adhoc

completed
2026-09-24T00:42:49.401518+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
227.8 s
total steps
337
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 soft animal toys and several slender pen-like objects, with two empty baskets behind them. I’ll sort the toys into the left basket and the slender objects into the right, starting with the gray toy.
move_to
left_x0.2900left_y-0.0450left_z0.1000left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.6159, -0.3801, -0.0231, -0.0303, 0.9996, -0.0154, 0.7975, 0.6109, -0.3836, -0.0132, -0.0227, 0.9995] state[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.4308, -1.2376, 9.4154, 1.8486, -0.0073, 0.1148, -0.0708, -0.9504, -1.306, 10.0308, 1.8584, -0.1099, 0.0317, -0.0659] 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":0.29,"left_y":-0.045,"left_z":0.10,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"I see soft animal toys and several slender pen-like objects, with two empty baskets behind them. I’ll sort the toys into the left basket and the slender objects into the right, starting with the gray toy."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe gray toy is left of the open jaws, while the yellow pen is near their center. I’m shifting onto the gray toy’s body and lowering for a soft grasp.
move_to
left_x0.2750left_y0.0100left_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]: [-0.3435, 0.881, 0.3046, -0.0357, -0.289, -0.2035, 0.9996, -0.0212, 0.7986, 0.6109, -0.4107, -0.0132, -0.0238, 0.9995] state[eef_state]: left_x=0.2876 left_y=-0.0456 left_z=0.095 left_yaw=-0.0087 left_pitch=-0.0206 left_roll=0.0079 left_gripper=0.9996 right_x=0.2918 right_y=-0.0003 right_z=0.1756 right_yaw=-0.0051 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9995 state[joint_eff]: [0.0205, -1.7709, 6.8991, 1.8339, -0.1441, -0.0757, -0.0659, -0.6496, -1.2513, 9.7573, 1.619, -0.0904, -0.1001, -0.0122] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":0.01,"left_z":0.025},"note":"The gray toy is left of the open jaws, while the yellow pen is near their center. I’m shifting onto the gray toy’s body and lowering for a soft grasp."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe jaws now straddle the gray toy, and the descent stopped against its soft body. I’ll close gently through the gripper controller before checking the lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0399, 1.0737, 0.0536, 0.5476, 0.0082, 0.0307, 0.9995, -0.0212, 0.8013, 0.6086, -0.4103, -0.0124, -0.0235, 0.9995] state[eef_state]: left_x=0.293 left_y=0.0138 left_z=0.0546 left_yaw=-0.0004 left_pitch=0.0895 left_roll=0.0386 left_gripper=0.9995 right_x=0.2917 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0059 right_pitch=-0.0328 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [0.2803, -0.3624, 3.5077, 1.1697, 0.1978, -0.1685, -0.0269, -0.2256, -1.265, 7.4188, 1.7167, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the gray toy, and the descent stopped against its soft body. I’ll close gently through the gripper controller before checking the lift."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe nearly zero gripper opening shows that the first close was empty; the gray toy remains ahead of the fingertips. I’ll reopen and move farther forward around its body.
move_to
left_x0.3500left_y0.0220left_z0.0450left_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]: [0.038, 1.0737, 0.0662, 0.5423, 0.001, 0.0273, 0.0099, -0.0212, 0.8024, 0.6086, -0.4103, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.296 left_y=0.0147 left_z=0.0584 left_yaw=0.0056 left_pitch=0.0967 left_roll=0.039 left_gripper=0.0099 right_x=0.2917 right_y=-0.0005 right_z=0.1736 right_yaw=-0.0066 right_pitch=-0.034 right_roll=-0.001 right_gripper=0.9995 state[joint_eff]: [-0.0205, -1.9487, 4.6838, 1.8437, 0.0269, 0.022, 0.7937, -0.3897, -0.8957, 7.1179, 1.6825, -0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.022,"left_z":0.045,"left_gripper":1},"note":"The nearly zero gripper opening shows that the first close was empty; the gray toy remains ahead of the fingertips. I’ll reopen and move farther forward around its body."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gray toy is now beside the left jaw rather than centered. I’ll shift left within the allowed workspace and slightly forward to put its body between the fingers.
move_to
left_y0.0500left_x0.3600left_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]: [0.0578, 1.5196, 0.2016, 0.8036, 0.0086, 0.0299, 0.9988, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.3401 left_y=0.0218 left_z=0.0322 left_yaw=0.0177 left_pitch=0.0476 left_roll=0.036 left_gripper=0.9988 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995 state[joint_eff]: [0.7043, -4.3419, 5.7504, 2.1661, 0.0952, 0.0464, -0.149, -0.1983, -1.4838, 7.159, 1.6825, -0.0073, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_x":0.36,"left_z":0.035},"note":"The gray toy is now beside the left jaw rather than centered. I’ll shift left within the allowed workspace and slightly forward to put its body between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe fingers overlap the gray toy at the left side of the table. I’ll try the corrected grasp and use the gripper opening to determine whether it caught fabric.
