7hdoOi6HKXh-cEQja6KWz8ZUBP4XfZ4yZmBg-X4UDL0Lvi6R6Eq-JHhemk7Lu1xaoA9_MjTeJEiQQCkV6pz0Mokqadsq4AOc3UrZwgQhS3yMT6Y6CYk860wjIOxyQlHUWYfoKFiD1Qyrss-pbp81ffezNPO0CY08sMsUsO5N9MRpbWQM58QhueqcOgTcL6CrD61riSevTgI5PnPJ48JgUl_5gEFtQJbvTpMDaTYoRlm1ypCl-jC11sYaEubLupj9jOIhbmrgmM1I87nniNzQe6qCtwiJcOAT--ERDLeOPfzah-UgCZNoShGwIZrC6UEw-5Xw2yIRtXVe3uYH_6U4-WCAl2tQAmSEFnvEn01xEMB1sf9_Hqi3a7Z3Szxok32VjwBRoxIUtfbwy2Rce-Mem2h8X-ZkDoOL7TDOFBCqgOBzSfUbD1GT9xlNfwtwIo4cNU9XBrjP27TU_e5aTNgGjcm2zzxv0zleHvAckOI2Obg1ZLcUhUckTgTOSYyni_3_kCy8CM_liG6E13KOztzxprLvl6JoWMen5085XPAwPYy3oNHS1JQ6ODyJwHunOMR4vor6uVRMnkiml2IKSW6inb-YM8Wxgv838gE7Quj95LZrnljO2dIKChqAj1aPyCaKPfsw60tzkG-7Jp6EgcjpAoZpUC106kKYxW-20_OVYGxSW_Ug2txCAjXcFBmprrFsTh87L6Y6ot2rFsnmtqlU3athIWsQOzWrLIMbKWLTO7nvJnZGHG4RXsbTmkWp25xqv5u0k2QcAV3oLo6fV5RyQBFm43Nf5IEBf-U9LElRvk0fC1MGsTau_KGHL8v9KJ_Fhk20uQ7FQNV42ytBPd8BRG4rMwHbTFkfeX1k6o_Pq_uuliEeXVuByq3jvns5Ap4DA==",
  "id": "rs_0959d906c01483fd016ab491eb21a087d0959858d7b3cb8d36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.51,\"left_y\":-0.12,\"left_z\":0.17,\"left_pitch\":0},\"note\":\"I’m releasing the white marker into the right basket. The tan plush hangs toward the near-right edge of the left basket, so I’m shifting it farther inward as I lower it.\"}",
  "call_id": "call_dXKJ46akO4PkXCUpjUCulnWD",
  "id": "fc_0959d906c01483fd016ab491eddb4487d0bd0f983751d74e27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXKJ46akO4PkXCUpjUCulnWD",
  "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]: [-0.3622, 1.7912, 1.322, -0.181, -0.3607, -0.2615, 0.5236, 0.49, 1.8263, 1.1282, 0.0158, 0.358, 0.218, 0.9955]\nstate[eef_state]: left_x=0.501 left_y=-0.1194 left_z=0.17 left_yaw=0.0667 left_pitch=-0.0411 left_roll=0.0107 left_gripper=0.5236 right_x=0.465 right_y=0.1819 right_z=0.1076 right_yaw=0.0679 right_pitch=-0.0718 right_roll=-0.0413 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -8.6496, 6.2017, 1.8388, -0.1099, 0.1392, 0.2076, -0.1299, -10.1812, 6.9402, 1.6435, 0.0806, -0.0024, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419d0707402f3702fcebc91f6561adfd4b3b11987528a47460840a4f52960d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabb5da0f9ec61a2b885a00654087f22d91c475da4b393b1b8ee74fb913edc31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20caf4aac1a105241fbbd2e501d63d3eee7b348169c7c56748c4bd7f32bcfd4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.306 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 61 changed as sent

message 65 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3113, 1.7634, 1.0325, -0.4301, -0.9874, -1.1198, 0.5192, 0.2123, 0.9138, 0.783, -0.4274, 0.1642, 0.0879, 0.1739]\nstate[eef_state]: left_x=0.2382 left_y=-0.3088 left_z=0.0989 left_yaw=0.0045 left_pitch=0.0316 left_roll=-0.0139 left_gripper=0.5192 right_x=0.3151 right_y=0.042 right_z=0.2193 right_yaw=0.0222 right_pitch=0.0106 right_roll=-0.0047 right_gripper=0.1739\nstate[joint_eff]: [-0.2256, -10.8786, 8.6085, 0.8669, -0.5446, 0.0024, 0.7497, 0.7453, -1.853, 9.2786, 1.5458, 0.0757, 0.2027, 0.7204]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5129, 1.7401, 1.6039, -0.6155, -0.4438, -0.3786, 0.5216, 0.4896, 1.8179, 1.1347, 0.0174, 0.366, 0.2245, 0.1752]\nstate[eef_state]: left_x=0.46 left_y=-0.1679 left_z=0.2418 left_yaw=0.0491 left_pitch=-0.1035 left_roll=0.0117 left_gripper=0.5216 right_x=0.467 right_y=0.1813 right_z=0.1148 right_yaw=0.058 right_pitch=-0.0547 right_roll=-0.0337 right_gripper=0.1752\nstate[joint_eff]: [0.1299, -9.2513, 10.1265, 2.0049, -0.2027, 0.4029, 0.1978, -0.294, -8.5675, 6.4205, 1.8535, 0.1294, -0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3622, 1.7912, 1.322, -0.181, -0.3607, -0.2615, 0.5236, 0.49, 1.8263, 1.1282, 0.0158, 0.358, 0.218, 0.9955]\nstate[eef_state]: left_x=0.501 left_y=-0.1194 left_z=0.17 left_yaw=0.0667 left_pitch=-0.0411 left_roll=0.0107 left_gripper=0.5236 right_x=0.465 right_y=0.1819 right_z=0.1076 right_yaw=0.0679 right_pitch=-0.0718 right_roll=-0.0413 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -8.6496, 6.2017, 1.8388, -0.1099, 0.1392, 0.2076, -0.1299, -10.1812, 6.9402, 1.6435, 0.0806, -0.0024, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419d0707402f3702fcebc91f6561adfd4b3b11987528a47460840a4f52960d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabb5da0f9ec61a2b885a00654087f22d91c475da4b393b1b8ee74fb913edc31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20caf4aac1a105241fbbd2e501d63d3eee7b348169c7c56748c4bd7f32bcfd4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJH0DZLMpVxVAnsfDt5ImXnZdPtk_CopH9yOjl8ht2QwhwC6ajp20Tjawl695o7751wczBkSzHihSrdp_Nn7LmzGOysoeO5rixBwy-pxKk8ohhv-vRupBrzFuT46hZUw48g59DppGN62gsbNIHZC1zS4mJtBJBMnFkEyV_ZH9VdqpHItiDP_rzOibAWrmta0g5B3krvINdLIt9SwcM_JQWfICxoZn5LbyAYqWOq4ApSRse2wfmLOKViSRcQ6aihzt8c94XltssTpz5nwq7_8e003JCl1xRda7JQf8byLX4cnI_SoPG9cm-NoFJq6h-SNZusgLjOOE75AHIbOtJ2_euiOGIbwPxiAC6qj2-jdvFU2U9o5CvxbpwPR_mCKCXKAdMj0um56byaPY9jH9XvrArVJE7e0jWxW5lFFVRwFJY4wIUtl5gAIU562TDYhvrRwWlUGfEVk4WTvMEpAqhn8eHRiNPfrShc359nHPMTlNyqsRBlrywgY4yC_d868DScOt1f0B1DII19wOmAWPwxnSFSGnY5q1h87MGeeHIwfyxNJax4OvRMvbeSoQ_2Qo-2-gU9Je69Q2DjVQegAVX1W1_2u43d8Nrxe16TbgwCaY4pGQoG00gtht3KS3E-j7r5PQcyt4oHBH53onDYEtsUebKPA-nvQkJa5tjekNDjQHyCGAt8ivG5caDW6tYdMGF0uwklmHYGxj7z0XchX9iUnHBKThKXRA1jmjwAPAcCcwYQmQsQI_r-u55QYekKA-FFHGhzBnAZEoXzp33BG6u769pNZl4V39SPLxIGORW-NhhG30OdP6tPo9q0DuSTYYN5Gvn8tRFmOSKdIozzDTFgCuK3QB5npoMgMNLAQ0tF-xA9h8vblG5kW7HnWrRRCz-KFWdDs6_o7zSiRJL8urqXdD_f2Wid6x6enSy2uDYY_Cx7e4OQyVegM8JvCVZNxY4x1T6yHqYWETNEUBLY5Wngd2xuEscSkfDbknkqwGbPnAvFOTsyzP1ELgwCxuD1OARnrE9a-fLUT5UNOl_CYClOqiS-Qa6UHn2GaFVWy6m0eKyo67Zp6lMkkrvmbzPyKOcNBiTtGA9iKqNKYQClAP4zhM9LTI7H7VQVQ6SaXshR3nR-WWDEqvliOXjgcJJhpZnYnCpVAiYs9TStE-3KjCPg5_Yxkwo4XNI2bZ2ZoguaHw0KsxvvZ0YupbioPFDQ7JEOoJi5Bcg9W1dKwO93Sd-jTk1799zRVBreWRI-qrTLmCtr3VKwhiYf9_dSopCE1gaI4MQReQjdGMtBD2gOZ0hbyxiymz5FcWDjKQjS5CGOD9PBep3ARJxmjG56JDuLO8tJhXPMBafu_I5CvZrKX186NJNmnmmATe-zMVoYf_JsSipZu7i0pCoXwjTAIH7R2rycD6WcjGw3mwTQumBA5IEz_P-cqb1NEdqQp21qMaX7E9fHUSI6sPpg0R_nmyTbmGGElCwTDRORIsm7FPhVzYL79Yxks0X7Ttsku8-BkQ8fCHqk0QZUJRSbnn_VUrkpRHve-zjU929zZQA8tZ9Cm_N__IMug0jbUmB3Ohgmu5FJs8I37hvLSWPMRgxuaeEetXYwhWntDsk-Ni0dgvgn_5lVE656wwZ7bX08Otzso0VUpue1JFiNrKVuwNx_RLCLHtdFf2m87iA6lndsheRhCqjSwUtVt6n_62NewKwd_wXtSumHkoNTHpBeUh8Pdq0rKPeF5oW4Z",
  "id": "rs_0959d906c01483fd016ab491f1521487d0854c6d5392e77bf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.075,\"left_z\":0.18,\"right_x\":0.32,\"right_y\":0.14,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The white marker is visible in the right basket. I’m centering the bulky tan plush more fully over the left basket, while the right arm lifts away to approach the blue marker.\"}",
  "call_id": "call_F4NJ17ksXYKpvgSKTVfOhwS0",
  "id": "fc_0959d906c01483fd016ab491f3812887d09999a314fc077328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F4NJ17ksXYKpvgSKTVfOhwS0",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2325, 1.8641, 1.4189, -0.2386, -0.2642, -0.2211, 0.525, 0.6575, 1.1954, 0.8192, -0.2745, 0.5144, 0.3595, 0.9963]\nstate[eef_state]: left_x=0.5271 left_y=-0.0737 left_z=0.1615 left_yaw=0.096 left_pitch=-0.0946 left_roll=0.0003 left_gripper=0.525 right_x=0.329 right_y=0.1488 right_z=0.188 right_yaw=0.0347 right_pitch=0.0051 right_roll=0.0081 right_gripper=0.9963\nstate[joint_eff]: [0.3897, -9.347, 10.3043, 2.0781, -0.0708, 0.3639, 0.1294, 0.3487, -4.588, 6.8308, 1.7851, 0.3932, 0.105, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8829b07d6c648dd1b0f7efe1c6b12d8b60f121543218ee85be0c0a85fc892c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732404f02e2480128e766f48f85b157e50a9543a47be80c5b1194bf3e75cd198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4690f19babb272102878b09b8f5cc9187dced12b171388ba484b1dc2880e45b8",
      "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 · 2.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3056, 1.6901, 1.4933, -1.0023, -0.9348, -1.1378, 0.5196, 0.4866, 1.7298, 1.4117, -0.3267, 0.374, 0.2245, 0.1751]\nstate[eef_state]: left_x=0.2368 left_y=-0.3159 left_z=0.2221 left_yaw=-0.0004 left_pitch=-0.0253 left_roll=-0.0048 left_gripper=0.5196 right_x=0.4712 right_y=0.1803 right_z=0.2122 right_yaw=0.0487 right_pitch=-0.0336 right_roll=-0.0293 right_gripper=0.1751\nstate[joint_eff]: [-0.1026, -9.894, 8.4034, 0.9158, -0.6716, 0.1734, 0.4371, 0.6085, -9.4838, 9.0735, 1.4774, 0.3394, 0.1343, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3622, 1.7912, 1.322, -0.181, -0.3607, -0.2615, 0.5236, 0.49, 1.8263, 1.1282, 0.0158, 0.358, 0.218, 0.9955]\nstate[eef_state]: left_x=0.501 left_y=-0.1194 left_z=0.17 left_yaw=0.0667 left_pitch=-0.0411 left_roll=0.0107 left_gripper=0.5236 right_x=0.465 right_y=0.1819 right_z=0.1076 right_yaw=0.0679 right_pitch=-0.0718 right_roll=-0.0413 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -8.6496, 6.2017, 1.8388, -0.1099, 0.1392, 0.2076, -0.1299, -10.1812, 6.9402, 1.6435, 0.0806, -0.0024, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2325, 1.8641, 1.4189, -0.2386, -0.2642, -0.2211, 0.525, 0.6575, 1.1954, 0.8192, -0.2745, 0.5144, 0.3595, 0.9963]\nstate[eef_state]: left_x=0.5271 left_y=-0.0737 left_z=0.1615 left_yaw=0.096 left_pitch=-0.0946 left_roll=0.0003 left_gripper=0.525 right_x=0.329 right_y=0.1488 right_z=0.188 right_yaw=0.0347 right_pitch=0.0051 right_roll=0.0081 right_gripper=0.9963\nstate[joint_eff]: [0.3897, -9.347, 10.3043, 2.0781, -0.0708, 0.3639, 0.1294, 0.3487, -4.588, 6.8308, 1.7851, 0.3932, 0.105, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8829b07d6c648dd1b0f7efe1c6b12d8b60f121543218ee85be0c0a85fc892c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732404f02e2480128e766f48f85b157e50a9543a47be80c5b1194bf3e75cd198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4690f19babb272102878b09b8f5cc9187dced12b171388ba484b1dc2880e45b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJH8sPkhZ5zDrjUOuGv2-IGRywcw9MXmMpQGJfAgTulnXGk_NNnY0RrdyhkMf_RyK7Jfd5dN06mwNtltK7R-dBsE-R6cPpdGgN7isaT3cE1RcQwAOJCyxuwFCujMEfq1jHPCXNZr_G4QNEicYC83YH1uL6L04PJ1hQ-7S4r-6aX5N-CPUawUUzE4II72ggCKJEgrk8Zkw3MAQMk7FDTXWdmusYBY-j_TVcJUdJ0KR86NiI3yHH4c6kTaaksTG8N0CPJEOM9K1OJuUBj0cQAA6wC5t-WYwGJqrMsIXScrIiXoNz4_JluPMSwN24NDlUm3SDyplJktM2NluxZLpXsNrhJAvy6SXam7zbj2XWU0WZDh6gPL-VGJE85-lpMUkQ1aWph6YnVlbBFRrNkZWp1SV7ZARkpy_FRoxUJw7Wlxnb2GRPPnQN5CMAZIKA-AAVXb8nH7hjFh7Kxw4HvTProkp7v3KiEQS0SvDcNdKRM8ZGswcvnI6_3EuNNZV7GgXgKNsdusd_I4eV5nikyvGsx8vqR-MbdIoCfEHlIiSXcCOvOh0iEM33Brm5ALzvLe0co8k0dWEuMmekJkDFJs1Y_Vi6mbcRS2Q4Fex0_5z6gcbb2NokyG29gnmyfzgxaUcdbAFHfMbLyeuJzy0UCJmbhEIV4mfYjG4zpMggYiT8pkn_3S2nYUQgEjP1lbOqRQK-yJbn8xdeMqQSBd0lVhOsUSgdepjOhSZhEAbPIPgh4qUggMrvs09di4f08CoK3afyI7uWFbMeZwNg9UOrSjg5DpJxpZ561v0XVvIaDt4AynMIU8zdQm7HoBFDf0nI0ms0wM_jaHrnNPRkZ2prjqYLcvhiafoVFxvxrioyYSKhjG7Uw5ZKLdNQINfY_zbiZAwsHjNMY3GRoV2etThMtIsTwrUYwVB5idN6vtWEON6RrIZxPKfo9TNg2-MpakkCSoLPFoxqPgYJ2cPfl5k-Ikrh4VTNhTIpjD89eVtAaL_TyGQctnbBksORC0p6eiYtjZ1WMUy0bPeEUqIbb0FlmPeLxUJ3UJAn3a5rTsPf0XCKaTQFaMm0lvkGQKNkoNamQZXvV865nQmAzdvU5F_fwozRoCiJIrBBoq6L6MEdnNHu8IO8Joxv4zzzKDzaBc9bF9XW5NlZMFFgDOA-Wy7n6hrWKqP9mEQpBV2Zs9TkM4tkgPPcXIWQNRTI7sAcdv_pLu6DVYR--XR0Md6-uiaSTFEfUnS9oogVw1kAu9jnnqsgB1wY8FfXpaadQrRKxB3ZPKrhgFgDtAZkjFZFY6qnd9nog-GC3iN5YQ2nzEB-GD1jJGcQknl6yPWeMCGC5Wlb2BD3R1ljNfXHJYR63ltYafzs_W_kYkrUud8Gt4hmRfpLn9hrY0NKwF-ZFG2uQ3mQGAQd1Rq8QElfQ2LnWIndABi-a8rF26vol44LIlnCQDWgPykYFYwbB3ViuHhBFDLIBKH9yrB771NdDm-dAcY92-SHbI1KT_1MhiRSzby6xwuANk7zZUJlQGg5UyB7Y7tA97f7O45VmQLgyfHrvHKs-iXtPxDwnH5a-CF9FagaN6GmQRU2oYY-g2OFP97x8PBs3yP0gL4rwnijtRd7oKZ443-8y8hVo5wdhe0X85trrGIRZBaGcypoq1e5t2P9eXFgZSjwsC9dr-txFOXkTpSjPk9AqqpoOo2zhmCMfTjpVpj2P5l9ZlYwkxA3HpvU1WRtSKdYYwtYQ96FAO5vh4fMhQhH4It7pRPNdAPGb8gqs3YI6vwKFVfYIepQidfMOgDYpq2YM3JzMAC2lR3qIEs2riFbr5cNHq2dDdQoW6oAMbjlMcfAcHURzq67AjLpZ9el3VpQZ6OsbDb5wNOhgUiI3Hz_aUDmsOBeiFbdkWCsDD-_lNS8p7UTl31tTkl7S4pmAIFjTwMD8cRVkQ6Y6m8SN_Kr-KiyUBGepN2y59CTSBkJTM6VkR9LKOOEpclveENYLyBa6dsO3J0SY5SldgakbilhPkd4ribyB4np2-fmV-O9Ei2WqnsbLvjc7lc2GdudcsdRZPwIb0qvAT8iuwuhCs7JAc7kixgaHXkN7lkaUkTtpuhZxfShtge_rTIPsjzaba_cJm3amoi2r4dRiubARW70ZnwrtJtLfENG7t8o7dH1opMnhRo2YBanAWY-nBQf_3u3WnZkfDMfZlBPS8b4ggwjNtF1qWdcRVBdKiCWrhBSbhYhWiByFQyZMDeSXYZeFuvOF3aU7OnV7j3RtHbWE3aJ1iT8R6Vn1wo-9SfOZ5xV3v5vlT8bVFXzApk5enn4nDSxL9m-R7",
  "id": "rs_0959d906c01483fd016ab491f7520887d085d56804d62cee35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.03,\"left_z\":0.16,\"right_x\":0.33,\"right_y\":0.145,\"right_z\":-0.005},\"note\":\"The tan plush is almost centered, so I’m making one final sideways correction. The blue marker is aligned with the right jaw column, and I’m descending to grasp it at table level.\"}",
  "call_id": "call_YnCsD1NbaLgFsl50a8W9016c",
  "id": "fc_0959d906c01483fd016ab491fb020487d0a15e152714f86485",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YnCsD1NbaLgFsl50a8W9016c",
  "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]: [-0.1337, 1.8641, 1.3903, -0.218, -0.1783, -0.1795, 0.5266, 0.6468, 1.7657, 0.3813, 0.7757, 0.5034, 0.3607, 0.9963]\nstate[eef_state]: left_x=0.5296 left_y=-0.036 left_z=0.1509 left_yaw=0.1009 left_pitch=-0.1175 left_roll=-0.0172 left_gripper=0.5266 right_x=0.3365 right_y=0.1519 right_z=0.013 right_yaw=0.0318 right_pitch=0.0355 right_roll=0.0387 right_gripper=0.9963\nstate[joint_eff]: [0.8547, -12.506, 5.5453, 1.7607, -0.0952, 0.2027, 0.149, -0.7043, -4.1778, 1.935, 0.1392, 0.0073, -0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af80a6a157a24341f13310a60cb1badf46d1ce9cd5269cdc3c6bc7f3e857293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b843f385b8b10e2900fe450df6707889b5be4bcc2ca50d3b13f0ea5512ea0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0863d9d5c6519a485e4e00a73f563abc3142d6da73275bf6e6be260315600",
      "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 · 10.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5129, 1.7401, 1.6039, -0.6155, -0.4438, -0.3786, 0.5216, 0.4896, 1.8179, 1.1347, 0.0174, 0.366, 0.2245, 0.1752]\nstate[eef_state]: left_x=0.46 left_y=-0.1679 left_z=0.2418 left_yaw=0.0491 left_pitch=-0.1035 left_roll=0.0117 left_gripper=0.5216 right_x=0.467 right_y=0.1813 right_z=0.1148 right_yaw=0.058 right_pitch=-0.0547 right_roll=-0.0337 right_gripper=0.1752\nstate[joint_eff]: [0.1299, -9.2513, 10.1265, 2.0049, -0.2027, 0.4029, 0.1978, -0.294, -8.5675, 6.4205, 1.8535, 0.1294, -0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2325, 1.8641, 1.4189, -0.2386, -0.2642, -0.2211, 0.525, 0.6575, 1.1954, 0.8192, -0.2745, 0.5144, 0.3595, 0.9963]\nstate[eef_state]: left_x=0.5271 left_y=-0.0737 left_z=0.1615 left_yaw=0.096 left_pitch=-0.0946 left_roll=0.0003 left_gripper=0.525 right_x=0.329 right_y=0.1488 right_z=0.188 right_yaw=0.0347 right_pitch=0.0051 right_roll=0.0081 right_gripper=0.9963\nstate[joint_eff]: [0.3897, -9.347, 10.3043, 2.0781, -0.0708, 0.3639, 0.1294, 0.3487, -4.588, 6.8308, 1.7851, 0.3932, 0.105, 0.0757]",