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]: [0.1722, 1.5848, 0.268, 0.7784, 0.091, 0.065, 0.9983, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.3516 left_y=0.0485 left_z=0.0279 left_yaw=0.0438 left_pitch=0.0264 left_roll=0.0231 left_gripper=0.9983 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995 state[joint_eff]: [0.3487, -4.506, 6.0923, 1.8388, 0.1001, 0.2564, -0.0659, -0.2667, -1.0325, 7.0222, 1.7216, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers overlap the gray toy at the left side of the table. I’ll try the corrected grasp and use the gripper opening to determine whether it caught fabric."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe second gray-toy grasp was also empty, and it is now beyond the left-side grasp limit. I’m moving to the accessible tan toys in the middle rather than repeating the failed approach.
move_to
left_x0.3500left_y-0.2200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1738, 1.5898, 0.2718, 0.7723, 0.086, 0.0597, 0.0097, -0.0212, 0.8062, 0.6083, -0.4099, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.3515 left_y=0.0499 left_z=0.0262 left_yaw=0.0524 left_pitch=0.0189 left_roll=0.0201 left_gripper=0.0097 right_x=0.292 right_y=-0.0005 right_z=0.1724 right_yaw=-0.0063 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9995 state[joint_eff]: [-0.294, -5.4906, 3.9316, 1.79, 0.0757, 0.0513, 0.7302, -0.3761, -1.2923, 7.0222, 1.7411, -0.0171, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.22,"left_z":0.15,"left_gripper":1},"note":"The second gray-toy grasp was also empty, and it is now beyond the left-side grasp limit. I’m moving to the accessible tan toys in the middle rather than repeating the failed approach."})
tool
executing move_to over 24 steps (2.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe tan toy is visible just to the right of the jaw column. I’ll center over its soft upper body and lower the open fingers around it.
move_to
left_x0.3400left_y-0.2600left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8711, 1.5654, 0.9539, -0.202, -0.749, -0.6186, 0.9987, -0.0212, 0.8097, 0.6079, -0.4095, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.3464 left_y=-0.2191 left_z=0.1397 left_yaw=0.0435 left_pitch=0.0013 left_roll=0.0182 left_gripper=0.9987 right_x=0.2922 right_y=-0.0005 right_z=0.1714 right_yaw=-0.0066 right_pitch=-0.0412 right_roll=-0.0009 right_gripper=0.9995 state[joint_eff]: [-0.0068, -6.9538, 9.1556, 1.2088, -0.525, 0.1001, -0.1538, -0.3487, -1.5521, 7.2137, 1.7363, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.26,"left_z":0.045},"note":"The tan toy is visible just to the right of the jaw column. I’ll center over its soft upper body and lower the open fingers around it."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe tan toy is centered between the open fingers at body height. I’ll close on the soft body and then verify that it lifts.
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]: [-0.9565, 1.8515, 0.9039, 0.0708, -0.7986, -0.704, 0.9983, -0.0212, 0.8108, 0.6079, -0.4099, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.3418 left_y=-0.2589 left_z=0.0533 left_yaw=0.0367 left_pitch=-0.0037 left_roll=0.0191 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.171 right_yaw=-0.0063 right_pitch=-0.0427 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [-0.6632, -7.4051, 4.7521, 1.326, -0.4518, -0.0415, -0.0611, -0.1162, -1.2786, 7.1453, 1.6874, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan toy is centered between the open fingers at body height. I’ll close on the soft body and then verify that it lifts."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe gripper remains about 2.8 cm open, indicating that it has caught the toy. I’ll lift it a short distance to confirm the grasp before transporting it.
move_to
left_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]: [-0.9581, 1.8645, 0.9039, 0.0952, -0.8051, -0.7113, 0.2898, -0.0212, 0.812, 0.6075, -0.4099, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.3434 left_y=-0.2608 left_z=0.0519 left_yaw=0.0432 left_pitch=0.0068 left_roll=0.006 left_gripper=0.2898 right_x=0.2922 right_y=-0.0005 right_z=0.1705 right_yaw=-0.0063 right_pitch=-0.0443 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [-0.0615, -9.8256, 5.3675, 1.0672, -0.3199, 0.0757, 0.7643, -0.0752, -1.4291, 7.2821, 1.6923, -0.0317, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The gripper remains about 2.8 cm open, indicating that it has caught the toy. I’ll lift it a short distance to confirm the grasp before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe tan toy moved with the gripper and is held securely. I’m lifting it clear and carrying it toward the left basket.
move_to
left_x0.4600left_y-0.1400left_z0.2400left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9581, 1.7504, 1.0061, -0.1955, -0.8013, -0.7265, 0.2926, -0.0208, 0.812, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995] state[eef_state]: left_x=0.3379 left_y=-0.2538 left_z=0.0942 left_yaw=0.0499 left_pitch=-0.0353 left_roll=0.0544 left_gripper=0.2926 right_x=0.2922 right_y=-0.0004 right_z=0.1705 right_yaw=-0.0064 right_pitch=-0.0443 right_roll=-0.0005 right_gripper=0.9995 state[joint_eff]: [-0.1436, -11.1658, 8.335, 1.2772, -0.4225, 0.0904, 0.2613, -0.0615, -1.1419, 7.0222, 1.7411, -0.0122, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.14,"left_z":0.24,"left_pitch":0.2},"note":"The tan toy moved with the gripper and is held securely. I’m lifting it clear and carrying it toward the left basket."})
tool
executing move_to over 11 steps (1.1s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe toy is suspended in front of the left basket; the basket shifted slightly during the approach. I’ll move farther over its opening while keeping the toy elevated.
move_to
left_x0.5450left_y-0.1100left_z0.2500left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.514, 1.61, 1.092, -0.062, -0.5735, -0.2527, 0.2945, -0.0212, 0.8139, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995] state[eef_state]: left_x=0.4458 left_y=-0.1375 left_z=0.187 left_yaw=0.0793 left_pitch=0.0809 left_roll=0.0938 left_gripper=0.2945 right_x=0.2923 right_y=-0.0005 right_z=0.17 right_yaw=-0.0068 right_pitch=-0.0462 right_roll=-0.0005 right_gripper=0.9995 state[joint_eff]: [0.1573, -10.6462, 10.9197, 2.0684, 0.0513, 0.359, 0.1832, -0.1299, -1.1966, 7.0222, 1.6972, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.545,"left_y":-0.11,"left_z":0.25,"left_pitch":0.4},"note":"The toy is suspended in front of the left basket; the basket shifted slightly during the approach. I’ll move farther over its opening while keeping the toy elevated."})
tool
executing move_to over 11 steps (1.1s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe toy is now over the left basket opening. I’m lowering it into the basket before releasing it.