      "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]: [-0.1337, 1.8641, 1.3903, -0.218, -0.1783, -0.1795, 0.5266, 0.6468, 1.7657, 0.3813, 0.7757, 0.5034, 0.3607, 0.9963]\nstate[eef_state]: left_x=0.5296 left_y=-0.036 left_z=0.1509 left_yaw=0.1009 left_pitch=-0.1175 left_roll=-0.0172 left_gripper=0.5266 right_x=0.3365 right_y=0.1519 right_z=0.013 right_yaw=0.0318 right_pitch=0.0355 right_roll=0.0387 right_gripper=0.9963\nstate[joint_eff]: [0.8547, -12.506, 5.5453, 1.7607, -0.0952, 0.2027, 0.149, -0.7043, -4.1778, 1.935, 0.1392, 0.0073, -0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af80a6a157a24341f13310a60cb1badf46d1ce9cd5269cdc3c6bc7f3e857293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b843f385b8b10e2900fe450df6707889b5be4bcc2ca50d3b13f0ea5512ea0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0863d9d5c6519a485e4e00a73f563abc3142d6da73275bf6e6be260315600",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIAMrXHvFr06gRj2cawfAIHvNwp9CT91E_tL1G_RAX3Y0xpSGHaBkq63r4EAqi7FsAkSzjiTG97vLRzV2yTSth9aX8PJ8Yu62P1gVdLQ2AgMfNlZ6Jwi63RPXcEj_xGowHTRKUDGj9QNMitZvMWgvKMilBgKFkV-u7Q0nz1p2aG60aZ_bG4Pqs7q93DAu6jAnAS8xcHMPmln0Jp_L0nk2cIHTVvHTpPCHyDh6_IO-J_G46blaUNDJgr8w4FHtKUrigxdESu9tih1dnC8RMxkIKWa9atI9RvjqaKieTtzu_VEE36EvBdXew0W-OiMYAvmVPZmJKB-s19fuA45AR907sDBjYqvuJOdswgc8sCV1jCX3SpxeZBoU-AhcBDMGfmdnJkA3e2aN8C-ru65iYskVHYGeEFSn9ZwMSYlfUqzoAUrv3FU5g7n43QoJ-UtsOITT8t26Y4XzSDaf1hJ2TNXnTvWI5cZxTIeY7-j1_M45RZ9swARO5acHaeCKUPAVMfla47FavOaMBvYx4K9HisVCLSpz-jPtcoJzE0PAP2L_rhbte76HfLExnXFgepXaLooyCWz-0S4S6EHn6p82gUHaTOO-CBnT2F8i_YVPB3iN1lCzaobdqpDv0R6JpMOctBtfXqjXAWM1Ic-eV_sh9hEe82mAdgh077hmPjEOHg2e6-GjWcGPirnQ65nl7p9K9bBs_K7HSatxN-N5xYHoDv58Lh0_J857Qsl9I-BvwxFDZrjdqb3Dn__XE23S9FdTmvLjXlDgP8ZL21bRT4qus9U8ir5g5inT2kDwlW_bI1KFCXWObplDDZOLvQ1pZG9BNlngnveNrZeDnDlgaVVPWq0k4SrDCleHNmqkKZK1i6bf3ZDiNV881xaLB7ei9IDYU6i62Go-ieNE2ZykZO2OPGCGMP5zOHvJwwGHwV7KYuK605kY8dqcKqV_ooVEQXcV_KDbmkcfb32bjX45K5MECanL_AxmISE3NHXDJpLSNez0GpnC72ad80eSHcsCD-lz3BIfXqQmU-NM8SsZCuCzlUmLe7WHryrSNfYsMdN1heQOMXeT4OhHXavhBEgEfr32IatgepODrEyNPynqlHd5vP_vdshx5F2IhgSleLcvSpZ8MSiPX0r-tC8NVtIRreArT_btYiN9r5J8PD7fxU8wy3i6ON75QHqK21KVaGN-QfBIqMByRWY5lQLSSmsBdNRuuloSjY3dxnUTHMbBfc_9Zwhm7B4W5a30s9KbW38QYjaCHFB32BgnL5sky5D8saJJixwEDUgI1dmmL_PANHfzjLEjMJxA==",
  "id": "rs_0959d906c01483fd016ab491fecbb087d09e3b0ffe7c498a01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The tan plush is now centered over the left basket, so I’m releasing it. At the same time, I’m closing the right jaws around the blue marker.\"}",
  "call_id": "call_DXGEjqjtYRZQOj2pujhusPTm",
  "id": "fc_0959d906c01483fd016ab491ff42fc87d09e0365b9a3c66c3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DXGEjqjtYRZQOj2pujhusPTm",
  "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]: [-0.1329, 1.8629, 1.3842, -0.2203, -0.1795, -0.1905, 0.9978, 0.6468, 1.7775, 0.3744, 0.812, 0.4973, 0.3565, 0.1503]\nstate[eef_state]: left_x=0.5279 left_y=-0.0352 left_z=0.1484 left_yaw=0.1087 left_pitch=-0.1245 left_roll=-0.0234 left_gripper=0.9978 right_x=0.3371 right_y=0.1535 right_z=0.0134 right_yaw=0.0385 right_pitch=0.048 right_roll=0.048 right_gripper=0.1503\nstate[joint_eff]: [-0.212, -9.9624, 7.2957, 1.6386, -0.105, 0.0513, -0.0073, -0.0615, -7.2684, 4.2462, 1.2869, 0.2173, -0.0269, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d801b4d9ab97a74fc7df33d48c49891414f9ccc1392dc721f6e1ca68e2ad03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc1397bd1b175cd7cef24d07bfaf0f0127c249c4a316eb743421536a0bfc11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d57cc516e3a2e23f41019fcaec9198f1b9bc284abed2c73668aedb7eb136cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.726 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3622, 1.7912, 1.322, -0.181, -0.3607, -0.2615, 0.5236, 0.49, 1.8263, 1.1282, 0.0158, 0.358, 0.218, 0.9955]\nstate[eef_state]: left_x=0.501 left_y=-0.1194 left_z=0.17 left_yaw=0.0667 left_pitch=-0.0411 left_roll=0.0107 left_gripper=0.5236 right_x=0.465 right_y=0.1819 right_z=0.1076 right_yaw=0.0679 right_pitch=-0.0718 right_roll=-0.0413 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -8.6496, 6.2017, 1.8388, -0.1099, 0.1392, 0.2076, -0.1299, -10.1812, 6.9402, 1.6435, 0.0806, -0.0024, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1337, 1.8641, 1.3903, -0.218, -0.1783, -0.1795, 0.5266, 0.6468, 1.7657, 0.3813, 0.7757, 0.5034, 0.3607, 0.9963]\nstate[eef_state]: left_x=0.5296 left_y=-0.036 left_z=0.1509 left_yaw=0.1009 left_pitch=-0.1175 left_roll=-0.0172 left_gripper=0.5266 right_x=0.3365 right_y=0.1519 right_z=0.013 right_yaw=0.0318 right_pitch=0.0355 right_roll=0.0387 right_gripper=0.9963\nstate[joint_eff]: [0.8547, -12.506, 5.5453, 1.7607, -0.0952, 0.2027, 0.149, -0.7043, -4.1778, 1.935, 0.1392, 0.0073, -0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1329, 1.8629, 1.3842, -0.2203, -0.1795, -0.1905, 0.9978, 0.6468, 1.7775, 0.3744, 0.812, 0.4973, 0.3565, 0.1503]\nstate[eef_state]: left_x=0.5279 left_y=-0.0352 left_z=0.1484 left_yaw=0.1087 left_pitch=-0.1245 left_roll=-0.0234 left_gripper=0.9978 right_x=0.3371 right_y=0.1535 right_z=0.0134 right_yaw=0.0385 right_pitch=0.048 right_roll=0.048 right_gripper=0.1503\nstate[joint_eff]: [-0.212, -9.9624, 7.2957, 1.6386, -0.105, 0.0513, -0.0073, -0.0615, -7.2684, 4.2462, 1.2869, 0.2173, -0.0269, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d801b4d9ab97a74fc7df33d48c49891414f9ccc1392dc721f6e1ca68e2ad03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc1397bd1b175cd7cef24d07bfaf0f0127c249c4a316eb743421536a0bfc11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d57cc516e3a2e23f41019fcaec9198f1b9bc284abed2c73668aedb7eb136cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJILOhgILXmQyWUGy4dWyv30AdlcfBl2YruriMd-l8w--FNxvPzP0vXFvo9cB1E5HhQOFR6j0Ml4-gUKDqgrmEys1jTCi3OH73DBtYxc_M0vMBgk2EciwSTEaQTCowpz8omU0O6X9lbnYlOwJbVfMfktzGQZITK2Q0EcbDystzySCS7adkTSgS3zqLveq36Tjh_gVoyIqmOBaHPmYgrh9e0tc2GZH-TKjUvAzReX9BAqHQlscYPMkHkiR7IgskTNqNPJkOH95ua1QdXN5lfZ6pcAKanoYa1XWfP0fYYb_1mQtG8ypPcd2pR6_6I0IzEoRyxcC0e4ie2XwcBu3Gz5qlfqsqOcg6vY844MMTjx0bQF61SyEKs4I7ViCGP1vB3oPdsFKsHnAC2dWAlYJfkRPOe_jUhUSenHR4iw7z5Xyq9_I6IYgcfJs6hRLEmlDQ5tCJQ5sGvssDFddK6s9XHfu_xU2iE0K_JHHIzoiXQYV-oxvuEX9iLSwnjwg2mirDlYP80MVT8apoc-E9FzzuF5VAeA6Q574y62S7XyAesQNr542cLFDVNG00CCbNUTRvT5PSXFJfCkAmubf51un7T8tKG2esTYB5I60dS7wgsYJeBEYbv48ufcr2IZsBrx6DneB9sbG64tUyyz9Mw01H29E_j60riU7Rk6SWqKSTDi3kaxvsZTG6S1E1ZW6Eg8t4Po4T02noORtScMDqTRVCdgKD94sJorL3ix2ZbpNvvMAQ8Z7s7Yg273LUMERJKiuhMrdjxs2I706P--L19B0rPskvvDXQTqIwmJHVcGulgmqEt656kqjRpm3erfFnaq8SACsWBVpO5LMIcX7y-uD1eXpONRuzucPZ_OunIn6o27Xt0LeFhiMalNfSpyzoL5JypBNgfz67Vi7Q1ce6FesbOFmTi5oZUbS5zNi9PSr-G_hraRmmVE7MT-fml_PJtmGpx5Cdti39iCR4uiuNqw3SmEh68PuJQW7xChz6V-NSK0E5uwscxoeWOzmG1EpY92Rb-6tqFzWbKfhhwd9Obq-wV5S2x7UxCJ8AzmkscVMMdlpcFSaVh1PDE2a6-Dt0QyNAkrgqyhmNwNCXlFSnRkTJpW52nVB7A3iau8Ev5JjHw5UR55g86TrrvVNfIZ4XDMwYakr56wY4As0-MLSvLOzLbgtCwc5ZpTfll9GT2SgGjNaOQIaznE23ikuNaqZgazeDPSzp0oxMB1vL533w1S0kA2xdpkah79wqr38-yWWX58srZOtBaMV8SERrNWMXUPcXGkt1R2oD5HpySMJ7hP55dV3oEDvncaORFFhM2RQJ8TNEjqekaGbP067g423vZXnIhtw_RurtisAc-99y7Z-DKPkMblbL___gT_f-e-4jggdp9L8_sH2FcioFm6TM9G463G4nhyQOvcer6jyXI5W56ED8qW4J6prW4gYEkd_Q-Q3YgB4xbhyzcwiN-wanD-pG6QeUGIgIWPXkWx5wvnCPu5y4cbq_BT4pBlQfobAMXkOlbhp4AbyCdgfAtgwcfvesBv47qfvDlurhbR364_18GlcXlkOKSvm8KfSco_mC8SEqsaC3kT55ulU9VBGJjLu1CToDyOM047nxqzOpnjE3pTDtRlYIcsFaL3fZAc_c39anbvjJ0BspnBZr6rNOkco2ksGwIIQj7L3lJMfBPjnbH2CNRi7PNbH38W7f0uM-TT8x08iTuH34HXOn5mt5y_PFS6BJacJ8DdYS9WfWJ0brcwRCuk0QPG3cC-JkBqwAsMsgzNKqtFnwUvtRgNatE58hzIBdGZ1Ht-MpPG2uzlII1AhLqJb-7SDP13YzN9t5xf7LWHRNjwwuCVO22olH03rSM0mbYnp5ShU6oPJ7-fluCmnWU0koD12fQpBwdyEtUY15dWJApCfwET8FaWRy7t_kOPOL1QXsIgc-JvfhDVASJ3HQIws8UFYCkc63AKRW2XaDERtLfEAqNst30jWreMmbTlZIDFDE9oUa7FFyAXSCim-BpBQ-qvbzxZ7PQBxWsh79_PE5IO5S2yhElUF-hiUdMuPZ48_SExMmIKbuqXPJQha7oWHaJ00TxC5jhLGdh8k4VP8l0eg5cm1Z6nQ0NtKP3I804UY60zr6MaNNJmkzuW3GQdVUp4PdUOSkXHTvAfxXaoWXPFPn5cjiV24OY9hYJwBUXFocvLFsXnKTPp3TcFBkEaZTUjYoAnGeXxFhW5xlL3rNSiIx6Itt-40BS0mYJCl0ob2bMtn44Mx7s_tsQOCIo06UgyLRo26dYmZ_5zAhbkomhWqlDB_aQ2jWFdX4ib39kgRVGPP57KXtnZv7BQjtBUSEM0GSkQX_qDGLMz6nv8rSjEY-7GvasVdNEtRYUrWB4fVFHLp1XgiXOkCXm8VMhB35ooTU8K4PGFHsZ_Cgarh-EcDedaGSUDPkBPMxuV-dSLkChkpN1fIKrvk-tALc4atWZKobNI6MVwOc0mAzb0epoVD9q3bLn4k1oObubaop3N_8B2Z68yKnPnKyymG6hpEbu6IUawybK_iUN63ZX9qYkkq0hwo-rb66rLVLreGWG6I-P5gf1BmgLvOgkJqZb5CWIN03oHKTuJhHBQdrnZ4fde3_S_QoH5kZ5dFMl49z96kqYq8gazvAAaxNG_cRLQ7CZ9vjkavVsDi2xNz33GH64O9jHx_VPQzzKGFyjhbRbygHTtu6Qj4dB0nPCP522xeWEm-0cFCHiBt5mkHYoB7M3idSTx4u9MKTwRvimPuh58wO1eVozmC1069Bqr0_wjxw8vcj6ojl7_qAt05VQBZ8_PfIrCRh7Rn7ypJXTd_oZiWWuZGsSzpLhyw-AOmY_OGrt7eM7r6yToO8pkXqTwB0pFm6_MpuO4HTiC0lWtx2PMviyCvXcUOuk-N--FctSU8O0-CSSaFlhK0e7bWCqgRku9Xx0T6m0eeh3ooeW9kBBIH1Ed2bx7uyJvITesbxO8XVZhBqfU2A42ONclumD1EHMvEvFi6cdal_wxlB-XOfvktqxIXkuGJNHWwy-PAvUKMKO_OguPlA5e60s-1r4OcYmz3pMxhuwCrmvn4QxSArd3JZd_So45VnJz0P9NQ0DMmrg1-FI8UEhFTX6cDIFFZSE4WL4GlLiMiAiB_CmSlUMAPBYcTkZ1j4-6J9oLjeaI_zIpO4A8MQJnbjRzP_deX7Vwl_W6oGAxhcD9cvXMVR3EiywxQnIFY7qxcInJRtptBvqgnf6sPMMppkYjzpkzaa6g9VuWXGTsWOEz4WTNLSqDptSNALluIb2qXhUF3GqY7he9nG-NHXSEm_9QUdMu3QWuFHPQKLallrS0DavJLFOq5d7OOT60wx0-snfQB9vQaGp-G-3as557bCUfjdcYWU2Lh8gqAAEQvvpRjoyPLzYh_VXpZvpuGAXto2su6zodms35f5G9FBLU4kA0WM3k5reeNd1kakLxxOuVNgP9U8JPXtZL3Ti_MygNDvQjXS6o1SO20d9klOft_w8BawZOKOLT-psuM6an3T13Jp_JGKUlVZoOTQCSdOGeTwKxV7Mhf-X_n_WBX0ubIG8SLrYiq1HSckV6GoAVyS6S8gj4IVBy",
  "id": "rs_0959d906c01483fd016ab492029aa887d0853c92349e88a076",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.09,\"left_z\":0.25,\"right_z\":0.085},\"note\":\"The blue marker is held, and I’m test-lifting it. The tan plush settled across the near basket rim rather than fully inside, so I’ll regrasp its center and reposition it.\"}",
  "call_id": "call_9dc7RMRrzCq5ab9MPainlyG8",
  "id": "fc_0959d906c01483fd016ab4920a946087d08d7b5e9701489841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9dc7RMRrzCq5ab9MPainlyG8",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2878, 1.7515, 1.5616, -0.5739, -0.2836, -0.3054, 0.9982, 0.6468, 1.4536, 0.4473, 0.4171, 0.4858, 0.3557, 0.1531]\nstate[eef_state]: left_x=0.4873 left_y=-0.089 left_z=0.2187 left_yaw=0.1058 left_pitch=-0.1651 left_roll=-0.0245 left_gripper=0.9982 right_x=0.3342 right_y=0.1535 right_z=0.0737 right_yaw=0.0481 right_pitch=0.046 right_roll=0.0537 right_gripper=0.1531\nstate[joint_eff]: [-0.4718, -11.9453, 9.5658, 1.5458, -0.188, 0.1587, 0.022, -0.3624, -5.8462, 8.253, 1.7656, 0.2466, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5969a1af44ddcad6000ed0204d088fe9aa80594ee9abd90af5120a6fe604e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3977f76d8684f0407b6937044179ece941918dfd46b1175dd6c0b86cf62a16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f137d86baba1930299b4729c21badac058e3fa9d14a5e18c79cdb21afe9e47",
      "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 · 3.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2325, 1.8641, 1.4189, -0.2386, -0.2642, -0.2211, 0.525, 0.6575, 1.1954, 0.8192, -0.2745, 0.5144, 0.3595, 0.9963]\nstate[eef_state]: left_x=0.5271 left_y=-0.0737 left_z=0.1615 left_yaw=0.096 left_pitch=-0.0946 left_roll=0.0003 left_gripper=0.525 right_x=0.329 right_y=0.1488 right_z=0.188 right_yaw=0.0347 right_pitch=0.0051 right_roll=0.0081 right_gripper=0.9963\nstate[joint_eff]: [0.3897, -9.347, 10.3043, 2.0781, -0.0708, 0.3639, 0.1294, 0.3487, -4.588, 6.8308, 1.7851, 0.3932, 0.105, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1329, 1.8629, 1.3842, -0.2203, -0.1795, -0.1905, 0.9978, 0.6468, 1.7775, 0.3744, 0.812, 0.4973, 0.3565, 0.1503]\nstate[eef_state]: left_x=0.5279 left_y=-0.0352 left_z=0.1484 left_yaw=0.1087 left_pitch=-0.1245 left_roll=-0.0234 left_gripper=0.9978 right_x=0.3371 right_y=0.1535 right_z=0.0134 right_yaw=0.0385 right_pitch=0.048 right_roll=0.048 right_gripper=0.1503\nstate[joint_eff]: [-0.212, -9.9624, 7.2957, 1.6386, -0.105, 0.0513, -0.0073, -0.0615, -7.2684, 4.2462, 1.2869, 0.2173, -0.0269, 1.0085]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2878, 1.7515, 1.5616, -0.5739, -0.2836, -0.3054, 0.9982, 0.6468, 1.4536, 0.4473, 0.4171, 0.4858, 0.3557, 0.1531]\nstate[eef_state]: left_x=0.4873 left_y=-0.089 left_z=0.2187 left_yaw=0.1058 left_pitch=-0.1651 left_roll=-0.0245 left_gripper=0.9982 right_x=0.3342 right_y=0.1535 right_z=0.0737 right_yaw=0.0481 right_pitch=0.046 right_roll=0.0537 right_gripper=0.1531\nstate[joint_eff]: [-0.4718, -11.9453, 9.5658, 1.5458, -0.188, 0.1587, 0.022, -0.3624, -5.8462, 8.253, 1.7656, 0.2466, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5969a1af44ddcad6000ed0204d088fe9aa80594ee9abd90af5120a6fe604e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3977f76d8684f0407b6937044179ece941918dfd46b1175dd6c0b86cf62a16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f137d86baba1930299b4729c21badac058e3fa9d14a5e18c79cdb21afe9e47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJIQGXKjRte0BsVO5WE53kBfM824Tf2e8iJgfuJ6qI_84qVR1ihfpQZ85JHbBcf9KWx6YT87axpL00kBv7uE2BMj969pgUWHHdOgmHTwtD5sb0mwQrqguHMrHCPJbxxmHLlkBdej5hSFKc6WUPDtyKw4sGM5oelwN4jtWvvPs32HOqjxdbBIsE_TQ9hBpAR13Cg80mMQMAYXkcWEKwyuYArX6Pye5Bia-L-aVYHOu2PoVU4ZwmLYA1WywFm7F_EF1ierH-wdTA8lM7F8zPIYRiv3VIh_k-308OnIX2Y6Hko7GF0BLpHY0y0nncoUijnbA_sD0ZOzpJNEPUmWB2Mbrjr9KiTHMnI1LOkmeJHWHQmP4mxSQIfQsYgYoSvujicoMOrH8F_QpB77RewfXDzbNo7gFfo9AZBWd3m8Hm900ptmth6lpiIwdGcIw8XdXL1peQ-5ZvRJdevJQ5wLBgZyfWkY1AYJ602EKEiJVSRLPAushAY3ItCw6WuZY5tf5744fbi8tcbKt-CdKv6P6ra8_90K07sGGFuAuUvMUtf2g8zJkUmsAloe308NUlJxHoLaVDm0WvnP0CQa3UqrDwzp1TeJm2z_Dll9yWp8u0NsJpTh5N5FqnN4EcASG6z3D823TzI6VBM1me8VXexPXoXj8Mmy8rKfhBLSkFpkiehJGEEj_8Jzm7A_ARHm4VVqQd6pKwQi5HeS8CAZ8doZEjQA5nijxuIbUXVRDdO6dKOYZHy7MmE6N-iHLeE-JSZZ8WWOHEpKfkpPWmstWgUIE0Ssz2E5FRJh0j56tFOYNGuW9P3rKI5Xd2fk0FhYaIckRyylyTzELoo2J58vtUmJU3SEy_PfvXxC841miNWyYooDCLAbjMLHEPohlylWfLe8-r0BNVsYrvVp5r2I5r3SKmvnd_uX_cYQGEsmuqrD-5MQ6wkCH9Qe12nbBt8j0QZ-bwwfPAV89OLsQqrDfytCv_EXSjbkqLXHX4xxOv8HibAeQ6V9mGbFHvFBPU_C0uLHAaTGlviO2jmAqZfNE5SZ395uV1U2hqG65kjo56L8dKbgD-aivYzV3lqTxsYqE6oBjOeOKt9yWbO6z0B42346qK2r-ktH7IocX3-bIjOOt1bNSWAKFLVUo4QO77pgNyao5tis7ejotqWwCVGQ_dIwVlXDYLiLs5NJd7Eu_U3mfyYruGhYgn63fD0XQp4b1kraKUkflOtRSAh4T1vwLwr5D3CtE_h8Byw_28hQCP6J3JRuOQHA148J0wVShtKWPgM911e-vAyAVHgCZs5M-PwFK4dpt05PpYlEcaxTf7MSKH6wmCv6ATq1RDYwVR4nTuRQLouWg7hjmqPNNrqg7MQywAzvx6b4mHdtq-XuRnlTtQCW7WZTk_5ZEVHDDa3OYBCwXNhVs6b357xCmTm5MycDNxcnNy0OaQ_e2yw1SiSly5CHtoaN3asJhKBAAKFZMIx_dWBvAbjT966Gz1Im6cNP9rZgkHVYnSKk3R_stdEmNfaYWYhXw0o=",