move_to
left_x0.5550left_z0.1550
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]: [-0.358, 1.8202, 1.2171, 0.2634, -0.5167, -0.0738, 0.2967, -0.0212, 0.8146, 0.6075, -0.4103, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.5302 left_y=-0.1014 left_z=0.204 left_yaw=0.1123 left_pitch=0.2643 left_roll=0.1161 left_gripper=0.2967 right_x=0.2923 right_y=-0.0005 right_z=0.1697 right_yaw=-0.0063 right_pitch=-0.0473 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [0.2393, -10.0444, 10.6598, 2.5079, 0.1197, 0.398, 0.2222, -0.1983, -1.3744, 7.0496, 1.663, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.555,"left_z":0.155},"note":"The toy is now over the left basket opening. I’m lowering it into the basket before releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe tan toy is resting within the basket rim. I’ll open the gripper to leave it in the toy basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3416, 1.9575, 1.2255, 0.3904, -0.514, -0.0677, 0.298, -0.0212, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.5514 left_y=-0.1001 left_z=0.1626 left_yaw=0.1229 left_pitch=0.2618 left_roll=0.1222 left_gripper=0.298 right_x=0.2925 right_y=-0.0005 right_z=0.1693 right_yaw=-0.0063 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995 state[joint_eff]: [0.3897, -9.7026, 6.4342, 1.7656, 0.0659, 0.0122, 0.1245, -0.1709, -1.5248, 7.0496, 1.6923, -0.0415, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan toy is resting within the basket rim. I’ll open the gripper to leave it in the toy basket."})
tool
executing move_to over 8 steps (0.8s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe tan toy has been released into the left basket. I’m clearing that arm and bringing the right gripper over the blue-and-white slender object for the other basket.
move_to
left_x0.3000left_y0.0000left_z0.2200left_pitch0.0000right_x0.3500right_y0.1900right_z0.1000right_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]: [-0.337, 1.9686, 1.2255, 0.4358, -0.5148, -0.0788, 0.9954, -0.0208, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995] state[eef_state]: left_x=0.5555 left_y=-0.0987 left_z=0.1663 left_yaw=0.1386 left_pitch=0.2932 left_roll=0.0952 left_gripper=0.9954 right_x=0.2925 right_y=-0.0004 right_z=0.1693 right_yaw=-0.0059 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995 state[joint_eff]: [-0.2256, -9.812, 6.2291, 1.7216, 0.0611, 0.0806, -0.232, -0.0752, -1.388, 7.1043, 1.7167, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_pitch":0,"right_x":0.35,"right_y":0.19,"right_z":0.1,"right_gripper":1},"note":"The tan toy has been released into the left basket. I’m clearing that arm and bringing the right gripper over the blue-and-white slender object for the other basket."})
tool
executing move_to over 20 steps (2.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe blue-and-white object is left of the right-hand jaw center, so I’m correcting and descending around it. The tan toy appears snagged on the open left gripper rather than left in the basket, so I’m raising it back toward the basket.
move_to
right_x0.3650right_y0.2300right_z-0.0050left_x0.4800left_y-0.0900left_z0.2800left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.226, 0.8928, 0.7849, -0.4423, -0.379, -0.1497, 0.9967, 0.7242, 1.5269, 0.7433, -0.0353, 0.5438, 0.4389, 0.9995] state[eef_state]: left_x=0.3119 left_y=-0.001 left_z=0.2286 left_yaw=0.155 left_pitch=0.0529 left_roll=0.0785 left_gripper=0.9967 right_x=0.3394 right_y=0.183 right_z=0.0839 right_yaw=0.0278 right_pitch=-0.1056 right_roll=-0.0409 right_gripper=0.9995 state[joint_eff]: [0.0752, -1.7436, 7.2274, 1.7998, -0.0317, 0.0513, 0.1148, 0.294, -6.5983, 8.6496, 1.5556, 0.5788, 0.1343, -0.0659] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.23,"right_z":-0.005,"left_x":0.48,"left_y":-0.09,"left_z":0.28,"left_pitch":0.3},"note":"The blue-and-white object is left of the right-hand jaw center, so I’m correcting and descending around it. The tan toy appears snagged on the open left gripper rather than left in the basket, so I’m raising it back toward the basket."})
tool
executing move_to over 13 steps (1.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe left gripper is now clear, and the tan toy is still outside the basket, so that placement needs a retry. The right fingers are at table height around the slender object; I’ll close and check the grasp.