  "id": "rs_0959d906c01483fd016ab4920dabf087d0b92a26c0b3929699",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.19,\"left_z\":0.075,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_z\":0.23},\"note\":\"The blue marker has lifted successfully. I’m lowering the left jaws around the tan plush’s protruding torso, which should give better control than the previous off-center grasp.\"}",
  "call_id": "call_rjWKVjo56cPcU8dddXVGclPK",
  "id": "fc_0959d906c01483fd016ab4920ef8dc87d086cc85b83b103bd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rjWKVjo56cPcU8dddXVGclPK",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6147, 1.7039, 0.9047, 0.2588, -0.5468, -0.3817, 0.9982, 0.6468, 1.1988, 0.881, -0.289, 0.4778, 0.3523, 0.1531]\nstate[eef_state]: left_x=0.4296 left_y=-0.1865 left_z=0.1264 left_yaw=0.0317 left_pitch=0.1056 left_roll=-0.0595 left_gripper=0.9982 right_x=0.3357 right_y=0.1563 right_z=0.2091 right_yaw=0.0568 right_pitch=0.029 right_roll=0.0446 right_gripper=0.1531\nstate[joint_eff]: [-1.2103, -3.5077, 3.0017, 0.6032, 0.1441, -0.1148, -0.022, -0.3487, -5.7641, 9.7846, 1.6484, 0.2515, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837c198f25a697027ce9efd8222d49545937765a535dc59bfc614ecf6d6b1248",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b868fb285a7e029a7f473bc68325b19976172b8f63c25e87819f7bbd589c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c518ee0681b76d8fececf7850b57dcd8f9cb1f1b1ff4607b20045d12a08e08d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.813 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1337, 1.8641, 1.3903, -0.218, -0.1783, -0.1795, 0.5266, 0.6468, 1.7657, 0.3813, 0.7757, 0.5034, 0.3607, 0.9963]\nstate[eef_state]: left_x=0.5296 left_y=-0.036 left_z=0.1509 left_yaw=0.1009 left_pitch=-0.1175 left_roll=-0.0172 left_gripper=0.5266 right_x=0.3365 right_y=0.1519 right_z=0.013 right_yaw=0.0318 right_pitch=0.0355 right_roll=0.0387 right_gripper=0.9963\nstate[joint_eff]: [0.8547, -12.506, 5.5453, 1.7607, -0.0952, 0.2027, 0.149, -0.7043, -4.1778, 1.935, 0.1392, 0.0073, -0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2878, 1.7515, 1.5616, -0.5739, -0.2836, -0.3054, 0.9982, 0.6468, 1.4536, 0.4473, 0.4171, 0.4858, 0.3557, 0.1531]\nstate[eef_state]: left_x=0.4873 left_y=-0.089 left_z=0.2187 left_yaw=0.1058 left_pitch=-0.1651 left_roll=-0.0245 left_gripper=0.9982 right_x=0.3342 right_y=0.1535 right_z=0.0737 right_yaw=0.0481 right_pitch=0.046 right_roll=0.0537 right_gripper=0.1531\nstate[joint_eff]: [-0.4718, -11.9453, 9.5658, 1.5458, -0.188, 0.1587, 0.022, -0.3624, -5.8462, 8.253, 1.7656, 0.2466, -0.0122, 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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6147, 1.7039, 0.9047, 0.2588, -0.5468, -0.3817, 0.9982, 0.6468, 1.1988, 0.881, -0.289, 0.4778, 0.3523, 0.1531]\nstate[eef_state]: left_x=0.4296 left_y=-0.1865 left_z=0.1264 left_yaw=0.0317 left_pitch=0.1056 left_roll=-0.0595 left_gripper=0.9982 right_x=0.3357 right_y=0.1563 right_z=0.2091 right_yaw=0.0568 right_pitch=0.029 right_roll=0.0446 right_gripper=0.1531\nstate[joint_eff]: [-1.2103, -3.5077, 3.0017, 0.6032, 0.1441, -0.1148, -0.022, -0.3487, -5.7641, 9.7846, 1.6484, 0.2515, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837c198f25a697027ce9efd8222d49545937765a535dc59bfc614ecf6d6b1248",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b868fb285a7e029a7f473bc68325b19976172b8f63c25e87819f7bbd589c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c518ee0681b76d8fececf7850b57dcd8f9cb1f1b1ff4607b20045d12a08e08d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJIUhJyT5xznX_jCOVKB9WnGIvIZNyiEu2lRUQq8pmHmb9BvccBxxYvwd1sb8j6V1C9xEPyoBQzQXu7ouSLMedr-Zz7KCtGTQMmYYGrZBChbLi8-uvg1DDKLt9dsfX49lG60vvaBGrq33Me43v6fMMnQB8kTIRWIC6NIu8eabCDSLazxUqEX6nvDlDzJDnKK5ZaifYeTCOmctFNKiA2EVOwTDGYBLrva1oNRtK6VplXiEPk6zlvMonPEmICg7o_EnnKy3u8noCFkqjkegNiopyebrYAtNnJnYWL6rC3FGvEhgRkO4vQriJN41VUd0OTKD7W1l0bn3FEghHRKDwbmuMzJ_diAj8RQgfUe9QWycZPDzhFNk5H52IF5N1RujCt7lTT5PmQFPlHxThfYly7UVIRvuaZVOSpNguep3R3U5JgByCjOtNjdEDf9R6pC6dHNE7Tw3uoNUHhMAgJqCVJu-FdVTOykIl12zS_zQD5hw2fEdTQWqj-6SUgRoNQfayrmDaKXakHC3VDE5thdRCJOyqR6UPa7WIxxZ1PGvjeQsE344cOqx-yLDasfmv3Xx1yOTvnL2AYrMHGRKbRnwTvLe0Ft_w-StSUWd0y_WCjZRI9d3O1lIlvBD0JkvKtEb6j4-xGGKQBEr3TX8q8XobYrvsS-KkXtifpYDHvha9sKMbsBHMUfL4Pde_2lbeGo8T4YXV4yT_RkD2XGmGrE41FEN4v1IFJYWE0rxlbBxArl_wcxhmo1PW7TVOioMN6Niw6Xm-oq96trhiGFrTNy80kTcXRZNfOtpdW3dgLkJP__Uy8lTn3K4NrPARmPN94acMTytuR0mSx-T3mEhA8AkXV918UemB6eqJRsepLLIlWipuEnGBDZAfl7KrKUI0XQ-IhmLbnSv80ocbmB6UxhfnDSOhXa1SFiuwBx11KuFTbqGum_k8YfAcX2Ysx9YowOcnT6ivAXUa72i7pDyYFBekfXuoSAp8orwI4PHcAHVrENBeSbWdepON31LRCfdwpU-9jBBmuITlnKFQL2OKEOwSuTkHsEtEu73JWfi2FSUV67PE4RUqD2C-TtExh_AZ2V52lTmMoZ4_ex16QZIhc6fsojjqHq7AYhqVR7a1Tnt-o-d5cORoNCxlvfJTY3D2cq93WRHf2OXtvYyRg0e9BmU3NsrT8QfIe6nVnmltZuVYqfYnUWXqnNVOZhI7hcvM6p7CfvM0oWWZcDZw7t67toVBHs-INiZOX2OypCWv9vyb5FPTfdEGYgEEUPx5G9rf-X84476p5ss4eVbi94Su3QiAtX_QoKQQoPgnA6lPrYjZwhn_AU1QbnxCvzHeSGskqvGWVkzgQ7bJQ2n9ElxSBYFlFf7IAA9XHG4T_hKXB_wgiry5xkKYH_H0SFNHvF6-_qPIxVoRlVBuV4_X3IlDg1II6ADOVmAD4pMKmSplNeuN5oA4bQfd-MvgsYjn3cxpuBOIEOGngy",
  "id": "rs_0959d906c01483fd016ab492125bdc87d084198ea83155573b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.48,\"right_y\":0.185,\"right_z\":0.23},\"note\":\"The left jaws are around the tan plush’s torso, with contact limiting the descent. I’m securing that grasp while moving the blue marker above the right basket.\"}",
  "call_id": "call_2P9Ah1jDs7cUQZTQggS3ur3h",
  "id": "fc_0959d906c01483fd016ab492134c2c87d089036f00550b887d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2P9Ah1jDs7cUQZTQggS3ur3h",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6109, 1.7054, 0.8967, 0.3119, -0.569, -0.3859, 0.1699, 0.4812, 1.7103, 1.3659, -0.2676, 0.3325, 0.247, 0.1531]\nstate[eef_state]: left_x=0.4339 left_y=-0.1833 left_z=0.1336 left_yaw=0.0592 left_pitch=0.1465 left_roll=-0.0814 left_gripper=0.1699 right_x=0.4698 right_y=0.1843 right_z=0.2111 right_yaw=0.0659 right_pitch=-0.0138 right_roll=0.0253 right_gripper=0.1531\nstate[joint_eff]: [-0.6222, -8.3077, 7.0906, 1.1502, 0.0366, -0.0024, 0.7399, -0.6085, -9.0872, 9.5795, 1.7558, 0.1734, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3eec12bc554c2f5240c1e3cd094cc697f8e7f91141652ef431416bf6c8a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecc86605cff1c26eba96ff9dba916ea8256840a00509fecf2f6cd8d877f1f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f45a85fef9f697704276b0c3f3fa9a08d7d9bbb3d0ac236dd49605e8199b076",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.198 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1329, 1.8629, 1.3842, -0.2203, -0.1795, -0.1905, 0.9978, 0.6468, 1.7775, 0.3744, 0.812, 0.4973, 0.3565, 0.1503]\nstate[eef_state]: left_x=0.5279 left_y=-0.0352 left_z=0.1484 left_yaw=0.1087 left_pitch=-0.1245 left_roll=-0.0234 left_gripper=0.9978 right_x=0.3371 right_y=0.1535 right_z=0.0134 right_yaw=0.0385 right_pitch=0.048 right_roll=0.048 right_gripper=0.1503\nstate[joint_eff]: [-0.212, -9.9624, 7.2957, 1.6386, -0.105, 0.0513, -0.0073, -0.0615, -7.2684, 4.2462, 1.2869, 0.2173, -0.0269, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6147, 1.7039, 0.9047, 0.2588, -0.5468, -0.3817, 0.9982, 0.6468, 1.1988, 0.881, -0.289, 0.4778, 0.3523, 0.1531]\nstate[eef_state]: left_x=0.4296 left_y=-0.1865 left_z=0.1264 left_yaw=0.0317 left_pitch=0.1056 left_roll=-0.0595 left_gripper=0.9982 right_x=0.3357 right_y=0.1563 right_z=0.2091 right_yaw=0.0568 right_pitch=0.029 right_roll=0.0446 right_gripper=0.1531\nstate[joint_eff]: [-1.2103, -3.5077, 3.0017, 0.6032, 0.1441, -0.1148, -0.022, -0.3487, -5.7641, 9.7846, 1.6484, 0.2515, 0.0073, 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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6109, 1.7054, 0.8967, 0.3119, -0.569, -0.3859, 0.1699, 0.4812, 1.7103, 1.3659, -0.2676, 0.3325, 0.247, 0.1531]\nstate[eef_state]: left_x=0.4339 left_y=-0.1833 left_z=0.1336 left_yaw=0.0592 left_pitch=0.1465 left_roll=-0.0814 left_gripper=0.1699 right_x=0.4698 right_y=0.1843 right_z=0.2111 right_yaw=0.0659 right_pitch=-0.0138 right_roll=0.0253 right_gripper=0.1531\nstate[joint_eff]: [-0.6222, -8.3077, 7.0906, 1.1502, 0.0366, -0.0024, 0.7399, -0.6085, -9.0872, 9.5795, 1.7558, 0.1734, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3eec12bc554c2f5240c1e3cd094cc697f8e7f91141652ef431416bf6c8a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecc86605cff1c26eba96ff9dba916ea8256840a00509fecf2f6cd8d877f1f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f45a85fef9f697704276b0c3f3fa9a08d7d9bbb3d0ac236dd49605e8199b076",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJIaLMxUQ2Q_3FDNIarQfQ4xLLaGDLEouok9e3jrlfx_TepW0DxdU2z3aQMVyxrBMGddJJGyuoUlXshCBXzsXPtwnj4c0XlkVABx_aqkXLIsp-EhWTEmyxmJZEFkrKh6a706fc9_3AqPRUN-fiU18l6inEtoHkmeta_fYnq2vMuiF2db7OkWoU1-aljq6YYp2ukKj8QVIH-ApTMWzLOeZGJbDPGntJGcX2xaPWmdrck526Nf6cDfdWUIzPwNSEVpZsTPvMUlPfUGOxMAUMgEW-ZjgO6nmeti8qRQ4kItMaWvi6PQpPv1hCk3A_rhnS0UlYcXXjuynaD-GLq498967wQKiWYOKKY4-k0VRbVZe0wZIxoVK7TbsOdEcUlcAuSi3hNdvm_S3cnlEKkID60ja8enOBIIfbFPcsJMTYmyz1RROLd-Zq6yCmaKHCDgZVjzz7qy5BMn488DBJZYKKt1YmlWQBwMIrBvaslgqKLCbgzP0UzxcQKB-pYTS2TlQjZ4h5Z8XPxwSXU0FOXLu7QuPWCAVjFAONm8pssWv4RKyg5yRN-Wd7ObPiYbUbhbPqTcYraeojLUl-8ryQNHfHEpwRuJj7vznST8EQ7Y2yO8zUvbQGE0YcZV5FvF__0McLPYJwbZGhXcayay7_oi_VD9BgOdlGd2sZMK1-EYR6FdMDKKm6dEcPoH1UlwDCOW7aE5AFGFGINhRAElvrmepWuVkEcRFiiueXYZXl-luEAzkxIE0tLK3dSUm5XKXIUnGuk5m8C9c7HA_afYW862HNIm4LJPO3PHLcpjHbzBjnuSuvVmJt3xPPQ6V33Q_QTghSfPEpwutLeljnj2Yg3D6E-kh9i1xgwHGOO_bA6yZzMc2wQ_t5coFPYUau9991PdX5HcJvso23QHd_Jx1g1WECDt-Vh9J9mdI6GjdmaogrowoP2w5XIyYpJsoR1XYdFF9sLSKz2DBSVzBBqo7nBlAcE_KOvVhJVu8q5QoWBDIqfL5JLy9SBJ7vhwP0s08KN8BUOTZtmGnE0DLU1o-2bqcbO-ASKvzMkz6Th8JOICnlcApdtVikMz5OxK9trrUbcvZZWya6Whw9LBjPyB9yU6zx6gS9QYbBRpFH0GOrKci-TOjFWBSgDBzeIjYGQz2Ahrpx8G2BNh2UhUiXwdeDM0Q5w0D-y6F0DCjPsK_NFMLE5LWFuLBovlZulqhUELRd21SXcmYopQcVwJyUZz_c-5gH640ipAeb-dELN5Mkcsh1DGae9-yE0Kfhl3QaEXH8_zIQHxNoG6lnvWfNyKby7AVSq7N_wOV2hNsHnQly713FuG-3jXcLAyGozsqw-nyZgq8tyRGwXD4mgMISX1hR4Tf3m0WFW7dJfqo9ajUbL36MkWyQGMDqxDldYEXqNgVDwIh3KNQogVvRgqne35_f9iElsgTEN-KMuPoNZYboA3al46WgsunGW6fRxHNQLfINMKPOJ13jhr4tFTgeiFmJ1hvp0xagd9un-cwq4fm88mh4hhYwQIGzzuWNnMO9rMfSBkZ-tYBscOuXhGC4PtKl2EoDI_domOUwrbbzcZRjEZZNmjpPYYg2bWRkU6S6QuLy8J8PxSYVDGB_1DTh-6_vo4aSUiH18-62Rtrqn7q6etItfUOIvDRdCpXod36zhz_SpvV4npCM1H",
  "id": "rs_0959d906c01483fd016ab492180a9087d08da30c02c21e36bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_z\":0.115},\"note\":\"I’m lifting the new plush grasp to see whether the protruding body follows. The right arm is lowering the blue marker into its basket.\"}",
  "call_id": "call_FAQHMypqAnjV5T05VKSapJFj",
  "id": "fc_0959d906c01483fd016ab492196c0887d0b86f8bff7f8580db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FAQHMypqAnjV5T05VKSapJFj",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.6127, 1.1084, -0.049, -0.5728, -0.4011, 0.1729, 0.4782, 1.8011, 1.1076, 0.0341, 0.3275, 0.2466, 0.1531]\nstate[eef_state]: left_x=0.4341 left_y=-0.1832 left_z=0.1952 left_yaw=0.0653 left_pitch=0.1031 left_roll=-0.0584 left_gripper=0.1729 right_x=0.4637 right_y=0.1804 right_z=0.1133 right_yaw=0.0665 right_pitch=-0.0583 right_roll=0.0087 right_gripper=0.1531\nstate[joint_eff]: [-0.1299, -11.0427, 9.9624, 1.7314, -0.1636, 0.1197, 0.3004, 0.1709, -8.5812, 6.3795, 1.8681, 0.1978, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2c0c871c112df92874b79f0476b87a159be0d710773e74062dfd0332b8274f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9f0c77657ae9a58cd00edc938e8b0f0fb754e9175c201e940badf8c1ad3532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282b8c19abdf7f11c2a3d8ea1296074f01186c02961e178a6a085c85a6eb6300",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 8.836 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2878, 1.7515, 1.5616, -0.5739, -0.2836, -0.3054, 0.9982, 0.6468, 1.4536, 0.4473, 0.4171, 0.4858, 0.3557, 0.1531]\nstate[eef_state]: left_x=0.4873 left_y=-0.089 left_z=0.2187 left_yaw=0.1058 left_pitch=-0.1651 left_roll=-0.0245 left_gripper=0.9982 right_x=0.3342 right_y=0.1535 right_z=0.0737 right_yaw=0.0481 right_pitch=0.046 right_roll=0.0537 right_gripper=0.1531\nstate[joint_eff]: [-0.4718, -11.9453, 9.5658, 1.5458, -0.188, 0.1587, 0.022, -0.3624, -5.8462, 8.253, 1.7656, 0.2466, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6109, 1.7054, 0.8967, 0.3119, -0.569, -0.3859, 0.1699, 0.4812, 1.7103, 1.3659, -0.2676, 0.3325, 0.247, 0.1531]\nstate[eef_state]: left_x=0.4339 left_y=-0.1833 left_z=0.1336 left_yaw=0.0592 left_pitch=0.1465 left_roll=-0.0814 left_gripper=0.1699 right_x=0.4698 right_y=0.1843 right_z=0.2111 right_yaw=0.0659 right_pitch=-0.0138 right_roll=0.0253 right_gripper=0.1531\nstate[joint_eff]: [-0.6222, -8.3077, 7.0906, 1.1502, 0.0366, -0.0024, 0.7399, -0.6085, -9.0872, 9.5795, 1.7558, 0.1734, 0.0415, 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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.6127, 1.1084, -0.049, -0.5728, -0.4011, 0.1729, 0.4782, 1.8011, 1.1076, 0.0341, 0.3275, 0.2466, 0.1531]\nstate[eef_state]: left_x=0.4341 left_y=-0.1832 left_z=0.1952 left_yaw=0.0653 left_pitch=0.1031 left_roll=-0.0584 left_gripper=0.1729 right_x=0.4637 right_y=0.1804 right_z=0.1133 right_yaw=0.0665 right_pitch=-0.0583 right_roll=0.0087 right_gripper=0.1531\nstate[joint_eff]: [-0.1299, -11.0427, 9.9624, 1.7314, -0.1636, 0.1197, 0.3004, 0.1709, -8.5812, 6.3795, 1.8681, 0.1978, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2c0c871c112df92874b79f0476b87a159be0d710773e74062dfd0332b8274f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9f0c77657ae9a58cd00edc938e8b0f0fb754e9175c201e940badf8c1ad3532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282b8c19abdf7f11c2a3d8ea1296074f01186c02961e178a6a085c85a6eb6300",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIfjCY2aTchyAD7zBCsDKqczuoBYeg1hLoX-4_a6BRY5yBT7V05r0oeWm_iJw0gykeuJCmnjcKy9QUqwJ3AGEDqjXOWVjzWPpc_2I3OAh-LsHPwQsnjNCMF3QvNaMw9VXeeKDjHLFRLvXkhOB6pexySJGcitgm3abfXQ4UztuLUJYESZavLzldG6mGY7taMZbVyuWzJ9aRWiNN72UPP1BB344NHWpecHoVEbdTBAhBp_xo56I2kj6Jmjx4bhVVwUWrTs2aHDK_La6MxNZCVyyZ_ZQQJf-t0-0BjGBN4D6O3OSFOne7COaJEsBMCQ0TKOcuINWiv0vLmp986G__E2cm4SgmUcU8WWsZZ513h1_xpVw9IRGJ5vBmVoq77WDfMgaNZ81JVtQpBDpxfJppLI9cZTMGGzd7D_y6z2z3ilvPcN-NywWp1GZxU4L1QuNYgYDpZNYFSa2xUktmzYopNUJnXWKTcNw5nurklVBzwiwZZjBmpSBzIEPOfLqXXIxLhqTsAeid6Rs1giep20YynObIzD66bB15UO2EVPyYSylXcSMUsrnUFELkb5AWKwdTMPv9n_I-TFEhZqiuUWNxlyf4besEkmTw-DOL-m2xcYwV9pgxtpMYw-2CjFsGgFgfGi9a1ZxJyy087nLdtzzjKQCNGL3wfZrTZvoGBWKAWn1GulsKoyP5Zh0hbfWgQgsUc_9w5N30Ymgjr-gCzR_dlgaDPN-NbbcqIWphq5_WUysMn3tn_7vpjEASNID8QngO-SPW_xFH4xJTKChcTEyK4MGFppBRwdE4nSV9nbWBaNQYRbi8VsSQ32LsHgpnU1ZkvzScDlHEOF-bDUgrZDCkUYoXNWN1gjC7_KLL_sKl52hZxS0H6U_lv135pVqtYImcpr5kHvjQZBdbdD6V2Ch5qMJ0fZvEBc-TNB3rWQbYTB-mYsXRGIAHaX7ehbVTHAwU5CKLoo_zplztWm4litMRMV9Wk_y1zV6s0vw-btQYviofFsxeFPAQJItqGNWoW2l4Pj3E5Rf7OokZYBmbzfYVqYpSwx8HlSzvYKaSbsd72cXIx6FeXBwFp4vbn7a11v4xymG0oWnZq8Z2UFLYIf0BHe9PhKA8OUy4pupdijYv0IMrqtox5HiAzHUz55YsgB2N082VU7AbaMQgNihCl1oK9M2t0bAqvFzrdtidSoJz3Qo__aystZr92ap-qV1I4nfd6jpVrQ_Fh0mAGPVMym8hdwHl1hSGbpd5BEjFQvPXNmrqPDCHb63TAq0QYo6soIK1SDr-27WlCLUQXn8m1AC3NSOOSG20YI1H-t0fEzjzD5l_AVJTjSihJ-L4feT1QrCQnt0xfBX5zl2XeHa8YN82lNIjve4P5PQIG5CRfKF4GDkPngUhKTFWRrEikY6DRkXgWSglM4XtwBPAyQnx5rb04DQkaT70UtAG-G4XhE6074cXrd8S21UMaO4HH6co3rxkmRu9YQIlEXmkyHPnfPsqYboBIgCdpEBa5w825m0hMfwWkVsFlgwgJubfUhhG68SJ2qPIRup0m9cMoav06mrerBcwO7zEDidBw5pOg1Yqt4_7wz7PKKZjcTfnr-XHyOgjVHiyfFm7DdEBJJHWVePKVYhBNBA==",
  "id": "rs_0959d906c01483fd016ab4921c755087d0a1b63c45c14796f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":-0.105,\"left_z\":0.255,\"left_pitch\":0.2,\"right_gripper\":1},\"note\":\"The tan plush is following the new grasp. I’m moving it farther over the left basket to compensate for how it hangs, and releasing the blue marker into the right basket.\"}",
  "call_id": "call_WDJQP5cyAbOcZBoxTRp8PsKC",
  "id": "fc_0959d906c01483fd016ab4921df0d887d0b407db94fa041b4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WDJQP5cyAbOcZBoxTRp8PsKC",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2787, 1.9266, 1.5597, -0.1238, -0.3275, -0.2417, 0.175, 0.4782, 1.8179, 1.0935, 0.0353, 0.3275, 0.2424, 0.9964]\nstate[eef_state]: left_x=0.5663 left_y=-0.0992 left_z=0.2159 left_yaw=0.1139 left_pitch=0.0981 left_roll=-0.0523 left_gripper=0.175 right_x=0.4605 right_y=0.1787 right_z=0.0998 right_yaw=0.0679 right_pitch=-0.0856 right_roll=-0.0067 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -11.2889, 10.6462, 2.2735, 0.1001, 0.4713, 0.1978, -0.2256, -10.7009, 7.6376, 1.5556, 0.0317, 0.0122, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d1adb6d3fec9e9f564de91864824cc73078a95c14cd0616c8a3fb3f139ff06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e087cb28ec58ae236104544655f4e9af609a87b426bcc398bb02e67c164950ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076b9f21cc6b34fb3f0de9cbffd0c5292f81b765a24f64beded93cce315a6ae0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.313 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6147, 1.7039, 0.9047, 0.2588, -0.5468, -0.3817, 0.9982, 0.6468, 1.1988, 0.881, -0.289, 0.4778, 0.3523, 0.1531]\nstate[eef_state]: left_x=0.4296 left_y=-0.1865 left_z=0.1264 left_yaw=0.0317 left_pitch=0.1056 left_roll=-0.0595 left_gripper=0.9982 right_x=0.3357 right_y=0.1563 right_z=0.2091 right_yaw=0.0568 right_pitch=0.029 right_roll=0.0446 right_gripper=0.1531\nstate[joint_eff]: [-1.2103, -3.5077, 3.0017, 0.6032, 0.1441, -0.1148, -0.022, -0.3487, -5.7641, 9.7846, 1.6484, 0.2515, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.6127, 1.1084, -0.049, -0.5728, -0.4011, 0.1729, 0.4782, 1.8011, 1.1076, 0.0341, 0.3275, 0.2466, 0.1531]\nstate[eef_state]: left_x=0.4341 left_y=-0.1832 left_z=0.1952 left_yaw=0.0653 left_pitch=0.1031 left_roll=-0.0584 left_gripper=0.1729 right_x=0.4637 right_y=0.1804 right_z=0.1133 right_yaw=0.0665 right_pitch=-0.0583 right_roll=0.0087 right_gripper=0.1531\nstate[joint_eff]: [-0.1299, -11.0427, 9.9624, 1.7314, -0.1636, 0.1197, 0.3004, 0.1709, -8.5812, 6.3795, 1.8681, 0.1978, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2787, 1.9266, 1.5597, -0.1238, -0.3275, -0.2417, 0.175, 0.4782, 1.8179, 1.0935, 0.0353, 0.3275, 0.2424, 0.9964]\nstate[eef_state]: left_x=0.5663 left_y=-0.0992 left_z=0.2159 left_yaw=0.1139 left_pitch=0.0981 left_roll=-0.0523 left_gripper=0.175 right_x=0.4605 right_y=0.1787 right_z=0.0998 right_yaw=0.0679 right_pitch=-0.0856 right_roll=-0.0067 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -11.2889, 10.6462, 2.2735, 0.1001, 0.4713, 0.1978, -0.2256, -10.7009, 7.6376, 1.5556, 0.0317, 0.0122, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d1adb6d3fec9e9f564de91864824cc73078a95c14cd0616c8a3fb3f139ff06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e087cb28ec58ae236104544655f4e9af609a87b426bcc398bb02e67c164950ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076b9f21cc6b34fb3f0de9cbffd0c5292f81b765a24f64beded93cce315a6ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIpEr23vHl9jgGOcwDJMl3j1DQCR7ebMbIvp1aN3D3iCsKdhbJzIy5wxIMr1K1d-cyBNkrzqrwlwDVI79eYPjlNF0QmrO7-3XwSyYenQ3gvuyrKgISpDWnKSz_nq7kQV_nR5p1H_q1Kv4tBtTqzbHfdLRqYqWSYZOfknOMx66dFvoQ5SBKnBptRXbEctrznD8hxxDDTTSbd0gM9FcBdUrS8KO5R0h-AA5ffTsWeHwFLOraUrFKD21gO9UMIEToKccBRT_ka8meOlLKm8NfkxAGog-q6PON_iggbGhu-B1zJBvF2dowIxkenhIOVTzNHld0vrOiF-yntU_yWS8Vjw_LDFsZkzrC5JlYjyJtmV8W5X6FNtyZXWTzNnl0o_QcvsOxg-y-dx0Cs9nQAqFp7_Fgu32mqTcLRz9WrRT6uGsRlbEwYZW99daM9YcGzDZgY4yPybNPfdRv_sZQU4Fy8nYKQmN6sf2E45xPocOOTFKAidFZl0p04ZPVju7mMnZMEEzbvqkUioNovflCHRUsxr8_YrgG5UIoCOUWj-jLkviE27klHcgx_fbeI-Vrv1RnWoN4KX4LLQjNCEpmjbUxriZOmMkGWwThQ-PUyHdMJT5FfR7KwI6UxRpqsnYRN9aN-xPGTYAiPAEfm2BEngwFoKp_H3uUbOkYiTgwEoNfcv6LNaTNGuCrUyPxVQuUUof2IxhPoor6vHg2WKvZkbc2YyLQo2Y3a1XGtpmntGLppnxM0mEnIENe08-7QIZBqhhfJY1xumtYKNQQ1IAHYwq2XTP86kSfd4bNePMK1cIdLlPRHLXnkqbtpEeQtO8nFvmAtTs25DPBwcIDbRxt4OrKsJqN7N66tLE_my1fT5ZLU6oVnJxyGC2jgROgxGCXqFwqRIJlRN-t-iOZdTHGg0QL3emWJt7QeZgcMMDwpXXk96g6cGPA2BKnW5aMglV6jwSJ0I0vGdXCo5hmrl6g8mpyYgehqgd-dVy6uVvOnPZz1rX3x3xXCZSwybWKKzkCQqFrqEPL4NZWZKvv8nOUSAUdn9UrQiPqK9Nt-ovSOVC3AfygcAKCsB3bB76GyQC1WTA0HsPCrH2o7MNvOFr2xjFuLo5xju-BOReoac8mljdHaPbY70UP7gmXor9555KtT6tN6rDNnl1uc13gMftAgVRpJYT2FM5oiepxAqjktm4EMvQqLxONq_uPvENvc_tJhmlSYgdDYr7-9wz2uI2VRkrN4LqprysTqOQLDljltQIHAEXiFWEdgLImvj5On6IogQIDfsZaJkfkny0SiNvEYjl3wqRy6JI8sOf2-AnpJE1eQ5fgDNshp3BwL-uID2shxdTsQuz_mevUICHdM0EQcrFA8rV4zUyLtsF0tdH7h8lUrJIzlxQHB2hpjWa6zWvZKw_zopp0eTl91omprFxAp_p5Rm_L3-eQBYIaYSruWOPPdwuSCZgiBM-QB1HJAsJgdR7rM6icjqgKPngUKA4EqYaA5oLZP-wYWPRy8bG31snbpRHAlSEXMYIaN2Ddp3tQTt8sEWKQtC9ALPamehP3l7kUL9iTNKBqOtw8D5c_yuFiuinLw7ffcdRWN60IKFeotLWUUaMs_4MXWHHYu8NrPH2sy4CdGY-VjGGdXSG7w6IkoUc0FZ60HKYQSCNfh1co94qaUKP8YvxKJsPPLiqUzP5Tp5L5tH4bGT-dypHVE9SViuO7UE59cKoEPUswcXNOcUEIq56DP7RU5yn4La0DbeTsL5QZKLQSQC5FnIlM-nkk457Qx-1o6kCXvvMqFc8l_uzS_VCpWFZGmvfMih4Pz6vyT30xnjKOhOi6OX_AaLEB6HITpzyBB3I2tgrxpf6Wc0YJFn4M6Bmp34IPfUjvJ0Ilw6lBKh7OfFADNNZNQnRtDIfcC4LXp5xkplEsSXbxhQSjRV81BSRXjuRSTWAAIVon1b-i_lsp0wQLqygeUzGSuE7g6SaP5XhBIAui7TKcMOlxkYMfWGTd5HeDgS0mDU4RE9dbtWqRUzTYTimaufFSTyguOLVP9E9eAZh2ZiTRvd0B4sa-1SclJtNVm_ouiFmkZXEY7WENEfYkirjsrsHFkFgWxteDNxh6Sumd2kBngu5O5w_53riNl7xd0Nqqh1RbDo80SRLglK3_Q2qJy26Jdvo6MSltALla7fwlzxPEnHO3P5tyLqLcP_2zBp083J-59mOqd6bKx_k6m9w1na8AcOYyKQrg6Z7Nv-Qqt6YVi6mUDt9mnx2M0fSOy_zig-hf9IEBZFcyxZ1428H9kDIfzvlW7y1dNlO1WZ8GY0fGD-wNlCX485d65cqpVr11dKsUCw0nr_SgQrZtxGg8aO35L8WXcTyOqVmixBtLC1FyDq4LjLsKNRssk-CX9YALz9lX_RaS9qqAAMADE5Hht-sM_kSDDUwZmL2ZVGxlZE4Jd02Q7RMCSd8apNABb5nonL6FWA-Ax6bLarJC6Ata4Txd9PDS-ywZN_pWhmxHifY4TP_gCjaqlFg7aZFRsEHCunAZ3j8JAkZBcH7zuOnjNL5qmEHZFR4RqrBIkq9Bk6jMZm43cijiMHCqi5yyaje4ITl2gBdIC8h0V50RrffxZe-NcE80fedISiGH-Kmpfr7-HXPUu4jUHzzsrOcHQaEadY8oifzBcgZInjbXZUtTGQOnjCR3TDm3VEmqD2U2uX_1yrgzTTi7UiVD2o48k-kI9irAKue_JdGBv1Rj2QmDlcD17Kxmd1Zpoloukw-u6HoSt-KYkml_nU5pQH_GuxWBEwMtI6U1iCNhR6QePuu6O7BOZmh8CLSWO_6gDhjJeVUmZ3PIurvmtaNw7F1fTjlZeVEStyj1oQSuaoyyLvJDbrgZCHsYc7nSqY7W4lgvJlS4FAvq5k2bYGfN3Uti1B7mZs6lVPU6rGUHyGsYQS_PzuC83c1qdF_JD2l2EA_GNy5Fqdp8vgla_U5nkrAaa07eJ5i2aUXH1AEp9T69gw7AGjRyxUxLuu5QOqr78cD4HezjSanEj2e3e-Mx7egDmzzDjwVMx4GXa4vHuXP6oQnWlH5UypLaHVt8EsfZtWF582F1McX851lIhsAjLP9SCTI1MeBIQVss-rbn0Mj4ET3daovxPcXIhHKjKrdeWonBXTlWvBbN2eBcUJGgZd7NZv1csHsiPv6QXnmqciW3zl4s2eVXTyelrDmITPaq_46umci3eXok1Kjcv2RLvQ11n0cuopt0xzrR7hd-YQXxztbpcn7WIk2Vo3blIFjKYitKTp-c-yKmqbUN6UExME1OSVYAes4d0CkiBhMUTEp-jcOzqEEkcf869bxQXJNXMTsP9aAXVZMajoe-E4o3v49zltU62sStjkBau0d1SSWiweyufAuMo2gCwJy4=",
  "id": "rs_0959d906c01483fd016ab49221afbc87d0a883ab64271416e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.135,\"right_x\":0.29,\"right_y\":0.39,\"right_z\":0.17,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The tan plush is farther inside, but the basket appears to have shifted with the grasp. I’m lowering gently to set everything down, while the right arm approaches the small brown plush.\"}",
  "call_id": "call_xx7JRS7ZUzaOMeNBZgCmbYqg",
  "id": "fc_0959d906c01483fd016ab49227e65087d0962d28d53a8f2d80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xx7JRS7ZUzaOMeNBZgCmbYqg",
  "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]: [-0.2806, 1.977, 1.3712, 0.1783, -0.3214, -0.2432, 0.1765, 1.1976, 1.9835, 1.6043, -0.6338, 0.865, 0.8852, 0.9971]\nstate[eef_state]: left_x=0.5703 left_y=-0.1025 left_z=0.166 left_yaw=0.1107 left_pitch=0.1556 left_roll=-0.0806 left_gripper=0.1765 right_x=0.2944 right_y=0.3931 right_z=0.1623 right_yaw=0.0455 right_pitch=-0.0223 right_roll=0.0078 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -7.9385, 4.9709, 1.6679, -0.1783, -0.0366, 0.1441, 0.4171, -10.5094, 8.1573, 0.7741, 0.8376, 0.149, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43ee4eac8d2814ffaa9668cd62bd5cf9bffad68c19f48d91e939517d7e6a35b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6222610abff61e4f7815cb40692846ddc17c3ba9c019beeaed93caab2872840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc519f41dd01b0837c7b7906fcd255ccdb9a51758d1bf66f7a6c219a010ba48",
      "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 · 10.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6109, 1.7054, 0.8967, 0.3119, -0.569, -0.3859, 0.1699, 0.4812, 1.7103, 1.3659, -0.2676, 0.3325, 0.247, 0.1531]\nstate[eef_state]: left_x=0.4339 left_y=-0.1833 left_z=0.1336 left_yaw=0.0592 left_pitch=0.1465 left_roll=-0.0814 left_gripper=0.1699 right_x=0.4698 right_y=0.1843 right_z=0.2111 right_yaw=0.0659 right_pitch=-0.0138 right_roll=0.0253 right_gripper=0.1531\nstate[joint_eff]: [-0.6222, -8.3077, 7.0906, 1.1502, 0.0366, -0.0024, 0.7399, -0.6085, -9.0872, 9.5795, 1.7558, 0.1734, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2787, 1.9266, 1.5597, -0.1238, -0.3275, -0.2417, 0.175, 0.4782, 1.8179, 1.0935, 0.0353, 0.3275, 0.2424, 0.9964]\nstate[eef_state]: left_x=0.5663 left_y=-0.0992 left_z=0.2159 left_yaw=0.1139 left_pitch=0.0981 left_roll=-0.0523 left_gripper=0.175 right_x=0.4605 right_y=0.1787 right_z=0.0998 right_yaw=0.0679 right_pitch=-0.0856 right_roll=-0.0067 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -11.2889, 10.6462, 2.2735, 0.1001, 0.4713, 0.1978, -0.2256, -10.7009, 7.6376, 1.5556, 0.0317, 0.0122, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2806, 1.977, 1.3712, 0.1783, -0.3214, -0.2432, 0.1765, 1.1976, 1.9835, 1.6043, -0.6338, 0.865, 0.8852, 0.9971]\nstate[eef_state]: left_x=0.5703 left_y=-0.1025 left_z=0.166 left_yaw=0.1107 left_pitch=0.1556 left_roll=-0.0806 left_gripper=0.1765 right_x=0.2944 right_y=0.3931 right_z=0.1623 right_yaw=0.0455 right_pitch=-0.0223 right_roll=0.0078 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -7.9385, 4.9709, 1.6679, -0.1783, -0.0366, 0.1441, 0.4171, -10.5094, 8.1573, 0.7741, 0.8376, 0.149, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43ee4eac8d2814ffaa9668cd62bd5cf9bffad68c19f48d91e939517d7e6a35b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6222610abff61e4f7815cb40692846ddc17c3ba9c019beeaed93caab2872840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc519f41dd01b0837c7b7906fcd255ccdb9a51758d1bf66f7a6c219a010ba48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJIu50oYZgL9xXrIJx9bnNg1DHE4pDUNfTTSY7t1ylJHfY4cEOmfwVVO1oFDP3q0J13LtDjflb0eXukn6icksXCEkb2_2UOQ_8NcsYZaWr9pre6aO7EmJ_M4HFHcC2evVwQPu9vjmCgm8v_NQbvmVWdSr-_dc4gDhOD4YtVcW7mUkjLrqBfU1x0Rml0YovPzKJPJcIvlx3SHjCg2W7MR1d14XAGjQcpcestqASc8yO_8mquHaZE8RrAV1rOP67dbLHDWuD0GuoY8CrKAi1E9soI0TO1iBj0rfainWnsuMFKfX0GhYiOgEwDGYOeI4njjiAkNZPugqXPro2D1mxnt0RXS7b23IsNA9Za__iJ5GNiQ_a4TnrH23mvSJN_lFbBOP3fSuNWrUV-HByDU6RZA8_yJSl-FWaaniNbg_Wy-blKD3qznFJqDWEqYFbv6gk_mvDOznX0-8S1goRKVhpvgpJkrHt2h58F9VE_vYi5VLEBE4jF0z0GNeiaEcCcneSdg-TcL3RvtXEEi2Ogxo30tePYeVdAWjHIpbZU-nZamwk0nlyIPSOGfNAzLYY1QZBtg6C2mSMCEdgfw_osvnx5FgbQnRN7k0nvp7kd2gQUN7GqZMg3XiD_Zq59S9qQnxgHHU14Pz3HMv96gJIkNs8BlPdvcBpbqjc1WULoJvPjIcVwCBMGu-vPMs8Xw0hkCs5ioiArxSUWKrpHw9DJfuaEF1qjK_zRyE3qFrOKPU-7kOl23U5wh54FhnLYvMhqlpLK4LxN_bvdsZkbVq4rTddB8hIjR1Z43PhtgCFP7Is7yE0cs0eNLgrz1Wzxf2VZpchfycuo2dM1V5f5rX9Fl4uEaoZuB4bhQJbSecmQkmXqE_iGg3-EpgiKJnfikCIDSdu8Ywx1ISWlGCqNr3JsQPriHNFPKihcUjMHzvKd0pqI-5tWBgwYy1t4zqkjyspedrR8OKO1JPov4javj68oG4OM3BSc-1JoZvoOKr9cKamN_scLtFenojuA5sw0DZ0dwgGnUTbPUGRaxuE4mSGXzqE218FnyL7Wk1QIt2ILuOeF9tqH-1ULIgKnU47Wpy-vF5zUkt4ozOiYmbvXuMAzh-Kq4aSun6JQD55DD-ix1DACh6fBk0YwHHYRbzWOVbzniuypylOm7JUjAVtuNAYqbTEkMiJqWNvN_pWm5yk4A5-u_XrlvYIn_p1XAGQgdtKUJjvUB6OTc0ONtKFfBfOyUl3ofCu9ktN3u8um9em7S_apTsXXMm5E8cFh3snmJpLA7cF3bNT2eJj5OQlBkvoLBwzcDJetbq6bYhwQxBMhwsla950tapfWHd1rU8FrcxnIRzeKoDMRaDH1P9Nak_AGkpg0LQPIyz9aomN9rLUnVaKi2cxtU7JDKXiwlvC-0_SnOmITUpDMEX-P8soXOa5rU3zAGkH-qZ5diIgrW_qSzv0-o5Za0DBkoL_1o-io7agsi-GF0K9xH",
  "id": "rs_0959d906c01483fd016ab4922c3a9887d0b04de9e93bfac1f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.30,\"right_y\":0.4,\"right_z\":0.035},\"note\":\"The left descent has stopped, so I’m opening the jaws rather than pressing farther. The small brown plush is centered near the right fingertips, and I’m lowering around its body.\"}",
  "call_id": "call_BEKyCqDNW3ftsjfajKgZJAvr",
  "id": "fc_0959d906c01483fd016ab4922d36f087d088f6e5632112f9e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BEKyCqDNW3ftsjfajKgZJAvr",