move_to
right_gripper0.0000left_x0.3000left_y0.0000left_z0.2200left_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]: [-0.384, 1.5558, 1.1629, -0.0235, -0.569, -0.1555, 0.9967, 0.7719, 1.9186, 0.8116, 0.3279, 0.585, 0.4847, 0.9995] state[eef_state]: left_x=0.4688 left_y=-0.0829 left_z=0.2493 left_yaw=0.1663 left_pitch=0.212 left_roll=0.0924 left_gripper=0.9967 right_x=0.3722 right_y=0.2312 right_z=0.0153 right_yaw=0.0223 right_pitch=-0.0559 right_roll=-0.0003 right_gripper=0.9995 state[joint_eff]: [-0.7179, -7.8838, 9.7162, 2.1416, -0.1441, 0.3492, -0.0024, 0.5402, -5.6957, 5.5316, 0.7985, 0.0611, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.3,"left_y":0,"left_z":0.22,"left_pitch":0},"note":"The left gripper is now clear, and the tan toy is still outside the basket, so that placement needs a retry. The right fingers are at table height around the slender object; I’ll close and check the grasp."})
tool
executing move_to over 13 steps (1.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe gripper closed almost completely, so this may be an empty grasp or just the thin shaft. I’ll lift briefly to see whether the blue-and-white object comes off the table.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.252, 0.9123, 0.8013, -0.4675, -0.4232, -0.1833, 0.9967, 0.7712, 1.9301, 0.8154, 0.3454, 0.5739, 0.4786, 0.03] state[eef_state]: left_x=0.3117 left_y=-0.0016 left_z=0.2271 left_yaw=0.1828 left_pitch=0.038 left_roll=0.0823 left_gripper=0.9967 right_x=0.3739 right_y=0.2346 right_z=0.0138 right_yaw=0.0334 right_pitch=-0.0538 right_roll=0.0072 right_gripper=0.03 state[joint_eff]: [0.1983, -2.5641, 6.735, 1.8291, -0.1294, 0.0708, -0.0073, 0.0205, -9.6889, 4.8615, 1.3211, 0.3248, 0.0464, 0.5934] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The gripper closed almost completely, so this may be an empty grasp or just the thin shaft. I’ll lift briefly to see whether the blue-and-white object comes off the table."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe blue-and-white object stayed on the table and now lies nearer the right arm, so I’m reopening over its shaft. I’m also repositioning the left fingers around the tan toy for a deeper placement into its basket.
move_to
right_x0.3150right_y0.2150right_z0.0030right_gripper1.0000left_x0.4000left_y-0.1100left_z0.0850left_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]: [-0.2512, 0.9192, 0.7952, -0.4999, -0.411, -0.1844, 0.9967, 0.7712, 1.7943, 0.8677, 0.1555, 0.5644, 0.4755, 0.0294] state[eef_state]: left_x=0.3079 left_y=-0.0024 left_z=0.2158 left_yaw=0.1739 left_pitch=-0.006 left_roll=0.094 left_gripper=0.9967 right_x=0.3724 right_y=0.2352 right_z=0.0568 right_yaw=0.0421 right_pitch=-0.0596 right_roll=0.0084 right_gripper=0.0294 state[joint_eff]: [0.0342, -2.5504, 7.5556, 1.9512, -0.3199, -0.0659, -0.0122, -0.212, -9.7573, 7.7607, 1.3504, 0.2759, 0.0122, -0.0708] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.215,"right_z":0.003,"right_gripper":1,"left_x":0.4,"left_y":-0.11,"left_z":0.085,"left_pitch":0},"note":"The blue-and-white object stayed on the table and now lies nearer the right arm, so I’m reopening over its shaft. I’m also repositioning the left fingers around the tan toy for a deeper placement into its basket."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteBoth grippers are positioned at their objects: the left around the tan toy’s body and the right over the thin shaft. I’ll close them and check the resulting openings.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5228, 1.602, 0.7311, 0.0879, -0.6525, -0.3614, 0.9968, 0.852, 1.7927, 0.6056, 0.4015, 0.6201, 0.5457, 0.9947] state[eef_state]: left_x=0.3856 left_y=-0.0943 left_z=0.0788 left_yaw=0.1867 left_pitch=-0.0423 left_roll=0.1633 left_gripper=0.9968 right_x=0.3226 right_y=0.2183 right_z=0.0137 right_yaw=0.0434 right_pitch=-0.0435 right_roll=0.0273 right_gripper=0.9947 state[joint_eff]: [-0.5265, -6.5846, 7.6239, 1.5263, 0.1001, -0.188, -0.0073, 0.7726, -5.9009, 3.8632, 0.9695, 0.1392, -0.0659, -0.105] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both grippers are positioned at their objects: the left around the tan toy’s body and the right over the thin shaft. I’ll close them and check the resulting openings."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe left gripper has caught fabric, but the right close is clearly empty again. I’ll verify the toy lift and move the right arm aside so the slender objects can be located without occlusion.
move_to
left_z0.1500right_x0.2900right_y0.0000right_z0.2000right_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]: [-0.5205, 1.6165, 0.7376, 0.0978, -0.659, -0.3672, 0.1298, 0.8536, 1.7943, 0.5961, 0.4088, 0.6167, 0.5419, 0.011] state[eef_state]: left_x=0.3884 left_y=-0.0938 left_z=0.0778 left_yaw=0.1967 left_pitch=-0.0373 left_roll=0.1608 left_gripper=0.1298 right_x=0.3204 right_y=0.2174 right_z=0.0112 right_yaw=0.0494 right_pitch=-0.0479 right_roll=0.0231 right_gripper=0.011 state[joint_eff]: [-0.212, -7.9385, 5.2444, 1.3358, -0.232, 0.022, 0.8376, -0.1709, -7.4188, 5.2855, 1.4188, 0.2515, 0.0171, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"right_x":0.29,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"The left gripper has caught fabric, but the right close is clearly empty again. I’ll verify the toy lift and move the right arm aside so the slender objects can be located without occlusion."})
tool
executing move_to over 19 steps (1.9s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe tan toy is lifting with the left gripper; its long dangling body needs more clearance before release. With the right side unobstructed, I can see the blue object is farther right than my previous attempts, so I’m correcting that approach.