  "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]: [-0.2802, 1.977, 1.3632, 0.2001, -0.3321, -0.255, 0.9954, 1.1965, 2.1616, 1.3838, -0.2352, 0.8528, 0.8795, 0.9972]\nstate[eef_state]: left_x=0.5709 left_y=-0.1006 left_z=0.1673 left_yaw=0.1274 left_pitch=0.1695 left_roll=-0.0929 left_gripper=0.9954 right_x=0.2968 right_y=0.4016 right_z=0.0441 right_yaw=0.054 right_pitch=-0.0317 right_roll=0.0073 right_gripper=0.9972\nstate[joint_eff]: [-0.3897, -11.1795, 7.4325, 1.6386, -0.0269, 0.0659, -0.1197, -0.4444, -10.4547, 5.1487, 0.8718, 0.4664, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6801b116b79d8be7fff81f51cf2d0a9143b74040a360f53007aa0177563bce80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87a4bdcc008304af55cdce543302798b16131742cc2f5589a83d45a107b055b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75393ab66abb8695f7a5f0453e7fed0a9e3052b099e6366c7c7335f64b89d10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.73 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.6127, 1.1084, -0.049, -0.5728, -0.4011, 0.1729, 0.4782, 1.8011, 1.1076, 0.0341, 0.3275, 0.2466, 0.1531]\nstate[eef_state]: left_x=0.4341 left_y=-0.1832 left_z=0.1952 left_yaw=0.0653 left_pitch=0.1031 left_roll=-0.0584 left_gripper=0.1729 right_x=0.4637 right_y=0.1804 right_z=0.1133 right_yaw=0.0665 right_pitch=-0.0583 right_roll=0.0087 right_gripper=0.1531\nstate[joint_eff]: [-0.1299, -11.0427, 9.9624, 1.7314, -0.1636, 0.1197, 0.3004, 0.1709, -8.5812, 6.3795, 1.8681, 0.1978, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2806, 1.977, 1.3712, 0.1783, -0.3214, -0.2432, 0.1765, 1.1976, 1.9835, 1.6043, -0.6338, 0.865, 0.8852, 0.9971]\nstate[eef_state]: left_x=0.5703 left_y=-0.1025 left_z=0.166 left_yaw=0.1107 left_pitch=0.1556 left_roll=-0.0806 left_gripper=0.1765 right_x=0.2944 right_y=0.3931 right_z=0.1623 right_yaw=0.0455 right_pitch=-0.0223 right_roll=0.0078 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -7.9385, 4.9709, 1.6679, -0.1783, -0.0366, 0.1441, 0.4171, -10.5094, 8.1573, 0.7741, 0.8376, 0.149, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2802, 1.977, 1.3632, 0.2001, -0.3321, -0.255, 0.9954, 1.1965, 2.1616, 1.3838, -0.2352, 0.8528, 0.8795, 0.9972]\nstate[eef_state]: left_x=0.5709 left_y=-0.1006 left_z=0.1673 left_yaw=0.1274 left_pitch=0.1695 left_roll=-0.0929 left_gripper=0.9954 right_x=0.2968 right_y=0.4016 right_z=0.0441 right_yaw=0.054 right_pitch=-0.0317 right_roll=0.0073 right_gripper=0.9972\nstate[joint_eff]: [-0.3897, -11.1795, 7.4325, 1.6386, -0.0269, 0.0659, -0.1197, -0.4444, -10.4547, 5.1487, 0.8718, 0.4664, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6801b116b79d8be7fff81f51cf2d0a9143b74040a360f53007aa0177563bce80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87a4bdcc008304af55cdce543302798b16131742cc2f5589a83d45a107b055b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75393ab66abb8695f7a5f0453e7fed0a9e3052b099e6366c7c7335f64b89d10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJI5SusaMmIKmHV2bge3-jhyEJTKbZCME0FQ3VfnGuWhJUK9fO6d5Twm5KNn5kRwFbMsCm-Wd1HrsDGOAOrbTDoV_bgmIMJrc-G9L8V0NpNCCe5zL2q0aR0PqhswAAbC76jL0FMRh8H5PJmCKsoeg5aLfo-sA6kRHi5TtTNSyoDkHq6BaA4ZDBGnU73FDg1oIbtVq1RjYE5hUAcHE8Y3h27bevPWl83EmZ8mJzrFCnPJX7DqX22ZBWJjX-4C423XM2Vw2Rsb5N6giRBt_TcotTUUFfSudECfJG4Byvp9ltK0svHHxc7A0QDCxvgGkBSe_nU-y6gQvXDl0rCmye6PtpHj1dfTVehVZSxFDu--MfnlpGzUsvfsFs68mlHJZtHb8mljfVrAZEKkXDhqXE8r0ZcQh30QwnhxeZwZJfxtM1XcFCIt1guJwXQ8r5zhufMEoanqm7gw9_ohbGwo7IEWM6U2b8x8UshdG2RDXMHv_NVmxw730AfyBtWMGDzdCPGtzuD2xfK1C4SRy9vrtp3Z--Df7Iq3RjLZcf7YeRCZceyOSdL06-i6y3MijtXOxpWoiIl9uU0-emCd41fBGthDYNP-EtF1YhjUuLvKCK-QfuPFgWOtvKhb3EOptCVknl5rv5vweZssA9ZQKNKRA-tM-vCIAg1P6KRSJmocYMs99-2MR7sPJXVPyotYogZKnUDZ4vCK-NWhi2U0Pk2rTJb4gUJ7B85-cCkGHljHNyNYB9j-RHxU7jjfCjZWPrg-OJT4qhYCtquGwlpKdlqQwbrGsuN0xDQrPIj1Ykc-KDOskGlIce-DT89Xb7EPveWXzo4LFIXbcKXoqKGhBQTPRheS6OjTqdHgi35vm3J9_yoIlHOdBgERPqRDOMSjq5HYh59B54zXQfGwnyWl8UQTjW-aM9MpR6EZAtIhcfAAiO3rOgcQ8X7CqtJ0QTWC9_RuGV2CtJ9o8nWofZxzYqq97BpnCaQAxPVtrqaw4HVxddhpRE5278Y8pgbroQzCw8SluWJ9r8TLeUURVHRbF5BIPcVHbRMTqi2z7P77TH1IGpZvALLA9VPygngg-hh64wDtkTRQV9wayPtvU_LSqtJQLeMqzyXF708wQOwCZJ83zZ-KuRcSPYAYAonao08QBuFB9rlUymSyFuHMU5Doudwr0sFIMUJ2lm_lVqqFG38-nRJDuYHcoEK9o7IVLCCRmGu8Qu3OTOri-s0sW54zKpSSUoRszyZUFXQvDwktnFd3azzrOAmreK72R8CWrOUONr3OvPLmiUbUd4xRhfcdTtQlNhMcffdbvsDJ6XQVJIozxyFL-urWZIpqPPmy80DiFzXlqopDWi1uQ0jUpO1A38X6aJmDi4d84NOF6BpR-Eo69Rt6DR0b6b6Eq37EFz4rWbdyRT2_cZMWt9HosOFszGIlcMGTG7vu0RI8mCLRuqxZJ1eMfCDlaySJR7PN8oRwaxxPIhM8Xc2igWQePRr_735rO7epZ7JB5V2ZzJCG9p7Plw8SuXVuPopcxcZARIHYJK2zpvi1iL5jT5vLTJT16Vs4iiCSrHjSlZa_56YtM8RrN2zBevFi6syKNVzhdqdmRw1g5G2PJ3UeUxlVrrw8RyfiJmIbWcsOcQHkONuGcUw-LleFPU4Yq1GB6fV8Bk_LUXyByk7BOmsvQ37ZG3OO-SLRkasmkZwu4hg4d2ff2BadFQDXeqmIC0d1MuVDLm7ohVH5AurV9mYG-VUSxGviApK3pquZystbHaWG1iQ1Xv6g7yqQbKlXh6C6by2exi6VrSnt85X-Wp98aOxsxgXnPHzT5qV8FmNAaV56_vDYSX9TtwWKOBjbBSfIJH0acPikssIxPHaaSLolhJSUXtcfIBatzPq0tPdIRBasqGar9sCNVt50QpGUagrRAoVEB8KWo8pz1PtiNhIRx6fhxij-_1JCygezPBa7Ui2GQjNQFuDJdMvCGNr9oYyw18feD_Q9Q_OMLdvjPeFEd20tFatqzDvkitFt11hp7QltflctlLWPqN5iByAgkim0iIioI4AJK1b1Igw8-oVP5v_GNeI0J23UMi-OCTQerIXCbPzC92jZ2Ev7IF5V_3zIY-ceiHmVFuaRreAXRl98FkQEDrz-tgTMIN875n11lm-cdiXZF3Bno8KDO58moVOAM92i-TFOwJFkkypPhQXuxW-gUnm9d7hHa8gIuNS3KwrQhZGiDU9nINF3hy1X6pygVl5toO71G6NHBqG9hag-NU4PoGtHB__WFTXA95hxGNUGSih6t2fBIL7xyEYqDd1QyXqCmf9eKkLgrplXJ_89ih-nv6HD7vc6UKJdkZRfU2M3jZqyPJ82qa2LBQk969zhLDUOhReeeKkfSEybFCgu4XoxSqNQoumdRl3G6YWizMo-xi3PEPMe1h95otcPiIIdaK02071jTdDg-UyrjnMj6xVpdr9URtQ8VVGM7mg-gybL1Wmvg03vrxNjgz4jJ98BiZE6CPOOAnBZEt0l1TtNG8qCtUOfE8QZHDikVNNJvOj7nkm9acrcEl74WYIxOISFLJOH8TnxSpwD7WHz70ouf5aLwc7UPPK1BpyfXs-VQ9HFv2JNZJSRF4Iyd5lCcfv6Ciea2XjgmONTmUTYBeEChjSUo4DdCgc8kdN9zuofWi56O3qVThDizH2BbNbLLJKaPTgi_LruX3wW7qoIfybtEdwxMIGmDJvuW7-ovCSqPtvcuSM9uS7epC1WI6H7M6LkV49W2hu0en_jw0dpL2yiSD0sKTqVF2WGqzRrVSFMQH70m47iY1uUqSRawektcwWpwTTg-gDJTCGT416_9RHTbfs_vggXDuVd9f-GxgQwxyVNolHAvY8xBVFzSvwKVhnamzdZUTG2Av1sr4tSVTAjNUPHhw4hNG5BlQ3EKmPIF_-c2ygXHGVJm38N9y0iIJBTlhIBAETbU2hwKY95FF5tDvsrAbtWmqYGtYCGK7PNZP5nufdqfAHIEHw9DGxFyX-jttJJu3sj9QBzHefbDOXRNCeh7sEb_dZiAwfviJ1hy2jiRBXK2_oxCgNJtfbXNxKe3ZUOClHuISWF_nIaxsbsTGzB-VN3RY9TPVTfj0OrIfUkT3M6k_yhlgAd-jcOiUa6mDkNYCXD5EKUucCCaJmRMpmvddtzMYb-pISNBphYqOy4e-XNE22X2BXLS-bGDwPQqG_R9p3PT6uzPvudYeD0ailllSzzVXAjMuYTTg-HeDAkIwBoj68u05QhrW7z0_7q8zlLV4RQf2rI7PJ-EGhX3dh2EnatzXWvcVC3HU2IKKbeBZJmElfyrfFnSI5rWSPWO9U4F3g-vHlF3P2suNiB2Ym6ku4uwMHrQiuzAVy_dxbQY_Ilw3LoNGfO9A_awChGboWO-ZIRHy0I73ygqO-DsWhG4smNjV_t-cgRJTnx_sf-BHnqlNfeVBk0A3So2gMSWu1TsT52IXEWX4IOoKsBI11eMXGkiT2ud0UXxUB4sAmXJdJL8I0Yuo-2LquWhbS10EKHLgZw8fYrT9t69QjIAgiqY7iQmLUmvgt0v7I93w==",
  "id": "rs_0959d906c01483fd016ab492313f1887d0a29e7900de2cac2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.3,\"left_y\":-0.11,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The small brown plush is between the right jaws, so I’m grasping it. The left arm will move clear of the basket and line up with the remaining yellow marker.\"}",
  "call_id": "call_yNzHWMP0VI5JryxmULuWUhDc",
  "id": "fc_0959d906c01483fd016ab49238778c87d0824be90265e5c9d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yNzHWMP0VI5JryxmULuWUhDc",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6411, 1.05, 0.6384, -0.1997, -0.5144, -0.3859, 0.9967, 1.1965, 2.1731, 1.3804, -0.2123, 0.8444, 0.8753, 0.1734]\nstate[eef_state]: left_x=0.3111 left_y=-0.1192 left_z=0.1696 left_yaw=-0.0216 left_pitch=0.0378 left_roll=-0.0355 left_gripper=0.9967 right_x=0.2968 right_y=0.4042 right_z=0.0391 right_yaw=0.0611 right_pitch=-0.0347 right_roll=0.0141 right_gripper=0.1734\nstate[joint_eff]: [-0.212, -2.8923, 6.3111, 1.4628, -0.2222, -0.0317, 0.1245, -0.335, -13.0803, 5.4496, 0.9353, 0.4078, -0.0073, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a84a348827d59672c6eb82b811277db9ab33750c011ec939f1c81d3676dd38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946cae172abbfacf23cc915ab947a5467838c5f248224753ebb7c2a024c554b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0081ea5693a935799b902db144a2ce6208bc7980bda0019a39dd4c4d21ac9e84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 5.153 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2787, 1.9266, 1.5597, -0.1238, -0.3275, -0.2417, 0.175, 0.4782, 1.8179, 1.0935, 0.0353, 0.3275, 0.2424, 0.9964]\nstate[eef_state]: left_x=0.5663 left_y=-0.0992 left_z=0.2159 left_yaw=0.1139 left_pitch=0.0981 left_roll=-0.0523 left_gripper=0.175 right_x=0.4605 right_y=0.1787 right_z=0.0998 right_yaw=0.0679 right_pitch=-0.0856 right_roll=-0.0067 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -11.2889, 10.6462, 2.2735, 0.1001, 0.4713, 0.1978, -0.2256, -10.7009, 7.6376, 1.5556, 0.0317, 0.0122, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2802, 1.977, 1.3632, 0.2001, -0.3321, -0.255, 0.9954, 1.1965, 2.1616, 1.3838, -0.2352, 0.8528, 0.8795, 0.9972]\nstate[eef_state]: left_x=0.5709 left_y=-0.1006 left_z=0.1673 left_yaw=0.1274 left_pitch=0.1695 left_roll=-0.0929 left_gripper=0.9954 right_x=0.2968 right_y=0.4016 right_z=0.0441 right_yaw=0.054 right_pitch=-0.0317 right_roll=0.0073 right_gripper=0.9972\nstate[joint_eff]: [-0.3897, -11.1795, 7.4325, 1.6386, -0.0269, 0.0659, -0.1197, -0.4444, -10.4547, 5.1487, 0.8718, 0.4664, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6411, 1.05, 0.6384, -0.1997, -0.5144, -0.3859, 0.9967, 1.1965, 2.1731, 1.3804, -0.2123, 0.8444, 0.8753, 0.1734]\nstate[eef_state]: left_x=0.3111 left_y=-0.1192 left_z=0.1696 left_yaw=-0.0216 left_pitch=0.0378 left_roll=-0.0355 left_gripper=0.9967 right_x=0.2968 right_y=0.4042 right_z=0.0391 right_yaw=0.0611 right_pitch=-0.0347 right_roll=0.0141 right_gripper=0.1734\nstate[joint_eff]: [-0.212, -2.8923, 6.3111, 1.4628, -0.2222, -0.0317, 0.1245, -0.335, -13.0803, 5.4496, 0.9353, 0.4078, -0.0073, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a84a348827d59672c6eb82b811277db9ab33750c011ec939f1c81d3676dd38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946cae172abbfacf23cc915ab947a5467838c5f248224753ebb7c2a024c554b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0081ea5693a935799b902db144a2ce6208bc7980bda0019a39dd4c4d21ac9e84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJJArhxwzj3IU1qvUNXFYLofenDzHy57HfNsG5vKdtEJKER3FF-h1MUZ9RRK6TKxoYzI_alBNmkIfp98nBgu7RVSqAKpK_Jd1PeGehZh-JkkL5jO9Ibx0uNUzVR7yQZqxIt4BWFGwN6EoPjpngsldSyvSbn0zr7UWWtmGoN0mp5uzYyfO3SicxsNvXWNMxqyKe0em72rhZKvL0AMETakouN_aRIjIqCV9BMzzZDkjeAT7txnvDMWjjCjaGYXTo2IDbIEvIxYwVzpTSaa0Ij3GrrnsA5hZt0X32Dbtdba6Xsn5GCgK0Y1yxLiq-vrKfIkcrMwVqKoVFDyvkcSxTG6NZ4Pa43362Pif1QByTYpWgJQM-6u6CuqR2ZTOwhAp8BSpteAf66BphCVzOc1vtmVkE8lSrj2bQqiBJw6rMKXPi3nzT5JIBKu0hCORgtQi7v-fOA0bp85dtdhagPo-SJSe87Fs5ywj7R2bkPIrd26U9bs0LJtMkzbh1MhmpPr4IYC6PVvaMFj9sScF8feJ1zmhZ4_VsWhmWjYRYzLPQH-O184CERJ1loeyfOEz-lNwlba5gQNm3CTSw2M73fII7GkR_EEfbk3z7oRCHX4A9ZWL1dqIEbMp-0GS1FEUW8uPIgBVnGKgi8LbyU9V9Ue6QBai7qIRRj-GU20B86a-n-nfb12Zy1UrVdifCQtKE47jOfEM64ZiFb3QHL7u3WYMYcUeJwKeCzVs14cGrAVU4sOYpNTeI2nRuqEpffHiOs8FRsrEZ_kyMQoww8B_aOKvL8v4sw1-_uqo_2tFxQRDUYnejj8D4L3zQRy7mj9SBd0hEOtTd7h6JhZPuo2r26mIKGX7wybkBrQ-PicbOX-5ZJQbnSatpbi7ARTI6hvp6PnFlgKPzjdo69IThoph_z9jdQ8NSjzirPCN2eS6ySgUEiJU2UgIQqLYtmB5bWWKBOmtfx4kodWZR9DPoOjgpICJtWl5qD9QMrNJ9AaOpR7sQJ_CASn9Hugjf3Lcpx2Tl0KBRur3Nr50tXrJh89T1i8DZ1mrcvIjYdTLLZXM6bYiuNY5CglBMRJ9TNTDMSMNslENVs9cWPHXQfpgQJPbF0jqqDOZIk_8eGCrKi9N0sZZSSxXsE5BmHlAQua82qd4Nxynq-mUElQnmasg4k55uRZrOkxJfoklJTwsJkvfCYHelXC_HW3iTo9reF6vruLUMOa107yjjw19McvYq5KaMZ9l1ayfTGDho60M8Cr9F1cAzmExGvAbykVScDwg0_EJCVtRfTgBnMBP7GbWzhT4pkI6l-3CTvlL87uEnbOE2kLLKU4wsjqsJt688FTIOJ9TP5JBB81zxLlA8nVgppWTXgy8iap15pVw_S8t50qkqkTZxGA8mh4kolYxZzB13N9Qj5U-oK-_bh6aL8raY15oi-1J8VBl_5yJMqQQUZPSO5zYGyqajyzQ9lMicOgrpDHEA_tW0eK0RDGFlXDIMAUugs6sZVlk8_-qHynnTWtRmebJGhcPS6Yu1N41-Aj6UlPjgJ0-a7oz5hmPpx_cAwx6pycVr4KsRoZ24hi4QSaPAdqNpfXYgmNFHkkOrBcX38JLlen3nVs3A9V7g2dVOXPVMOOhyJRaGiELalW5bN6XEKM0-dh1iNGGxA4YH8cr_qnpbaMMlJNCwnPf7u6U4ldlm-RPS8Vy0GrJdSxq9N0Kic_yJ0jpv55pv46rsN4rrP6UClPGKk9m0TukGZEByuUR26KyAjOpyZd2Y-tLhwG-BfUPuu0hIW17YCs3IX3zZMAa9eLWZxzka82EHZ13LSWv1fDLHJHsqWEBg==",
  "id": "rs_0959d906c01483fd016ab4923d188487d0befd77fff6576024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.10,\"left_z\":-0.005,\"right_z\":0.10},\"note\":\"The yellow marker is aligned beneath the left jaws, so I’m lowering to table level. I’m also test-lifting the small brown plush; the tan plush still needs a final placement after these smaller objects.\"}",
  "call_id": "call_OoVw7DXFwO0AVvbGq01RRktj",
  "id": "fc_0959d906c01483fd016ab4923f66bc87d0a97830a7e0cc792e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OoVw7DXFwO0AVvbGq01RRktj",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.6695, 0.2256, 1.1999, -0.4953, -0.4541, 0.9968, 1.1603, 2.154, 1.3884, -0.524, 0.8436, 0.8139, 0.1762]\nstate[eef_state]: left_x=0.3491 left_y=-0.1108 left_z=0.085 left_yaw=0.132 left_pitch=0.3206 left_roll=-0.3315 left_gripper=0.9968 right_x=0.2915 right_y=0.3481 right_z=0.0258 right_yaw=0.0324 right_pitch=-0.1616 right_roll=-0.2931 right_gripper=0.1762\nstate[joint_eff]: [-0.8684, 0.1846, -0.335, -1.9707, 0.4567, 1.4188, 0.0024, 2.5915, -18.8786, 11.959, 2.3028, 0.3053, 0.5983, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6cad16b53fc2ba15f08dfbc987b2ce98b1664cef7e1a1d24bea2d9d2e9af2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0e75f9b8993ee58d6c813b90061cba10ffd7da3afcf3bc36fb6b3e41309078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9dfa3f93cd58153a16b69109c986b87337fafa33951c2c58dc1c0c8d60ecf8",
      "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 · 5.96 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2806, 1.977, 1.3712, 0.1783, -0.3214, -0.2432, 0.1765, 1.1976, 1.9835, 1.6043, -0.6338, 0.865, 0.8852, 0.9971]\nstate[eef_state]: left_x=0.5703 left_y=-0.1025 left_z=0.166 left_yaw=0.1107 left_pitch=0.1556 left_roll=-0.0806 left_gripper=0.1765 right_x=0.2944 right_y=0.3931 right_z=0.1623 right_yaw=0.0455 right_pitch=-0.0223 right_roll=0.0078 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -7.9385, 4.9709, 1.6679, -0.1783, -0.0366, 0.1441, 0.4171, -10.5094, 8.1573, 0.7741, 0.8376, 0.149, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6411, 1.05, 0.6384, -0.1997, -0.5144, -0.3859, 0.9967, 1.1965, 2.1731, 1.3804, -0.2123, 0.8444, 0.8753, 0.1734]\nstate[eef_state]: left_x=0.3111 left_y=-0.1192 left_z=0.1696 left_yaw=-0.0216 left_pitch=0.0378 left_roll=-0.0355 left_gripper=0.9967 right_x=0.2968 right_y=0.4042 right_z=0.0391 right_yaw=0.0611 right_pitch=-0.0347 right_roll=0.0141 right_gripper=0.1734\nstate[joint_eff]: [-0.212, -2.8923, 6.3111, 1.4628, -0.2222, -0.0317, 0.1245, -0.335, -13.0803, 5.4496, 0.9353, 0.4078, -0.0073, 0.7741]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.6695, 0.2256, 1.1999, -0.4953, -0.4541, 0.9968, 1.1603, 2.154, 1.3884, -0.524, 0.8436, 0.8139, 0.1762]\nstate[eef_state]: left_x=0.3491 left_y=-0.1108 left_z=0.085 left_yaw=0.132 left_pitch=0.3206 left_roll=-0.3315 left_gripper=0.9968 right_x=0.2915 right_y=0.3481 right_z=0.0258 right_yaw=0.0324 right_pitch=-0.1616 right_roll=-0.2931 right_gripper=0.1762\nstate[joint_eff]: [-0.8684, 0.1846, -0.335, -1.9707, 0.4567, 1.4188, 0.0024, 2.5915, -18.8786, 11.959, 2.3028, 0.3053, 0.5983, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6cad16b53fc2ba15f08dfbc987b2ce98b1664cef7e1a1d24bea2d9d2e9af2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0e75f9b8993ee58d6c813b90061cba10ffd7da3afcf3bc36fb6b3e41309078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9dfa3f93cd58153a16b69109c986b87337fafa33951c2c58dc1c0c8d60ecf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJJGuwFbDXVlfqKlZ8bgdQ-5_ULG3cDCMchQjV1XILD-0IMtYrlq1UwqcQbdYM-1ScjRgxJq7SxQeC4MfcxNvzsdU-0Ljs3KKQ7-kpRWOE3zD5rYumjDuivdl2oqZcMfgwRX5AzmjNkp9JrK9f92LF50UDNToh5yusuDk5ZPhKXb2hjrJLljOMlhHvzyvTZ44mjsdUgESGfXJywGGmaoEceaGvIJqDe7Gej2xocb8tL5awetyWuDMRuP1Fg4X2OPrx-VbL2PNOJCDbJIsJJQSPpWD9dFfLj_qZY_fZo57jc3oLe3yYdGs18tnyLZQ8bujiWTHBSacoEqb9E5BjWusNFllTsDtnbMg4q5dgj0mAdEP-0I57Ul4nyjEDV5OOSQ2GMY3IBaZaBfV2BNxdwfzBmN957I47QhNi9A7OoxbsdRuKUpmOuaf_arFECdg1fF_ysc03dv-ja-hqHRNyHJCBFjVeqt9Sm3Dn1FWRvscWT8lR6IcsYnT1uHs-FZXFIvmkV10aOMjBX6oglkPHsDJ4cbVLrOLFVbcyXnS1J4F-EbO-juaEYx8XugMYEJR64nLpgSzZwL0MEZADwGHk7mtKXS-5s7NVP05Qcvk_rmed7gTEQDSWz56UKt724acdqyGnyrAE-rh17jDbV7IXYGlRR6EY-vC3QqiETy9rCbBZwjRAZW22c8g1DLI7Q7mDMY1KAbWeD4bTjXrRCO9DYQhBsTmjEOKrlhM8jwNSQiln9VcGeuNh0H_4kL66WwmZKVKmhjhoSyNNDvvzaKS5sEXx5w4Pga9eat79M4tKXed2NuFtbdr8c1CI0gntqpZpC694gu_QYonLkOoxRvE5gLqT0_5oaB8OU7dm3NB4P9q74b7OBwNIEAz6e4zphlgdxd2zHCle1iq57hyCiQN-TRDohUA2DqgKrnoHBILgjjz_8JTDCRmn7odrUffbf1QHUg9Kl5XhrZpbkT-YkZbWVMeABzMSjCs0ppkU5YXyLbkSARhCMftjt04G8y2gKbfIXlcJ8HZihzU7lPWFiYGnFudj-eFCkzqnfBeSvotkuPZAfKzT8KOxhTYnayJRkT6YENIl0WdgUj2F13sY2gOxVNpS_31CQK120YLccnf5fAvL9m1LTwboZZQ3A0DrZtNoqw8qj5bdcI5T8l19H6VzgvB_pcHKqw45pH8HVCzHRxPq13_1iGhpOoEcMMv21O1RP1zPkFmEH-9Bd7tI62NaGnO06tbW9Wh5G1i8ZACA07wEg8x-vBuEX0oqBpY2-wSq7RrE-547wWiBYwNmMXwhxutON8UGCrcTlSdtGGUz9EzBrXMRrU2Zkt_WRG8nerX1jMoZlj3mxP83aV6ZHGL8lxieaSzMDbcNzWl0CTMY1M2_p9STtvKtu1Fp3VqU6-B6LIbHdoChQ3Rtd--rTEJAbLOfg9w1QZPCzQzHs94wUarxH5DC7cuoQlvYZTAA0OZEnhbkX9Bg_Z9DA3TsU0Rxl47CQYlWzKNXo6pBK2DkMxMFLL7KcKyXWdRMeYfbwujiZBuws7pMFiCd-nRH_NuKAJB1qWg6SQENmDj4dlOH_8YmKQE1K_ha-ZoM1B8FeGhrGxYo2dpEfFHwbzz_m8glOkP9ansSQfnfpfoBDoVBQvOKe4W5YIUTqm_Tl-9ICnn1KWFqtiEv6iSh-b-gM95mu-2HJmr5vVj6hW2hg6vAL7ICu_ri-W5vjo_m7g4-bHDiynvk3a0iW-4uelnijrG5GU1Z0qejXnJMDhEJw6AbjieXxiChYC7gCxyvLkpeXrBInUc3ZWHs3OrmRPKBWfnYNc3adPKFmGBk6aPcwMULPOUsAF_sqn7ODwVxPVad4dNjFmzW3_kBxMtymnOh2dgIts0br0ew_OPkwspSQMs9GcMaQJzd7AsVzzguAkT8DDcOgMJaa-WDVqqqkPrUlg6JbiID6Liy_RMZpxSpiQyVofvqyTWdc=",
  "id": "rs_0959d906c01483fd016ab49242ec7887d08549ebf8d21ad006",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.015,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The arms did not track those moves and their orientations changed, indicating contact in the crowded center. I’m backing the left arm away before moving the right arm again.\"}",
  "call_id": "call_6KTwbPv7zDxKiej33r7UWKOP",
  "id": "fc_0959d906c01483fd016ab4924543d087d08c365adb41c44e3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6KTwbPv7zDxKiej33r7UWKOP",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.3315, 0.1665, 0.926, -0.4141, -0.4274, 0.9969, 1.1572, 2.1532, 1.3956, -0.5259, 0.8528, 0.8074, 0.1785]\nstate[eef_state]: left_x=0.3331 left_y=-0.0818 left_z=0.1124 left_yaw=0.1335 left_pitch=0.3175 left_roll=-0.3239 left_gripper=0.9969 right_x=0.2942 right_y=0.3482 right_z=0.0292 right_yaw=0.0304 right_pitch=-0.1521 right_roll=-0.2963 right_gripper=0.1785\nstate[joint_eff]: [-0.0342, -3.6171, 4.9846, 1.7851, 0.0366, 0.0855, -0.0073, 0.0068, -11.2752, 4.9026, 0.7692, 0.2955, 0.0366, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac9d1daa61010b8ba8fa2b0177594ab405094ba091667485c39ac25f3f5a3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f09cb070b3b909bdd6b13e38569a8dabeda87e26a4e88aa5b01495d667b3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be89c53498060d50322458d606476672cb7fdee673d55cc150988d38c7f581b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 12.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2802, 1.977, 1.3632, 0.2001, -0.3321, -0.255, 0.9954, 1.1965, 2.1616, 1.3838, -0.2352, 0.8528, 0.8795, 0.9972]\nstate[eef_state]: left_x=0.5709 left_y=-0.1006 left_z=0.1673 left_yaw=0.1274 left_pitch=0.1695 left_roll=-0.0929 left_gripper=0.9954 right_x=0.2968 right_y=0.4016 right_z=0.0441 right_yaw=0.054 right_pitch=-0.0317 right_roll=0.0073 right_gripper=0.9972\nstate[joint_eff]: [-0.3897, -11.1795, 7.4325, 1.6386, -0.0269, 0.0659, -0.1197, -0.4444, -10.4547, 5.1487, 0.8718, 0.4664, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.6695, 0.2256, 1.1999, -0.4953, -0.4541, 0.9968, 1.1603, 2.154, 1.3884, -0.524, 0.8436, 0.8139, 0.1762]\nstate[eef_state]: left_x=0.3491 left_y=-0.1108 left_z=0.085 left_yaw=0.132 left_pitch=0.3206 left_roll=-0.3315 left_gripper=0.9968 right_x=0.2915 right_y=0.3481 right_z=0.0258 right_yaw=0.0324 right_pitch=-0.1616 right_roll=-0.2931 right_gripper=0.1762\nstate[joint_eff]: [-0.8684, 0.1846, -0.335, -1.9707, 0.4567, 1.4188, 0.0024, 2.5915, -18.8786, 11.959, 2.3028, 0.3053, 0.5983, 0.2857]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.3315, 0.1665, 0.926, -0.4141, -0.4274, 0.9969, 1.1572, 2.1532, 1.3956, -0.5259, 0.8528, 0.8074, 0.1785]\nstate[eef_state]: left_x=0.3331 left_y=-0.0818 left_z=0.1124 left_yaw=0.1335 left_pitch=0.3175 left_roll=-0.3239 left_gripper=0.9969 right_x=0.2942 right_y=0.3482 right_z=0.0292 right_yaw=0.0304 right_pitch=-0.1521 right_roll=-0.2963 right_gripper=0.1785\nstate[joint_eff]: [-0.0342, -3.6171, 4.9846, 1.7851, 0.0366, 0.0855, -0.0073, 0.0068, -11.2752, 4.9026, 0.7692, 0.2955, 0.0366, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac9d1daa61010b8ba8fa2b0177594ab405094ba091667485c39ac25f3f5a3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f09cb070b3b909bdd6b13e38569a8dabeda87e26a4e88aa5b01495d667b3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be89c53498060d50322458d606476672cb7fdee673d55cc150988d38c7f581b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJJNZ5xho0vOWjqguReT3zs0lVWbyq_td2ihf98UqOfiRDwD03xv1zASUbqwsz6sDAOJS-pt38HwMuy4rURxvGgthLH_TWqxREkrkxP7Te8Tq3bHKMy3a-6QPyKQno40zZacEokUChgLMVVuJPcYlAGH-5Ft4SROrj6uNtHW8lj3vPav8CWZYhll87d0sphApKz-XiMROHmpjzeUn7XA1G7PSfBvpvnJ2nNIu9URdNfnnmE91m3mgHBZFj0bhUOjob9KJBvwXsC0wxZcfyHWj7DDyaKUoeypWEOS9d_J297G9Sw6DBJtgwvVXZZ1oW0_5zeSa7u49xy5C7CgGNGlGH1oTdor0VezQ5aRIPp2mRyJG62goJBqppeoA5y6kiWeiilxDtlIGwvNyBM8eyTbFVeLWas1lpkgSzMclHr0bcDmIbJajDzR5R4-Pg9NmO1lRB-T_vwuSGFFNxYynZ-oHeh6gywSVWGx58TvCUo5PyY30PMFxtZbTOBZSgMu9b1xOTWOo1r2GcF_CuxFq9Y1BOtRBpsqjM4r2XA2lJU5lwjz-ph8q9pxiGv-3sSifakHKseGGE2_4dapk1iMKGdIAZFo_ZYJ5KERbgX_FKdJ9d6-Djrs4KTl6opR_xTkD7occ9H7g_W3OU0NIsjutWmGLz5PKZkGCMNcKQbflmuaKA8MQlGKEvLRXyIBiTFXE3esNJHfIuelxxzGKzNNWs96xogC9vP4o07cP7popoIZlKuVFxmLpUn0tr4vSTRSfM6CbkWnzJcO5hhj3MNydYFJSVh12OEpPGQlsM-cb2L5hiV5GqP0ZS-w2eUPvgVmuwnEsRf7zK1Ev0VSQoJu1A2Pj5nX1mAi9CCMklRcBTh3k2TwW3dfusW3GDhhfLRvse7jC5wPuCmI8kBiJVAm2LxSrK5o31DVrk8RlvxCK1bnVutzlAB_oToXeWC_dzrXCo5s9AmI9dSDqC1u6QZ_FmIhI43UhaErPvgMof49Jhbzc2gwvv5kZxiOSykHTp8ghCrWTJcVyLDK2tflhMT_SW5LdfZUu-ZlgrlhY6kATTMldEBjj1GhcP_9Cuu6qkGlbzVyvMy_FYTr9tw4bGYoudq0j86SYG99kKkTsPx3oXlqulkuUQSkfHTl6aH2dsmq8DwzUrNuEbqBGacDO_bHUkNv6RoSiR3NfBbVTqHkzCJWgCvxncXi9V9KLZKh4KhjeQxiS1xmLL-11KQlnmyl9fezcRwLybRHYOTJDOA3h6iE95g-I2AhSa3FZ1C9SMHwSMUFiElSJESLuw2DW8tUqMFA3f8YVqrjCp6n3_oX0w4hzckoICFbftit6da4qM2R88ri6iEzedCbfmhq_2k84WCUFxSpdEpOYU3Sbvc4DG45AErAedAPE0HuJRgxltQ0uVcSuGl78gqJXbIltZEEVcAIHxtyNUH4nPglF9ln8TvsV6jw9bicfmIqArua3spqBTC4I6PM1YnYiubk8qH8b9_6NDxGCekEvsNatgsGeSBL4JF5CXhap6dAnPPJ_KVket3J7LFw8em41DJAD7P30fmeV0Jn06gWqmXaR58-A_OdpPUs0Z5UqgsDeIhXpOyM3ybhsUY6-W9pBxcMCTQjjSYwY16A2l33H_ZvXHWRwdCAgYWGn9oczzwYz23KpYLiacRaer-nyMOTfyD_3gdYgLzLXqFekiBu1Nq8Er-LM6sFP58eW6Q1N9SKtKY-dQKitTA0RzTNNiomYmanEal34kTdswcjiYE5M4FE4Mjmrf-Mxw5bZB__4xsZ2PpLmb33cEUH28MPa1eXs_cbgBoK66LDyw4B7hZsf8kE_UvdHqEhxwDlUrvExb-Lu5hElREfOBWJaY1fQNduUEGtOgvE3f6DZNPOSCK37w0IVGSpFEi0jP6a_nftbyVC_yfCJfOeYLpbWYWgE597UhJaFf86ElcQF7fE5kITc7FXKEqXvnEJaa7fWVexQsFz594jkfmlZkPSUrMaUJ_UWgX6SdSSlJXI9GdB3SaVFtx-u_aYZohNjUjG8nqAXa5oLhNKyhUCWR4GO9MOuYRKV6rC8ltO_7R5JjyB10F-GbzFEItfx96W2EGrHO24WfsFKIO3TznVW4w9_K-O6hr2b4njxOWs-k-6xTRe4IUnuEZ7pONmoIeqA06hP0l8GIPI5ZJJ-faI07_m7GMLr6_X7YkAPhjySBRV7wgrK6OJZe2fASzIUyizaLjLGho=",
  "id": "rs_0959d906c01483fd016ab4924939dc87d082b3088fd2b9bb2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The left arm has backed off somewhat, and the contact loads have fallen. I’m moving the right arm up and toward its own side to separate the arms and check its grasp.\"}",
  "call_id": "call_JtUvNmfVTBFipVQ1KRz4ITaW",
  "id": "fc_0959d906c01483fd016ab4924c871c87d0ba0f9c62f0a26537",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JtUvNmfVTBFipVQ1KRz4ITaW",
  "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]: [-0.4606, 1.3392, 0.1577, 0.9054, -0.4072, -0.4419, 0.9969, 1.0256, 1.5349, 1.0664, -0.4446, 0.7952, 0.7166, 0.1807]\nstate[eef_state]: left_x=0.3298 left_y=-0.0815 left_z=0.102 left_yaw=0.1282 left_pitch=0.2834 left_roll=-0.3184 left_gripper=0.9969 right_x=0.2991 right_y=0.2568 right_z=0.1655 right_yaw=0.006 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.1807\nstate[joint_eff]: [-0.0479, -3.9316, 5.6684, 2.0098, -0.1538, 0.0952, -0.0171, -0.4034, -7.7607, 6.5846, 1.2332, 0.4176, -0.1148, 0.2173]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c17e5154cde4bd70dcfb5f0babe9dd8947cef13b0f57d1cf8318d06a5753f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbc4649ff33df6ccacd4c039ce561421776d9611fccefa5dff7a0e0e3dd62ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892e6d7977ee097e325ed1210156940967efe049c11be20c018a5c410c81bccc",
      "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 · 10.97 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6411, 1.05, 0.6384, -0.1997, -0.5144, -0.3859, 0.9967, 1.1965, 2.1731, 1.3804, -0.2123, 0.8444, 0.8753, 0.1734]\nstate[eef_state]: left_x=0.3111 left_y=-0.1192 left_z=0.1696 left_yaw=-0.0216 left_pitch=0.0378 left_roll=-0.0355 left_gripper=0.9967 right_x=0.2968 right_y=0.4042 right_z=0.0391 right_yaw=0.0611 right_pitch=-0.0347 right_roll=0.0141 right_gripper=0.1734\nstate[joint_eff]: [-0.212, -2.8923, 6.3111, 1.4628, -0.2222, -0.0317, 0.1245, -0.335, -13.0803, 5.4496, 0.9353, 0.4078, -0.0073, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.3315, 0.1665, 0.926, -0.4141, -0.4274, 0.9969, 1.1572, 2.1532, 1.3956, -0.5259, 0.8528, 0.8074, 0.1785]\nstate[eef_state]: left_x=0.3331 left_y=-0.0818 left_z=0.1124 left_yaw=0.1335 left_pitch=0.3175 left_roll=-0.3239 left_gripper=0.9969 right_x=0.2942 right_y=0.3482 right_z=0.0292 right_yaw=0.0304 right_pitch=-0.1521 right_roll=-0.2963 right_gripper=0.1785\nstate[joint_eff]: [-0.0342, -3.6171, 4.9846, 1.7851, 0.0366, 0.0855, -0.0073, 0.0068, -11.2752, 4.9026, 0.7692, 0.2955, 0.0366, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4606, 1.3392, 0.1577, 0.9054, -0.4072, -0.4419, 0.9969, 1.0256, 1.5349, 1.0664, -0.4446, 0.7952, 0.7166, 0.1807]\nstate[eef_state]: left_x=0.3298 left_y=-0.0815 left_z=0.102 left_yaw=0.1282 left_pitch=0.2834 left_roll=-0.3184 left_gripper=0.9969 right_x=0.2991 right_y=0.2568 right_z=0.1655 right_yaw=0.006 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.1807\nstate[joint_eff]: [-0.0479, -3.9316, 5.6684, 2.0098, -0.1538, 0.0952, -0.0171, -0.4034, -7.7607, 6.5846, 1.2332, 0.4176, -0.1148, 0.2173]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c17e5154cde4bd70dcfb5f0babe9dd8947cef13b0f57d1cf8318d06a5753f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbc4649ff33df6ccacd4c039ce561421776d9611fccefa5dff7a0e0e3dd62ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892e6d7977ee097e325ed1210156940967efe049c11be20c018a5c410c81bccc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0959d906c01483fd016ab49250150087d09bcbee1dcdf73c7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.1,\"left_z\":0.008,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.23},\"note\":\"The small brown plush is now lifted, and the arms are separated. I’m keeping it safely raised while the left arm makes a straight, corrected descent onto the yellow marker.\"}",
  "call_id": "call_lHvaVVm3HJEt6oGefLdHMhik",
  "id": "fc_0959d906c01483fd016ab49259863887d0bed73e9ba7da9c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lHvaVVm3HJEt6oGefLdHMhik",
  "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]: [-0.5758, 1.6119, 0.2012, 0.7719, -0.4747, -0.3729, 0.9969, 1.0145, 1.5108, 1.2373, -0.6624, 0.7734, 0.6987, 0.1833]\nstate[eef_state]: left_x=0.3073 left_y=-0.099 left_z=0.0082 left_yaw=0.0046 left_pitch=0.0022 left_roll=-0.028 left_gripper=0.9969 right_x=0.2986 right_y=0.2533 right_z=0.2091 right_yaw=0.0171 right_pitch=-0.054 right_roll=-0.0425 right_gripper=0.1833\nstate[joint_eff]: [-0.3897, -4.8205, 5.2034, 1.6093, -0.3053, 0.1392, -0.0171, -0.5812, -8.4171, 9.4564, 1.1111, 0.4127, 0.0269, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67768f163d33b33761efb0af9d8f3b7251ef074cac867e4973384bcb510f1097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6686308ef347a6321e50ce57a8e4291e0929c66cdcc036830a8065738a173c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed301c4d3a801297324dd08804651973d2a10f65208c03eab77bef8bbcb80996",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.295 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.6695, 0.2256, 1.1999, -0.4953, -0.4541, 0.9968, 1.1603, 2.154, 1.3884, -0.524, 0.8436, 0.8139, 0.1762]\nstate[eef_state]: left_x=0.3491 left_y=-0.1108 left_z=0.085 left_yaw=0.132 left_pitch=0.3206 left_roll=-0.3315 left_gripper=0.9968 right_x=0.2915 right_y=0.3481 right_z=0.0258 right_yaw=0.0324 right_pitch=-0.1616 right_roll=-0.2931 right_gripper=0.1762\nstate[joint_eff]: [-0.8684, 0.1846, -0.335, -1.9707, 0.4567, 1.4188, 0.0024, 2.5915, -18.8786, 11.959, 2.3028, 0.3053, 0.5983, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4606, 1.3392, 0.1577, 0.9054, -0.4072, -0.4419, 0.9969, 1.0256, 1.5349, 1.0664, -0.4446, 0.7952, 0.7166, 0.1807]\nstate[eef_state]: left_x=0.3298 left_y=-0.0815 left_z=0.102 left_yaw=0.1282 left_pitch=0.2834 left_roll=-0.3184 left_gripper=0.9969 right_x=0.2991 right_y=0.2568 right_z=0.1655 right_yaw=0.006 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.1807\nstate[joint_eff]: [-0.0479, -3.9316, 5.6684, 2.0098, -0.1538, 0.0952, -0.0171, -0.4034, -7.7607, 6.5846, 1.2332, 0.4176, -0.1148, 0.2173]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.6119, 0.2012, 0.7719, -0.4747, -0.3729, 0.9969, 1.0145, 1.5108, 1.2373, -0.6624, 0.7734, 0.6987, 0.1833]\nstate[eef_state]: left_x=0.3073 left_y=-0.099 left_z=0.0082 left_yaw=0.0046 left_pitch=0.0022 left_roll=-0.028 left_gripper=0.9969 right_x=0.2986 right_y=0.2533 right_z=0.2091 right_yaw=0.0171 right_pitch=-0.054 right_roll=-0.0425 right_gripper=0.1833\nstate[joint_eff]: [-0.3897, -4.8205, 5.2034, 1.6093, -0.3053, 0.1392, -0.0171, -0.5812, -8.4171, 9.4564, 1.1111, 0.4127, 0.0269, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67768f163d33b33761efb0af9d8f3b7251ef074cac867e4973384bcb510f1097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6686308ef347a6321e50ce57a8e4291e0929c66cdcc036830a8065738a173c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed301c4d3a801297324dd08804651973d2a10f65208c03eab77bef8bbcb80996",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0959d906c01483fd016ab4925df71c87d0bc5a5793fa8eebc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow marker is centered between the left fingertips. I’m closing the jaws around it before lifting.\"}",
  "call_id": "call_etEISoNOMGwcleCd5PMMkdva",