move_to
left_x0.4900left_y-0.0900left_z0.3200left_pitch0.5000right_x0.3200right_y0.1700right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5205, 1.5158, 0.8749, -0.2253, -0.651, -0.3756, 0.1325, -0.0612, 0.8295, 0.6849, -0.4828, -0.0513, -0.0277, 0.9971] state[eef_state]: left_x=0.3797 left_y=-0.0901 left_z=0.1169 left_yaw=0.1993 left_pitch=-0.1043 left_roll=0.2057 left_gripper=0.1325 right_x=0.2927 right_y=-0.0053 right_z=0.1863 right_yaw=-0.0109 right_pitch=-0.0565 right_roll=0.0193 right_gripper=0.9971 state[joint_eff]: [-0.1846, -9.7983, 10.4, 1.4042, -0.4371, 0.0904, 0.7888, -0.1709, -1.935, 9.7573, 1.619, -0.2613, -0.0122, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.09,"left_z":0.32,"left_pitch":0.5,"right_x":0.32,"right_y":0.17,"right_z":0.035,"right_gripper":1},"note":"The tan toy is lifting with the left gripper; its long dangling body needs more clearance before release. With the right side unobstructed, I can see the blue object is farther right than my previous attempts, so I’m correcting that approach."})
tool
executing move_to over 21 steps (2.1s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe toy is clear of the basket rim, so I’m moving it fully over the left basket. The blue shaft is beside the right jaw; I’m shifting the right gripper onto it and lowering to table level.
move_to
left_x0.6000left_y-0.1000left_z0.3000left_pitch0.6000right_x0.3150right_y0.1300right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4328, 1.6253, 1.1652, 0.2466, -0.7601, 0.0467, 0.1346, 0.7372, 1.5818, 0.4904, 0.2565, 0.5438, 0.4744, 0.9988] state[eef_state]: left_x=0.4832 left_y=-0.0852 left_z=0.2789 left_yaw=0.2087 left_pitch=0.394 left_roll=0.2294 left_gripper=0.1346 right_x=0.3091 right_y=0.162 right_z=0.0224 right_yaw=0.0204 right_pitch=-0.1172 right_roll=-0.0237 right_gripper=0.9988 state[joint_eff]: [0.0615, -8.2393, 11.0838, 2.1172, -0.0024, 0.3687, 0.5788, 0.2256, -5.9009, 6.9675, 1.6093, 0.6032, 0.1832, -0.1392] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.1,"left_z":0.3,"left_pitch":0.6,"right_x":0.315,"right_y":0.13,"right_z":-0.008},"note":"The toy is clear of the basket rim, so I’m moving it fully over the left basket. The blue shaft is beside the right jaw; I’m shifting the right gripper onto it and lowering to table level."})
tool
executing move_to over 9 steps (0.9s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe tan toy is over the basket, and I’m lowering it farther inside than on the first attempt. The blue shaft still sits off-center, so I’m making one final alignment correction before closing.
move_to
left_z0.1900right_x0.3500right_y0.1100right_z0.0050
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]: [-0.3599, 2.0502, 1.536, 0.469, -0.7338, 0.1505, 0.1372, 0.6228, 1.6524, 0.3965, 0.5514, 0.461, 0.3969, 0.9986] state[eef_state]: left_x=0.5913 left_y=-0.0923 left_z=0.2692 left_yaw=0.2448 left_pitch=0.5154 left_roll=0.2311 left_gripper=0.1372 right_x=0.3268 right_y=0.1424 right_z=0.0131 right_yaw=0.018 right_pitch=-0.0492 right_roll=0.0406 right_gripper=0.9986 state[joint_eff]: [0.0889, -12.1368, 9.6205, 2.0733, 0.2564, 0.5104, 0.5836, -0.7726, -3.2479, 2.9333, 0.8083, 0.1685, -0.188, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"right_x":0.35,"right_y":0.11,"right_z":0.005},"note":"The tan toy is over the basket, and I’m lowering it farther inside than on the first attempt. The blue shaft still sits off-center, so I’m making one final alignment correction before closing."})
tool
executing move_to over 6 steps (0.6s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
assistant
agent noteThe tan toy is supported inside the left basket, so I’ll release it. Using the overhead view rather than the partly hidden wrist view, I’m centering the right fingertips over the blue shaft.
move_to
left_gripper1.0000right_x0.3350right_y0.1750right_z-0.0120
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]: [-0.3592, 2.167, 1.3903, 0.6426, -0.7338, 0.1486, 0.1368, 0.4648, 1.6947, 0.3889, 0.6724, 0.342, 0.3065, 0.9985] state[eef_state]: left_x=0.5903 left_y=-0.0914 left_z=0.1749 left_yaw=0.2209 left_pitch=0.4419 left_roll=0.2849 left_gripper=0.1368 right_x=0.3516 right_y=0.1141 right_z=0.0134 right_yaw=0.006 right_pitch=-0.0229 right_roll=0.0658 right_gripper=0.9985 state[joint_eff]: [-0.1573, -12.1915, 6.4342, 2.1856, -0.1099, -0.0171, 0.7253, -0.294, -4.3282, 4.5744, 1.37, 0.1148, -0.1538, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.335,"right_y":0.175,"right_z":-0.012},"note":"The tan toy is supported inside the left basket, so I’ll release it. Using the overhead view rather than the partly hidden wrist view, I’m centering the right fingertips over the blue shaft."})
tool
executing move_to over 9 steps (0.9s)
step 258
assistant
agent noteThe tan toy is visibly sitting in the left basket after release. I’ll lift the left fingers clear and close the right gripper around the blue shaft.
move_to
right_gripper0.0000left_z0.3100left_x0.5300
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]: [-0.3576, 2.1769, 1.3792, 0.6216, -0.7338, 0.1413, 0.9954, 0.6971, 1.845, 0.4706, 0.7704, 0.54, 0.4458, 0.9982] state[eef_state]: left_x=0.5886 left_y=-0.0899 left_z=0.1605 left_yaw=0.2161 left_pitch=0.4079 left_roll=0.3022 left_gripper=0.9954 right_x=0.3478 right_y=0.1775 right_z=0.0118 right_yaw=0.0032 right_pitch=0.0578 right_roll=0.1041 right_gripper=0.9982 state[joint_eff]: [-0.335, -13.0256, 7.1726, 1.956, -0.1343, 0.0659, -0.1343, 0.5402, -4.547, 3.8085, 0.9646, -0.188, 0.1294, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_z":0.31,"left_x":0.53},"note":"The tan toy is visibly sitting in the left basket after release. I’ll lift the left fingers clear and close the right gripper around the blue shaft."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe blue shaft slipped sideways during closing, and the toy still appears caught against the fully open left fingers. I’ll park the right arm and gently tilt the left gripper over the basket to free the toy.