  "id": "fc_0959d906c01483fd016ab4926649c887d0865524ae66be3d66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_etEISoNOMGwcleCd5PMMkdva",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.623, 0.202, 0.7708, -0.4717, -0.3744, 0.1535, 1.013, 1.5116, 1.2407, -0.6689, 0.7547, 0.6952, 0.1849]\nstate[eef_state]: left_x=0.3062 left_y=-0.0995 left_z=0.0048 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0246 left_gripper=0.1535 right_x=0.2975 right_y=0.255 right_z=0.2075 right_yaw=0.0288 right_pitch=-0.0688 right_roll=-0.0402 right_gripper=0.1849\nstate[joint_eff]: [0.0615, -5.5316, 3.5214, 1.5897, -0.1978, -0.022, 1.1062, 0.0342, -6.4205, 6.5026, 1.2479, 0.4518, 0.0122, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f736fc7126b046f4511644c30468121e01f37fe266b3d05f4032bb6681e063c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4bef387a45d625bf34791ddcfbf897b59e7962662dee7690cbcff3b567b6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e95ea6a256bb46eebd3ab2014a5989cb1ccbdd3429bdf7d6a681e1a3ef74bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.303 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.3315, 0.1665, 0.926, -0.4141, -0.4274, 0.9969, 1.1572, 2.1532, 1.3956, -0.5259, 0.8528, 0.8074, 0.1785]\nstate[eef_state]: left_x=0.3331 left_y=-0.0818 left_z=0.1124 left_yaw=0.1335 left_pitch=0.3175 left_roll=-0.3239 left_gripper=0.9969 right_x=0.2942 right_y=0.3482 right_z=0.0292 right_yaw=0.0304 right_pitch=-0.1521 right_roll=-0.2963 right_gripper=0.1785\nstate[joint_eff]: [-0.0342, -3.6171, 4.9846, 1.7851, 0.0366, 0.0855, -0.0073, 0.0068, -11.2752, 4.9026, 0.7692, 0.2955, 0.0366, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.6119, 0.2012, 0.7719, -0.4747, -0.3729, 0.9969, 1.0145, 1.5108, 1.2373, -0.6624, 0.7734, 0.6987, 0.1833]\nstate[eef_state]: left_x=0.3073 left_y=-0.099 left_z=0.0082 left_yaw=0.0046 left_pitch=0.0022 left_roll=-0.028 left_gripper=0.9969 right_x=0.2986 right_y=0.2533 right_z=0.2091 right_yaw=0.0171 right_pitch=-0.054 right_roll=-0.0425 right_gripper=0.1833\nstate[joint_eff]: [-0.3897, -4.8205, 5.2034, 1.6093, -0.3053, 0.1392, -0.0171, -0.5812, -8.4171, 9.4564, 1.1111, 0.4127, 0.0269, 0.2564]\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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.623, 0.202, 0.7708, -0.4717, -0.3744, 0.1535, 1.013, 1.5116, 1.2407, -0.6689, 0.7547, 0.6952, 0.1849]\nstate[eef_state]: left_x=0.3062 left_y=-0.0995 left_z=0.0048 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0246 left_gripper=0.1535 right_x=0.2975 right_y=0.255 right_z=0.2075 right_yaw=0.0288 right_pitch=-0.0688 right_roll=-0.0402 right_gripper=0.1849\nstate[joint_eff]: [0.0615, -5.5316, 3.5214, 1.5897, -0.1978, -0.022, 1.1062, 0.0342, -6.4205, 6.5026, 1.2479, 0.4518, 0.0122, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f736fc7126b046f4511644c30468121e01f37fe266b3d05f4032bb6681e063c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4bef387a45d625bf34791ddcfbf897b59e7962662dee7690cbcff3b567b6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e95ea6a256bb46eebd3ab2014a5989cb1ccbdd3429bdf7d6a681e1a3ef74bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJJuka7866MQMeCW1QMRsVNUaIoa99ibGegEMHVpJJMBWaq0dWMM51fCmHwL1gIVCXbUJgSqDb5zGfHNH1mrQb3KxKuwZqruCPY3KlLVRLbyakLcDnlbxPa1DP5fKTTXSW6Hwv7caYSVtPi8rc68dGSkKe082QjtFaVxQnF-mGHXebXxYVo40uF6wsQAHNfmjRVlT5aGfd3SaAYdDIKgClIj-QW0SloUpdQNSyzCcuRWhuLaUyO0A_qxtdQl3h9rmErxOo9g0IdI2qxKeLK_wJVxj0VOhVBYFtb2jDrsiOR1mxQ2jSmp2Ot_zCn-wrhjuR-umc9RlYCZBDPYhvWOMJYFg5BakTKUkR-c9clStCZuLDqu0adX4Cxx-phs-Ufc9T0lzdpFUQlVfnlEJVCOa8E7xNZHnPlV0mHxOSPYUQt2uC-09kqjBhfgdQvG_y7pcTGl65d3F6S11xRkmT93FnyzLZD6KOpADSViuE8aekCi_DVtDUSFs5cBCOlvMeGB3lqVCvxNt7zsK2a5c5YhIzzB-84Z2aAFq0BcLfTy6Jzu4Jo-SouVGGNl6tDV8W5ADeVvAV_m8xqhm9OFoRbFVj_5FmDlo0tk9UEe97Mt_LWhzqSlN-LKIH-aU-iJDD3yrXuN6XE63Gbf48pL8TYZZIDkCMu5-rYwg3QxkpFPKYcMZsgO_0mZfEVntNyJGF7HccEUJYJ1blIBHP-g4-n97ihb_k4DmUamsZh5dgF-tEG2-VsOAVaHQn1XA1x-Yk7VeIcbKBkRX6E6HcFXXPeIgZ4CoTU6K5wvgvl0kk10bDykP1T9jYd8EBu_kVo10iVPZGfk7QWS4dGrlAUQqPYYRsx1WcwW4kxf1Du-o-AseuHaFqM1ejIJl9XM_sKc24WCw3Aoy44Kup2YXewKspnAi8twstPn5l24BSXwz6jfBU1RzxNRhXWbR27BByenNne8A4E2DLxhHP3Yhl55UsFEW9lmNj3I13yXZMDeIV0tEVUYBJHceDLY3ubMXtV2814D9GnfxMWnCieosMQaJsRHaYLuxXdAPhGM8KASKo6IKwe16s7nu5t-fdBp47D5WZwVdfDqkVRV8Omy48B_7d58nvxzxYPhjrTvxS2xiqUQOvtmf0xkgjfx5RDB1IScbsOL8_YF5Zvl9t-5eJklUGn-T1DHos0c9x2pPKgJU61VQmPApIcyrI3jCUB3xycuIOlykhd584ggjf-L8pvBcMJMt2VpCCU2SUBnx-UMb21LgzPyNyIsZSHZq4eOIbZF2k0-S2s0Kqs2ppFyYlAn2n-8XfRxwKWkZRGgQtYHrXpAtJc9Dt2MwPDH8CfV4H6V_GkBZ5Vm7sYjWPMtJMy79ZikqKodrtff2eCM76RS_netqflzVsSi0kaYErolbd5EHKCxm-xoBWygNkCh1sGByQh53kWYaOwMmXKkxGrryxG16ojBdxX1yJzQzRqwdRzc79MCuoCQgHgOV1ZyiOA5pQKj9R-B_-aIQD8aud1zf6ha-Jn7IrAJOqEgjQ1at_zk1bJvO5VUvGtH4SnNPLFXMDjznDzflZSrBD-UyYRUQk2s9V2mniHCXL8GzHbDvcgbVHcUoHdaA8IctCzomPhcrsZUWqmsHakKcOsoikmIsDG5eN9xKPYG6UGAv0YTFYANR5M97Owroz-uNy3XdQmrbU0kHQ_HMeDicujK5ryU_pkOOOqK3DwJPJbwptvpe534-GvvXL1pSLNt4nu3knqSm4xV9MclkXyB4C7uVCYFy19oXB7LpDNv8SmgSIJwKq753vIfw38nngZNV55dths00m7uk0jdDDfCSEyiU3-zRjueMbMJ5Pw94gvEeeFYBQsKfBUdHriH7dB1bVHRmQwwHiwiWrTMep6Achjn6zS00EGmV78cnFEa2oJoM8erO2Go9ORQ-ih29xDBspYbQCKbkyaoyWrdUDVtldiVCDqxdk-s6rZ-XHnZ0KMAiPZac11mUS7qYxmHMuPgnLbUFEtMcpume410MzNSU22tMCB8JYCklUw1uHnqo45daziY4R1uu_QH268Qz13IBPbYUj9uAiuhuzfP3tdSBEyAlXXKqS0lxZAeSxWMFBbvQHnkiqbCsh0QgX3NKPkC7mUfvz1ZfAEQv8Efpi58xdUrRP2ydwIndtuW6hvED6iwo86DDQZrYNWsg2uVgCsEambBgj3yru3L7Qc1JtyCxc1mTs0Mtd8TjOExVhszLMb9t1tUwXPyoG4tjvSetY0p5jyhX8MX7C6Luqs-vg2YXd9bV-qD8o0gG4aYblOwoFN8bWMRJ63VmWqVmSDxCuZOHlflfyAS2n3P_0xnwADBYfb-aoExQZhlxba_sZ-zUrbxFJm1FUNPaKk1cDX6",
  "id": "rs_0959d906c01483fd016ab492697a6087d09dca64cb018a5dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.3,\"right_y\":0.07,\"right_z\":0.25,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow marker is secured; I’m test-lifting it. I’m moving the right arm away from the center so the left arm can reach the marker basket without another arm collision.\"}",
  "call_id": "call_xnPMTo3DbZkieCj1FhOlez2H",
  "id": "fc_0959d906c01483fd016ab4926d441887d09850ea14fa4982fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xnPMTo3DbZkieCj1FhOlez2H",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.1606, 0.3553, 0.1459, -0.4713, -0.3752, 0.1551, 0.4137, 0.9459, 0.9249, -0.6022, 0.3527, 0.2295, 0.1871]\nstate[eef_state]: left_x=0.3034 left_y=-0.0981 left_z=0.0798 left_yaw=0.0005 left_pitch=-0.0162 left_roll=-0.0204 left_gripper=0.1551 right_x=0.3009 right_y=0.0694 right_z=0.2435 right_yaw=-0.009 right_pitch=-0.0191 right_roll=-0.0046 right_gripper=0.1871\nstate[joint_eff]: [-0.0752, -3.9453, 8.7316, 1.5116, -0.1929, 0.0122, 1.0281, -0.212, -2.8786, 6.8855, 1.7705, 0.0904, -0.0122, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb1d9b318f97faa40d209a9802fb5afd1a8459c8f014d15610386e53706cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b08c4604d54b375efe3c2175bc9595a2119dc74eee7c0ab60b2a3be392ebd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3429995969ab752182021165c26bdbfcc7a28002bd5bc17b64ae14baafd228c",
      "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 35 attempt 0 · /responses · status 200 · 2.807 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4606, 1.3392, 0.1577, 0.9054, -0.4072, -0.4419, 0.9969, 1.0256, 1.5349, 1.0664, -0.4446, 0.7952, 0.7166, 0.1807]\nstate[eef_state]: left_x=0.3298 left_y=-0.0815 left_z=0.102 left_yaw=0.1282 left_pitch=0.2834 left_roll=-0.3184 left_gripper=0.9969 right_x=0.2991 right_y=0.2568 right_z=0.1655 right_yaw=0.006 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.1807\nstate[joint_eff]: [-0.0479, -3.9316, 5.6684, 2.0098, -0.1538, 0.0952, -0.0171, -0.4034, -7.7607, 6.5846, 1.2332, 0.4176, -0.1148, 0.2173]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.623, 0.202, 0.7708, -0.4717, -0.3744, 0.1535, 1.013, 1.5116, 1.2407, -0.6689, 0.7547, 0.6952, 0.1849]\nstate[eef_state]: left_x=0.3062 left_y=-0.0995 left_z=0.0048 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0246 left_gripper=0.1535 right_x=0.2975 right_y=0.255 right_z=0.2075 right_yaw=0.0288 right_pitch=-0.0688 right_roll=-0.0402 right_gripper=0.1849\nstate[joint_eff]: [0.0615, -5.5316, 3.5214, 1.5897, -0.1978, -0.022, 1.1062, 0.0342, -6.4205, 6.5026, 1.2479, 0.4518, 0.0122, 0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.1606, 0.3553, 0.1459, -0.4713, -0.3752, 0.1551, 0.4137, 0.9459, 0.9249, -0.6022, 0.3527, 0.2295, 0.1871]\nstate[eef_state]: left_x=0.3034 left_y=-0.0981 left_z=0.0798 left_yaw=0.0005 left_pitch=-0.0162 left_roll=-0.0204 left_gripper=0.1551 right_x=0.3009 right_y=0.0694 right_z=0.2435 right_yaw=-0.009 right_pitch=-0.0191 right_roll=-0.0046 right_gripper=0.1871\nstate[joint_eff]: [-0.0752, -3.9453, 8.7316, 1.5116, -0.1929, 0.0122, 1.0281, -0.212, -2.8786, 6.8855, 1.7705, 0.0904, -0.0122, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb1d9b318f97faa40d209a9802fb5afd1a8459c8f014d15610386e53706cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b08c4604d54b375efe3c2175bc9595a2119dc74eee7c0ab60b2a3be392ebd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3429995969ab752182021165c26bdbfcc7a28002bd5bc17b64ae14baafd228c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJJ0qJduSFwot90lghxKZPb8mDGa-qe4bX1oyObZ2iF78YyB8ryB9F1CUpHXDW5GbNpGTNNwB-DQqpoxoi9-0iORB78LVIRGrso_4x-HBjFl_AL28c3OlO0TvBx4zMISfoK4JPT5rlTgpu7In_iCdF1XmkPSF-X_5HcpxBJ9TR4KHRYlDXnbzVrk2ZDXASKp2wt_7nt8t2wFETW1yRS_0NmyYN45qpVHnydgNt54J4a_FaFn2Lep0o-2i51W8sTSjfmXT_YVMFEN9hV_NrAgLP3Bk005LvTeHtRKgpe_rEdX2kDKPIPLcKzuUfiG9UAjZzMPkTunk_NbI3fMHvgo-blQrMiDRLOQVEpVAijaK6ZXwMPN_c2if6RPOCMUbilUwO98d7Q9BQNN8hpHQF_Lb72h5XaMIeNUZJNykq-4qaSbRXnKNhU3M1lHCtwtGS1qE5TJQU1DCL1Wz8IlDfGncqgN7XCFjxUtr8CYLE14qJ6LtP7yZB5P35PO-YXvGzcJWKVHcANWf64VjwJJ03-zCY37Khn8c60KvhmMm1W_Xcx6tQDSwZu05yy7STEmU3DO-aNKrQ948GJiv9ugHKA8fIJECiE7h1pWX2txmIP61SWxKB4Alr2GMLUCUEA_Xr6LNDCjogdWP2dkbp0Rt2SNmyDdcS0o9sH5AQ1Xf0mFcf4N3F5W6IRBAoTOPUQV5SL3r0LpQgcCqScNGuAaCGn3xgabi2jVW-Lwvvw9uc4bpBItHOEfj_ANbeVFTL5XoFJDNA-ntJX_EDPXQhKPfVmJI-Fq77N4vMnZHP1W_5GWIc5dmip_rpab3nzFhBymWabCHLfO5n0Adium6C1v5Tee9IkSQ4AM5gAuiM_X7IeH5HSq0G014vwQhOaBS31_wK5xWNsxxaDIdUuSjXaF3R9_Oe21ujkCAVTc2I4sQSSaaSaHSyAf-ro76XvMdQoz_dn6Ym2xp2QgQcLzTh3OoekYd2x-2iaLTxXPbp_lZIlEr8Zzi1c1WNJPVKC4nAQ2KPmty7KyLq10621VDJHbqP6PZgUMQiTPEGiNZxzEanKQUkafYbKLr7pX2HFje2z2kxk6p0evzMRy8RyiZLULAXDmv-qG8yma_s3bG4L9B4wClxAkLqoE-rmuMbTbqQ_Oj4uN-LNbQEXpAAXfCt6yl_vhumENZYt4cyAuWV4e9hUc2G5ZyktIIV03F0T7pd06g5KMIXmIm55BN2aQY0-z199jfmQdf5m17fgo2NWs9ztm6k_twONVEFQFwe4EcsxVzDqhV0Y77EptakQwL0CAqiEQ-OSnRyAH0ALG_cslvqGbXKFyr_ALurIYMOgqFcCI5aQSF1wMgATxSvamdOv1IuQYzaSxgumTs2j0gFvbex6SXnW4IpX-dACWg4zvYHNbV1VmvDQH5agKPNku7EGL6V52XeFvEivVRTCfHMlXbpx6AqdBeRS_PJwi84lg4wYIcM7nHiRARy5J7-oxWShMQy8AltwUlHCUuJgOJIq80rj6PTTf2IYg8K0FuDJPpKbB5hrpdTYvs_3n0VtS0ctsUykrbFSpLYVVh8xIUR1Ny4BKoCNqQ9A=",
  "id": "rs_0959d906c01483fd016ab49271b69887d0934f361494d65312",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.235,\"right_z\":0.04},\"note\":\"The yellow marker lifted successfully, and I’m raising it above the basket rim. I’m setting the brown plush down on the clear right side of the table rather than stretching the right arm toward the displaced left basket.\"}",
  "call_id": "call_9moNqSlH9yeVCv9HmZWCEXzO",
  "id": "fc_0959d906c01483fd016ab492730dd887d0b7fee83654395937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9moNqSlH9yeVCv9HmZWCEXzO",
  "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]: [-0.5785, 1.0088, 0.878, -0.5323, -0.4713, -0.382, 0.1614, 0.4065, 1.2381, 0.2203, 0.3328, 0.3508, 0.2169, 0.1885]\nstate[eef_state]: left_x=0.3049 left_y=-0.099 left_z=0.223 left_yaw=0.0042 left_pitch=-0.0194 left_roll=-0.024 left_gripper=0.1614 right_x=0.2948 right_y=0.0647 right_z=0.0354 right_yaw=-0.0092 right_pitch=-0.0761 right_roll=-0.0391 right_gripper=0.1885\nstate[joint_eff]: [-0.2393, -2.7692, 9.2239, 1.5751, -0.2027, 0.0024, 1.0281, 0.5128, -2.4547, 4.0957, 1.0672, -0.105, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c421d0f1734f7b00917e3bad0b164ffd5aa63d6833a0a856c5732c6d242837dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba06aae2346fceb723aab4fca6aa6b2fd230ba18ba0fe22993898af55553c272",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02465736b01ba91a01ca9b07d1feaaa97d1cd8d421a24f5a7b79054af8d3b991",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.009 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5758, 1.6119, 0.2012, 0.7719, -0.4747, -0.3729, 0.9969, 1.0145, 1.5108, 1.2373, -0.6624, 0.7734, 0.6987, 0.1833]\nstate[eef_state]: left_x=0.3073 left_y=-0.099 left_z=0.0082 left_yaw=0.0046 left_pitch=0.0022 left_roll=-0.028 left_gripper=0.9969 right_x=0.2986 right_y=0.2533 right_z=0.2091 right_yaw=0.0171 right_pitch=-0.054 right_roll=-0.0425 right_gripper=0.1833\nstate[joint_eff]: [-0.3897, -4.8205, 5.2034, 1.6093, -0.3053, 0.1392, -0.0171, -0.5812, -8.4171, 9.4564, 1.1111, 0.4127, 0.0269, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.1606, 0.3553, 0.1459, -0.4713, -0.3752, 0.1551, 0.4137, 0.9459, 0.9249, -0.6022, 0.3527, 0.2295, 0.1871]\nstate[eef_state]: left_x=0.3034 left_y=-0.0981 left_z=0.0798 left_yaw=0.0005 left_pitch=-0.0162 left_roll=-0.0204 left_gripper=0.1551 right_x=0.3009 right_y=0.0694 right_z=0.2435 right_yaw=-0.009 right_pitch=-0.0191 right_roll=-0.0046 right_gripper=0.1871\nstate[joint_eff]: [-0.0752, -3.9453, 8.7316, 1.5116, -0.1929, 0.0122, 1.0281, -0.212, -2.8786, 6.8855, 1.7705, 0.0904, -0.0122, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.0088, 0.878, -0.5323, -0.4713, -0.382, 0.1614, 0.4065, 1.2381, 0.2203, 0.3328, 0.3508, 0.2169, 0.1885]\nstate[eef_state]: left_x=0.3049 left_y=-0.099 left_z=0.223 left_yaw=0.0042 left_pitch=-0.0194 left_roll=-0.024 left_gripper=0.1614 right_x=0.2948 right_y=0.0647 right_z=0.0354 right_yaw=-0.0092 right_pitch=-0.0761 right_roll=-0.0391 right_gripper=0.1885\nstate[joint_eff]: [-0.2393, -2.7692, 9.2239, 1.5751, -0.2027, 0.0024, 1.0281, 0.5128, -2.4547, 4.0957, 1.0672, -0.105, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c421d0f1734f7b00917e3bad0b164ffd5aa63d6833a0a856c5732c6d242837dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba06aae2346fceb723aab4fca6aa6b2fd230ba18ba0fe22993898af55553c272",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02465736b01ba91a01ca9b07d1feaaa97d1cd8d421a24f5a7b79054af8d3b991",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.4,\"left_z\":0.24,\"left_pitch\":0.2,\"right_gripper\":1},\"note\":\"The brown plush is resting on the table, so I’m releasing it. The left arm is carrying the yellow marker toward the near-left part of the marker basket.\"}",
  "call_id": "call_RuyKijJaA6fkwmrCnaK2lWjI",