move_to
left_x0.5900left_y-0.0900left_z0.2300left_roll-0.6000left_pitch0.4000right_x0.2900right_y0.0000right_z0.2000right_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]: [-0.4026, 1.8481, 1.4086, 0.2005, -0.7902, 0.1108, 0.9967, 0.6991, 1.8458, 0.474, 0.8001, 0.5404, 0.4431, 0.0108] state[eef_state]: left_x=0.5369 left_y=-0.0884 left_z=0.2702 left_yaw=0.2246 left_pitch=0.3677 left_roll=0.3189 left_gripper=0.9967 right_x=0.3512 right_y=0.1812 right_z=0.0181 right_yaw=0.0048 right_pitch=0.0831 right_roll=0.1224 right_gripper=0.0108 state[joint_eff]: [-0.4855, -13.1487, 10.9744, 1.7802, -0.0562, 0.1148, 0.1197, -0.253, -7.1863, 3.7265, 1.4774, 0.2125, 0.0122, 0.9353] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.59,"left_y":-0.09,"left_z":0.23,"left_roll":-0.6,"left_pitch":0.4,"right_x":0.29,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"The blue shaft slipped sideways during closing, and the toy still appears caught against the fully open left fingers. I’ll park the right arm and gently tilt the left gripper over the basket to free the toy."})
tool
executing move_to over 16 steps (1.6s)
step 284
assistant
agent noteThe tilt has left the tan toy inside the left basket. I’ll clear the left arm and try the thicker black-capped object, which should be easier to grasp than the thin blue shaft.
move_to
left_x0.3000left_y0.0000left_z0.2300left_pitch0.0000left_roll0.0000right_x0.3800right_y0.1350right_z0.0350right_pitch-0.1000right_roll-0.1000
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]: [-0.1955, 1.9575, 1.3014, 0.5266, -0.1707, -0.5312, 0.9967, -0.0914, 0.7334, 0.5472, -0.2962, -0.0937, 0.0696, 0.9969] state[eef_state]: left_x=0.5879 left_y=-0.0822 left_z=0.2233 left_yaw=0.2428 left_pitch=0.3708 left_roll=-0.5244 left_gripper=0.9967 right_x=0.2944 right_y=-0.0068 right_z=0.1884 right_yaw=-0.0577 right_pitch=0.0857 right_roll=0.1182 right_gripper=0.9969 state[joint_eff]: [0.1709, -9.9624, 6.6256, 2.2686, 0.1245, -0.0269, -0.0024, -0.1846, -1.3333, 9.7983, 1.8535, -0.2808, 0.0024, -0.1441] 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_x":0.3,"left_y":0,"left_z":0.23,"left_pitch":0,"left_roll":0,"right_x":0.38,"right_y":0.135,"right_z":0.035,"right_pitch":-0.1,"right_roll":-0.1},"note":"The tilt has left the tan toy inside the left basket. I’ll clear the left arm and try the thicker black-capped object, which should be easier to grasp than the thin blue shaft."})
tool
executing move_to over 23 steps (2.3s)
step 307
assistant
agent noteThe black-capped object lies between the right fingers in the overhead view. I’m leveling the jaws and lowering them fully to the shaft before closing.
move_to
right_x0.3750right_y0.1350right_z-0.0180right_pitch0.0500right_roll0.0250
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]: [-0.2535, 0.9176, 0.8501, -0.4961, -0.4015, -0.3248, 0.9968, 0.5411, 1.7058, 0.6586, 0.2173, 0.4805, 0.2962, 0.9975] state[eef_state]: left_x=0.3134 left_y=-0.0062 left_z=0.2409 left_yaw=0.2393 left_pitch=0.048 left_roll=-0.0579 left_gripper=0.9968 right_x=0.3686 right_y=0.1304 right_z=0.0243 right_yaw=-0.031 right_pitch=-0.1483 right_roll=-0.1202 right_gripper=0.9975 state[joint_eff]: [-0.6496, -2.2632, 6.3111, 1.8046, -0.2515, 0.1099, -0.0122, 0.294, -7.3368, 7.159, 1.5897, 0.4518, 0.1294, 0.0464] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.135,"right_z":-0.018,"right_pitch":0.05,"right_roll":0.025},"note":"The black-capped object lies between the right fingers in the overhead view. I’m leveling the jaws and lowering them fully to the shaft before closing."})
tool
executing move_to over 7 steps (0.7s)
step 314
assistant
agent noteThe right fingers have reached the tabletop around the black-capped object. I’ll close now and check whether the shaft is retained.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2543, 0.923, 0.8497, -0.5079, -0.4042, -0.3294, 0.9968, 0.543, 1.9507, 0.511, 0.9337, 0.4885, 0.3313, 0.9975] state[eef_state]: left_x=0.3125 left_y=-0.0057 left_z=0.2369 left_yaw=0.2428 left_pitch=0.0332 left_roll=-0.0523 left_gripper=0.9968 right_x=0.3897 right_y=0.1426 right_z=0.0127 right_yaw=-0.0527 right_pitch=0.1257 right_roll=0.083 right_gripper=0.9975 state[joint_eff]: [-0.1026, -2.4274, 6.9128, 1.7753, -0.1734, -0.0024, -0.0171, -0.335, -4.5333, 1.6205, 0.1734, -0.0513, -0.3053, -0.0122] 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":{"right_gripper":0},"note":"The right fingers have reached the tabletop around the black-capped object. I’ll close now and check whether the shaft is retained."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe black-capped object also remained ungrasped. One tan toy is in the left basket, but the other toys and the thin objects remain unsorted; I’m parking both arms rather than continuing unsuccessful table-level grasps.
move_to
right_x0.2950right_y0.0000right_z0.2000right_gripper1.0000right_pitch0.0000right_roll0.0000left_x0.3000left_y0.0000left_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]: [-0.2539, 0.923, 0.8497, -0.5083, -0.4042, -0.3325, 0.9968, 0.543, 1.9617, 0.5037, 0.9768, 0.487, 0.3271, 0.0114] state[eef_state]: left_x=0.3125 left_y=-0.0056 left_z=0.2369 left_yaw=0.2448 left_pitch=0.0328 left_roll=-0.0547 left_gripper=0.9968 right_x=0.3906 right_y=0.1434 right_z=0.0149 right_yaw=-0.051 right_pitch=0.146 right_roll=0.0938 right_gripper=0.0114 state[joint_eff]: [-0.0752, -1.812, 6.8855, 1.6923, -0.1734, -0.0171, -0.0171, -0.0479, -8.6359, 4.0957, 1.326, 0.1294, 0.0415, 0.9255] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_gripper":1,"right_pitch":0,"right_roll":0,"left_x":0.3,"left_y":0,"left_z":0.23},"note":"The black-capped object also remained ungrasped. One tan toy is in the left basket, but the other toys and the thin objects remain unsorted; I’m parking both arms rather than continuing unsuccessful table-level grasps."})
tool
executing move_to over 12 steps (1.2s)
step 336
assistant
agent noteI identified the two categories as stuffed animal toys and pens/markers, but completed only part of the sorting: one tan toy is in the left basket. The gray toy shifted toward the left workspace limit, and repeated grasps of the thin pens/markers closed empty. Both arms are parked; the remaining objects still need sorting.
give_up
hindsightFor large floppy toys, a fully open gripper did not guarantee release: the tan toy remained caught until the wrist was tilted over the basket (roll about -0.6). A deeper approach near left_x=0.59 was needed for this left basket, which shifted during handling. Table-level pen grasps repeatedly stopped at measured z around 0.01–0.02 and closed empty; avoid repeated similar attempts without correcting fingertip alignment and tilt. The wrist views heavily obscure these thin objects, so do not mistake a dark gripper finger for an object shaft.
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]: [-0.2455, 0.8749, 0.815, -0.511, -0.3965, -0.3321, 0.9968, 0.0555, 0.8257, 0.6312, -0.3279, 0.1253, 0.0685, 0.9955] state[eef_state]: left_x=0.3037 left_y=-0.0021 left_z=0.2341 left_yaw=0.2469 left_pitch=0.0402 left_roll=-0.0631 left_gripper=0.9968 right_x=0.3063 right_y=-0.0015 right_z=0.1953 right_yaw=-0.0949 right_pitch=0.0521 right_roll=0.0095 right_gripper=0.9955 state[joint_eff]: [0.4171, -2.7145, 5.9829, 1.6484, -0.1441, 0.0073, -0.0171, -0.294, -2.0308, 9.7026, 1.6728, -0.0171, 0.1197, 0.0317] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified the two categories as stuffed animal toys and pens/markers, but completed only part of the sorting: one tan toy is in the left basket. The gray toy shifted toward the left workspace limit, and repeated grasps of the thin pens/markers closed empty. Both arms are parked; the remaining objects still need sorting.","hindsight":"For large floppy toys, a fully open gripper did not guarantee release: the tan toy remained caught until the wrist was tilted over the basket (roll about -0.6). A deeper approach near left_x=0.59 was needed for this left basket, which shifted during handling. Table-level pen grasps repeatedly stopped at measured z around 0.01–0.02 and closed empty; avoid repeated similar attempts without correcting fingertip alignment and tilt. The wrist views heavily obscure these thin objects, so do not mistake a dark gripper finger for an object shaft."})
tool
give_up: I identified the two categories as stuffed animal toys and pens/markers, but completed only part of the sorting: one tan toy is in the left basket. The gray toy shifted toward the left workspace limit, and repeated grasps of the thin pens/markers closed empty. Both arms are parked; the remaining objects still need sorting.