  "id": "fc_0959d906c01483fd016ab492772ba087d0b4fbe8ba2469ece3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RuyKijJaA6fkwmrCnaK2lWjI",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3299, 2.1944, -0.4431, -0.8158, -0.5045, 0.1614, 0.4057, 1.2415, 0.21, 0.3485, 0.3466, 0.2134, 0.998]\nstate[eef_state]: left_x=0.4889 left_y=-0.3923 left_z=0.2256 left_yaw=0.0341 left_pitch=0.1768 left_roll=-0.044 left_gripper=0.1614 right_x=0.2936 right_y=0.0647 right_z=0.0335 right_yaw=-0.0046 right_pitch=-0.0755 right_roll=-0.0386 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -14.5026, 8.8274, 1.4872, -0.2759, 0.486, 1.0281, -0.1299, -3.3573, 6.3795, 1.4628, 0.1001, -0.0171, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ab7f50b782451cfdf59682fac8249cf0487d5aa8c421b6d443e896fa991e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdd0bc30f3805d961ffe8e7306e7dbb13be754ba090c248ce5c19553adf24ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dd30ac449f71244153b1013886f01a3fbb16712b6c740661eb9694d65d6e08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.526 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 140 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.623, 0.202, 0.7708, -0.4717, -0.3744, 0.1535, 1.013, 1.5116, 1.2407, -0.6689, 0.7547, 0.6952, 0.1849]\nstate[eef_state]: left_x=0.3062 left_y=-0.0995 left_z=0.0048 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0246 left_gripper=0.1535 right_x=0.2975 right_y=0.255 right_z=0.2075 right_yaw=0.0288 right_pitch=-0.0688 right_roll=-0.0402 right_gripper=0.1849\nstate[joint_eff]: [0.0615, -5.5316, 3.5214, 1.5897, -0.1978, -0.022, 1.1062, 0.0342, -6.4205, 6.5026, 1.2479, 0.4518, 0.0122, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.0088, 0.878, -0.5323, -0.4713, -0.382, 0.1614, 0.4065, 1.2381, 0.2203, 0.3328, 0.3508, 0.2169, 0.1885]\nstate[eef_state]: left_x=0.3049 left_y=-0.099 left_z=0.223 left_yaw=0.0042 left_pitch=-0.0194 left_roll=-0.024 left_gripper=0.1614 right_x=0.2948 right_y=0.0647 right_z=0.0354 right_yaw=-0.0092 right_pitch=-0.0761 right_roll=-0.0391 right_gripper=0.1885\nstate[joint_eff]: [-0.2393, -2.7692, 9.2239, 1.5751, -0.2027, 0.0024, 1.0281, 0.5128, -2.4547, 4.0957, 1.0672, -0.105, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3299, 2.1944, -0.4431, -0.8158, -0.5045, 0.1614, 0.4057, 1.2415, 0.21, 0.3485, 0.3466, 0.2134, 0.998]\nstate[eef_state]: left_x=0.4889 left_y=-0.3923 left_z=0.2256 left_yaw=0.0341 left_pitch=0.1768 left_roll=-0.044 left_gripper=0.1614 right_x=0.2936 right_y=0.0647 right_z=0.0335 right_yaw=-0.0046 right_pitch=-0.0755 right_roll=-0.0386 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -14.5026, 8.8274, 1.4872, -0.2759, 0.486, 1.0281, -0.1299, -3.3573, 6.3795, 1.4628, 0.1001, -0.0171, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ab7f50b782451cfdf59682fac8249cf0487d5aa8c421b6d443e896fa991e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdd0bc30f3805d961ffe8e7306e7dbb13be754ba090c248ce5c19553adf24ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dd30ac449f71244153b1013886f01a3fbb16712b6c740661eb9694d65d6e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJJ-7rk34gITLVcwUPh0KEFZzStsA-FDz4PKeLmm2VoDqBmredZeaJ27Zo3y5-o_p3dNaRTWHC7zsZzdyC7nrfenZkIQ68cxPLMofZgFEHjqknU6fNCYnnHWH0i2Az9EufRG5RNRdI8L8MajcPXhoy5PResDdwwUAPOxP_OByrjspfJRwW8R_g56CgoSfea-I8WSbUgEoWObclcSXFl1krLRFncIVvpFAHBO6HxTFtDsz1kznlGKigwcJqQk45z0SEE0zO5XKjg1yUw8MedORyC1qgKqd8DMXQmHGX62R_EspTuXoTI0GKaujk1cO4NdRmCfXG8zATyIwRIutbqGyB2NXm-OShBCQzAd8WqZblj0xfiHI6qu1HQ5Ab52NuhNKwNAYAp2UMiOBiuiViukZ8aAUgt6G6LsuEFWlH0O9OcLMVONrD8tT03gjZ6ovNfmeooX6N1bjGbDSDwxzOLsleNYgwENy9x74N_9m0065pdnB0ri91Q2r_IDuvo70Nzvvc0aZ2OR5QfN94vYQy5IET8eGSfseEbuAZqqCVnHPmwmYnt3IWsjp3G6mF8QtE3xz-faEaFsQNgi3Lz2C4gA9IFT5jdwYTSC3saCTSY2MdhE8H25DtnkwaIVGCEGszEeuSxgXVrQELKHY1gL_rM0a-zpsc7tlo1Kw3MukuILTesdtnpN25G8_SUYsfld-eaiKl578W6a0HHk5xVTaL-c3CAqJgjDaemME155qqwt5XtNPbUEfMF7yyDl5sqVisrUMIPmMPz5AuIK9zUNYRRRruS2Qk7QKNWzlg2w9-Ru-ixHt6xnCy6hVg_nFHsXGFFD5dVG9lsH6Aj5TL2j1pMG8aE18w4Cjyi7uHXKmzpc6jUL-AF5-NYMyKL_F-N9y4H2jxLtDt6emxghA-tfHzEcCnXqDSUm4ZBgBmGqA_konG_ANAG6vrxOkEHr6_nFpO7kz67LQt6etUfJEJNKpTjajtRFu0Ar71sm_LFEgdkUyM8yNAsqYBkpmLmaE5ynOLL91mKoTiwd3iC2SRXD5WdUb5PTDtxO5LlTAF9jTJU5mtVUKVD-DrI3y3GzVHjMRuX1zrWnqmhvEmEDOeKtrX-QAe_AD81CuMXP3l2VaWwI1nerS5HKmlZKy771asK6MgG3_9IOY3ft7GukNnqYwLxNqeBMNgzvD3tJKoigtm0brKwdQPSMmtb1dxYQvAzrC76_MwT8M86mCoXy9o790p4mHrvzBaURjMoXd2JbdentReoA0DOuK8dQ_g3X8jRfS-xqq84FPpaXjI2RSsQWYE9sbsMi0bMh-nlSG4HePaZaMuGvUe6P948gnX_H5jO9fwIiDAvglgI4G63i7YioqoZSgFY44kFy1s-daCOZ6IEG8m5KG8R82RBldw67A5xOdK8jKl7Z3pcpWsBRHsnvlTCJdNDOt9pjQAjjkx7sWw4tEj2j0jTS1LwakTGmAK-oBT8aKjQfWjY94rJ7OKinH-YiCREviLvb6ensJBPLIKFJHQbuEhFyV4Z64bULu4_mUn3kTnnEXGWXM5HCMQUwpIO67rt6Czs7wbrFcrLZ7b86tjYzi5nXBz9-SC_tfgQ0s_ADJHEzb48RtSP9HGLUNKCSwMscpYaJz9hlRtJUzcADqbdbACmIXK3LwVen5AZ5Ua_GDBYkKUjOUfUeq5ufdAxcoeTJmQ8inOF79ezN9h7QTHScII8=",
  "id": "rs_0959d906c01483fd016ab4927c7cc487d0ad6abc265424ea01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow marker is above the right basket’s opening. I’m lowering it for release and returning the empty right arm to its parked position.\"}",
  "call_id": "call_VOC9gudnJqcgBB0HibMS6WsY",
  "id": "fc_0959d906c01483fd016ab4927dce4887d0880add5feb8b815c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VOC9gudnJqcgBB0HibMS6WsY",
  "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]: [-0.8871, 2.36, 1.8633, -0.1108, -0.8089, -0.5072, 0.1614, -0.0074, 0.8066, 0.5671, -0.3267, 0.0254, 0.001, 0.9979]\nstate[eef_state]: left_x=0.4866 left_y=-0.3893 left_z=0.1245 left_yaw=0.0279 left_pitch=0.1562 left_roll=-0.0255 left_gripper=0.1614 right_x=0.2979 right_y=-0.0031 right_z=0.1706 right_yaw=-0.034 right_pitch=-0.0056 right_roll=-0.0058 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -12.9983, 6.2564, 1.7314, -0.3199, 0.0024, 1.0281, -0.1846, -2.2359, 9.4974, 1.6142, -0.0757, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ccb5ced8fef7550aaa55373aaabff54976e830323a6eeea52a7fe62812e755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8e40d2a62173679d755f1f0512a531fc9bf14811a101d02f00bc255be8c0de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae8014fd9aa4ca38da77f4049d44d1662c6c6ce7f3881dc9b977d33fb81647c",
      "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 · 4.737 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 140 changed as sent

message 144 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.1606, 0.3553, 0.1459, -0.4713, -0.3752, 0.1551, 0.4137, 0.9459, 0.9249, -0.6022, 0.3527, 0.2295, 0.1871]\nstate[eef_state]: left_x=0.3034 left_y=-0.0981 left_z=0.0798 left_yaw=0.0005 left_pitch=-0.0162 left_roll=-0.0204 left_gripper=0.1551 right_x=0.3009 right_y=0.0694 right_z=0.2435 right_yaw=-0.009 right_pitch=-0.0191 right_roll=-0.0046 right_gripper=0.1871\nstate[joint_eff]: [-0.0752, -3.9453, 8.7316, 1.5116, -0.1929, 0.0122, 1.0281, -0.212, -2.8786, 6.8855, 1.7705, 0.0904, -0.0122, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 2.3299, 2.1944, -0.4431, -0.8158, -0.5045, 0.1614, 0.4057, 1.2415, 0.21, 0.3485, 0.3466, 0.2134, 0.998]\nstate[eef_state]: left_x=0.4889 left_y=-0.3923 left_z=0.2256 left_yaw=0.0341 left_pitch=0.1768 left_roll=-0.044 left_gripper=0.1614 right_x=0.2936 right_y=0.0647 right_z=0.0335 right_yaw=-0.0046 right_pitch=-0.0755 right_roll=-0.0386 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -14.5026, 8.8274, 1.4872, -0.2759, 0.486, 1.0281, -0.1299, -3.3573, 6.3795, 1.4628, 0.1001, -0.0171, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.36, 1.8633, -0.1108, -0.8089, -0.5072, 0.1614, -0.0074, 0.8066, 0.5671, -0.3267, 0.0254, 0.001, 0.9979]\nstate[eef_state]: left_x=0.4866 left_y=-0.3893 left_z=0.1245 left_yaw=0.0279 left_pitch=0.1562 left_roll=-0.0255 left_gripper=0.1614 right_x=0.2979 right_y=-0.0031 right_z=0.1706 right_yaw=-0.034 right_pitch=-0.0056 right_roll=-0.0058 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -12.9983, 6.2564, 1.7314, -0.3199, 0.0024, 1.0281, -0.1846, -2.2359, 9.4974, 1.6142, -0.0757, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ccb5ced8fef7550aaa55373aaabff54976e830323a6eeea52a7fe62812e755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8e40d2a62173679d755f1f0512a531fc9bf14811a101d02f00bc255be8c0de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae8014fd9aa4ca38da77f4049d44d1662c6c6ce7f3881dc9b977d33fb81647c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow marker is within the basket opening, alongside the other two markers. I’m opening the left gripper to release it.\"}",
  "call_id": "call_PlNed3Xmkt1HVsS58942U2Ta",
  "id": "fc_0959d906c01483fd016ab49281989487d09935db5e68b1be03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PlNed3Xmkt1HVsS58942U2Ta",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.3749, 1.8553, -0.1116, -0.8089, -0.5175, 0.9954, -0.0124, 0.8097, 0.5682, -0.3542, 0.0151, -0.0151, 0.9979]\nstate[eef_state]: left_x=0.4857 left_y=-0.3882 left_z=0.1124 left_yaw=0.0306 left_pitch=0.1417 left_roll=-0.0161 left_gripper=0.9954 right_x=0.2945 right_y=-0.0027 right_z=0.1646 right_yaw=-0.0217 right_pitch=-0.0351 right_roll=-0.014 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -15.1316, 7.4735, 1.5214, -0.2906, 0.0855, -0.0024, 0.3214, -1.5521, 6.9538, 1.9853, 0.0806, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fafe0c318413652bb3525239119b6f7be28e61e3ce8e8014e2de7271e6689b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d62fba7a531c21a553cdc8b4f048f340153fabe746cc6eb116d671715750ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af6652e6c80cb55aa5711955e19e5911fa611bbe2c06588d29f06e490f96f03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 4.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 144 changed as sent

message 147 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5785, 1.0088, 0.878, -0.5323, -0.4713, -0.382, 0.1614, 0.4065, 1.2381, 0.2203, 0.3328, 0.3508, 0.2169, 0.1885]\nstate[eef_state]: left_x=0.3049 left_y=-0.099 left_z=0.223 left_yaw=0.0042 left_pitch=-0.0194 left_roll=-0.024 left_gripper=0.1614 right_x=0.2948 right_y=0.0647 right_z=0.0354 right_yaw=-0.0092 right_pitch=-0.0761 right_roll=-0.0391 right_gripper=0.1885\nstate[joint_eff]: [-0.2393, -2.7692, 9.2239, 1.5751, -0.2027, 0.0024, 1.0281, 0.5128, -2.4547, 4.0957, 1.0672, -0.105, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.36, 1.8633, -0.1108, -0.8089, -0.5072, 0.1614, -0.0074, 0.8066, 0.5671, -0.3267, 0.0254, 0.001, 0.9979]\nstate[eef_state]: left_x=0.4866 left_y=-0.3893 left_z=0.1245 left_yaw=0.0279 left_pitch=0.1562 left_roll=-0.0255 left_gripper=0.1614 right_x=0.2979 right_y=-0.0031 right_z=0.1706 right_yaw=-0.034 right_pitch=-0.0056 right_roll=-0.0058 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -12.9983, 6.2564, 1.7314, -0.3199, 0.0024, 1.0281, -0.1846, -2.2359, 9.4974, 1.6142, -0.0757, -0.0464, -0.022]",
      "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]: [-0.8871, 2.3749, 1.8553, -0.1116, -0.8089, -0.5175, 0.9954, -0.0124, 0.8097, 0.5682, -0.3542, 0.0151, -0.0151, 0.9979]\nstate[eef_state]: left_x=0.4857 left_y=-0.3882 left_z=0.1124 left_yaw=0.0306 left_pitch=0.1417 left_roll=-0.0161 left_gripper=0.9954 right_x=0.2945 right_y=-0.0027 right_z=0.1646 right_yaw=-0.0217 right_pitch=-0.0351 right_roll=-0.014 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -15.1316, 7.4735, 1.5214, -0.2906, 0.0855, -0.0024, 0.3214, -1.5521, 6.9538, 1.9853, 0.0806, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fafe0c318413652bb3525239119b6f7be28e61e3ce8e8014e2de7271e6689b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d62fba7a531c21a553cdc8b4f048f340153fabe746cc6eb116d671715750ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af6652e6c80cb55aa5711955e19e5911fa611bbe2c06588d29f06e490f96f03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJKH70mEm7-KCLk_554nzN5_Mtw61Rg1EDaYS-zDeV1QlG9Ao9Ub_VlAhVz3akl1YSdH7OKENJHI67-EWG0aWnzpWas_MiLQVwwGQ7Ixmo9_1WJ4GsS1nhMnEkSkWgcyeh1gj1M9MOLqXvXr_rYZWdu38Tyi27pYGHulgIVjr8JDJG5t7zjfXyPyJyfGxUpzrYM7nfv-CFFdYY4D4Xsc3iaf6yJ-Z6jSkhJ0udZsQz4i7bjH4UmLsBpdpellXQmdR9hCr951S5Eq8gUdPQu8emITeA_t6CpJgF9RVgsmmZSL-UnoOd6opWd7vIv9Y6L_W3ePhX7S_dd9RDtmYXkKbuLdi5GVisFSazusPK3g-VYGoqRT4OOwO2ZnTQrqP3D83rTlbdn-rvR87_XN4D7GDJfIQcPyxMOW6Ot77Qs7nD1zg4rpPziuPyMRM8VRmwx0Iz3nFMUwKM3LRjbDPbpUNg-7xfzfd3bCAbDyUCXselQl9MghJsLFl60r7KSsBd1s7VqQow9PMqigJiUiHaDdaybrYqRII0XHalDvyMvuPOA26BwCqA6Q2Z6uWZswB4XBGOIadyVvPY9IRtfedpQbO7TSWF6rJQdugHeMgjNl0FwOEAUg2EdVbK7VUGDUD89lBfbQnpGwx06_8AYmzraUA4bslnWoroKjlaNj9dOpS2MoCVcwlBSnA0WzKcDshJjNn8gWTXCMY4vqRtnrkZX-W7355j_xsGWu3HCypFZuElPx2-hBBdf_hoKI8jbNKodx5h2y_fehRMQK8ooiyWC4alHqnVY7HypTwAgjqPWKvf1AKwEq4IfRmvXaqz1Mvgkh6Tdt3tnxEhENVmKXzI22PznMko6GdEnEq_JEZJDFX3eFf0Kuwuym_W_0l9xCfxtFgAiYUWIKIJK3u1C1eNGwcZr7DcNe_iKcbRT7WjfwdD876biEugSENy6BxYB1Lc1Pne42I0dWzoGCM8y8fsnJjMGzRxCNTBdW7T1gOvHDkbdL2lEGP8t3Ahdd2_xTY-dd3t5vSBoLAA4uPG0fbCOO-aWnqPIi3IPOfyGs6S9rz4X9sUGs9KwtSJnFxLZeCXwXLkutLaS697IwkEO3DMQpASfP2la3A6AqwZncvGlA3pnXc3Dm61Zze0O9UydcysO3C3yrNbDfTd-GYhaZmVloDNh64AfaTwX5UDlT-AY9Zi1x4q4rUOve4BFKJpLl6gfw2S68Q0jhRgSxwKxJ-Wry4Yreahxsl_dZFtbsJyi9hHvGOGJTdpZsOeFK4TQKKN8XlN09mtvvBwfZ9u_qGCBTadjwPgKUYy3Um_CtFY6vLem39a4moHDLBc4FEYGvqTIEUb7q48j4lDu-K5XCHqPChSaL2j2TJ7bnFR3iX2GE_ILI65GY7bNiSgx_ZEPVRmFK586NgTXAJcz62xjmCVqKUUarHaA863yRSbjFsaF-aNYTp85maoIdCxJ8dEdl2uSes2MkLhJKGmGO-TdTuVCq0Snv2UWeFkVTSjkOg3bky3WvId_W-lqJsR4Ou2pJEWSaraSPMkVuFIaNws6exjzELJ52uxB87zXVeG2IGIkHfk2RyAZ4EI6lh0zztsq7Ocgz_8J-2Ovnr9LQ-1YAZkJe12Q-Mg==",
  "id": "rs_0959d906c01483fd016ab49284adcc87d08b4d3157806c7026",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.24,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"All three markers are now in the right basket, and the gray plush is in the left basket. I’m withdrawing the arms; the tan and brown plush animals remain on the table, so the sorting task is not yet complete.\"}",
  "call_id": "call_f0HDGLaw355F0zY86zM5EzNu",
  "id": "fc_0959d906c01483fd016ab4928695ac87d09f158728aee52777",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f0HDGLaw355F0zY86zM5EzNu",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0563, 0.8494, 0.8192, -0.5369, -0.1047, -0.0849, 0.9967, -0.001, 0.8192, 0.6186, -0.4252, 0.0174, -0.0158, 0.9979]\nstate[eef_state]: left_x=0.3005 left_y=0.0052 left_z=0.231 left_yaw=0.0642 left_pitch=-0.0024 left_roll=-0.0049 left_gripper=0.9967 right_x=0.2919 right_y=0.0002 right_z=0.1705 right_yaw=-0.0118 right_pitch=-0.0653 right_roll=-0.0163 right_gripper=0.9979\nstate[joint_eff]: [0.0205, -1.8393, 9.2923, 1.8242, 0.0659, 0.1001, 0.1294, 0.1846, -1.2239, 10.0991, 1.7656, 0.0855, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ae960f71fc0cbf348cf6836e9332f03fe929b1f9fb0d432267d2ed014af34f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdee599f21b48c602b809ef28554e48f5011021d3c935c73732378fae411715a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92f089d7eb4255620cb68e3ad8670d5fa8ac487d611e41d182adbe76d93e6b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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