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 · 10.07 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, 0.6159, -0.3801, -0.0231, -0.0303, 0.9996, -0.0154, 0.7975, 0.6109, -0.3836, -0.0132, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -1.2376, 9.4154, 1.8486, -0.0073, 0.1148, -0.0708, -0.9504, -1.306, 10.0308, 1.8584, -0.1099, 0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e75cb1283ae29cfb83a18b7fffe0f1d1c9c2653b0f31bcdbed3f9fc7fc0d3bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40d410e464554b8a746a11db566e5233f40fb2e34d317ca9c6a40127ac5ce85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db62ce56cce42daee76bce9a12cb7ed3e17d39a68377dfff1d9edd24dcb0e6d",
      "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 1 attempt 0 · /responses · status 200 · 4.737 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHIhDbjg7ZVtutdMcrczINwSBMQ_vQxN77VjBKOC_8HXnYs5WdERMZC5IPKAItyCJB6dSq0FaISB-8RPDXDtR2EMUKQAVv3s0p74pWiMmloBJ4qzSuNnIxSwGLr5zriPfYIUjTzRouS8rRU8nMKQ74MJOjMwv-zkwon_IiBMN60OzEZNucB8AJ-1r1pOUgwgA7BBNlxVwUq36ngIm1Qs4a0S28GwnR2wrKQkiRSaN58b3TNmtVVlz60iZEBjAJ7VNpUwIVEbFsz3vZUE7rMDHMHmP2Vl7lvXMM3W04qtn1Ka58xfhVQ1U0XBEWlA4OM2z1wZGD-3xWgyF0xs5n3v8x3k7PgOE0aQlzKqUxikgD22Oe4AAPo3F_x2glae30M2omNNgpQRqyaj2-FxiL3BI9Cd3TunhH2pqq3EQ-Z7d4zkHr_zrMUz9fVRJ0RvZSkl-ZLHHk3hdCqTzNmoiBO61hdqGIj9hzY2vXvk_iaKF1J6C7p0d1FxCNJN1hqI57P_ajQ5oeRHo_Hhm70aw4y58Fp49UDIl5j1PBqxF3h5zGWtKg55VYMtpnLFYQpdWqGIhTRYhd_3DDByGZfp7K4iBjoi4whSvHRCqhnoUVV1H-nB3rSzWI6wN4Wukr4zP3Ies2VMxtOd2SZCPSTDsuapKQTBKQgCasrNelqDmN65EK3H90ZrrzklcJulmlgxYKvyMqRg0TRrsvtCumVTKj_om5NxoZdRY1ngRUiYi-_958ip5vb98ErRs_1YSuoD4oMEJRwcJ9uE5Ihgtka-CK6MYSXSkZodGdAd06M_riF4OzWUqg1I0VvcHmoVLF_W-oXWcHN5WQuRNX29o7L6i9RW3qfzd-H61urtvMhr7oggCXXKdHZ7NgPlXy6107ydG6gn5LoaWKIflj60fuM98jCvp8C4NACKOGtvTYUOVEq_sE1iO9qGS2FLqICRftjPrKbD3oF18xJLHhyRHJX3auPg_PNK7bpGy4J2fCryg7xMVks6f1_zxdvPEk9tLeXF-nuvKOkpAAAK1BQi8zU3i7e5Np5AL-4MnCrZAjcIwrjzzHKgr5Mu6uG9x8xKP8UMUNPR6lLEcNp5PLnisluNUM3_uY3eYWVmd4MDh6xvyKeC7779uaYJqD9Nq0hg1bxo7CZ_Tss3OJBkUN_YnvQq0zZxnTu8rC7DnNtLOvjsZSUWSnzdD6GSxvAYPHm-CMzqXHNpKWQR_7RwHo7F2bgMkTV_x5HTxaOi_gR990KgALyBAJK1YPS2o7I0uySp2v8zbH7VVNZX84opO6vNJA22AdW9C7nraVRQLBRrjXOjO6szNgm1ppli5mmcsrODEx3rlVTR3AlOkiXXDl9CsNvrCvKgH7WWINsvjMDgbPEfTy38P0gcDvQ5qwm7GYm9fzOItsWvKZbMx3adUiqczoBijbul7p7mlEd-xVoWoaY0fZAoqeZpISyTzvXUGU_GyqOaYOUMCRcqshDhvGh_1iar6qkOIhkDDBnyv-ET0syKekgBdJiSMFoOkL4lZ3Ce2n7JEXUUi9oCKwB51nBrzwwKz4TwrfqzCAJA9zZfSVcRggd7DsfUQ9ogeSlkB4Uj6hOb3dSbZ1yBw-3PAjkbeinXWvSaVZYPVt5UHCNZ0n3mPmIGuW7DI0AXOy0_zlrtEUYQyw7fwd6xfSwcdsFdNVPVrzT7MghEqf5J5t0mw6Rxsk1_dDAhrGTm5DxX3Bm67hZvKNHgZsLtnw5GE7UtLxb_EVDrgGun0nl1ImLuj_anYGzdLkuj51liebAmZQ0TMMAJ8tKn7wcv2remxNTwlnv42OUslI5h4nITgL8M81GqTjehFqR2I9XHu8WoxwLRUsx9gyU-tAlQxT4Qh3YqSu871M84r11lGggRUnRgTTku-l3vIhGW2x4iVmED7AOdqDyxrVp1xDeWXmM9vnf16M-30qO0eKQQL1eKuQ1C-BCPOE4hQ3wWq4lfjT3EYMvr2xFIKGnFzeyf9936Zfg_rWMVq-95SbiEysT_wygbrk42MIEi489sw2C8p9Srch9RBWAN5B30JtTv0XLZofYLpNR5HPdBP-qgkSBifwP0rbl729lu8jBRUvDUBfUXuvlPE0-PwRROq53JDMxutCsyziXhhb8EgNsa_qNYr8WgAZAEoL2kFyt99-RGo_w03YAC978VhMyKWmuM54L8bLdcU-xhbbk-Meok-ZFq3W2v1xNHWCyIU5mLjfr6SpYtbbgUQzwZg95yi6Lkp3Mz-Au2qGhVg1qat1FbObEQDi1ldLBzTwcqOj_DLt1zf75cw21bUSw9M3IEE54_gkWffOgtpvON4MVhE2MupuIBK_2dCCrU0yV6DPGkSdRT_9VN45bb7b0EC-9cHm7X6ArvmTjXgzY8R7COEWuHWDmXLzRvGYrFidoDblF4HVxc1MIE5_NDRoPU5gB4rw3ATlLk8d33RjPRl4T-8eVhiI9WPMFZ6XicahITJukL7TuJCmPLDAmVc8U3fVeh6nPgct6BCVBXy_bzhASdHIFAOka5xzVB6rllbK98ojgudmcrj6TsfM48K5aSWxbY7wuUIyXL_tTjFWeGdHRoz5aVEWga1zNHvzm1Acj3AmJM3fYVHpFlGubjvpGINAoDO5SCtoEl4B5GP152nJEdLzSqq2pb74YT5Hxjt_k6TF4wArgMC2_EH5ewSupsZlL4Mi8Bx27l46T1d_UbiESlJgR0h2m07JyunkoVN5VSiHdrX8tW-0ZPnXJsfjRHcIxGb8AT-ITZ3-PoSs9fTKeQ5urcuIgvGS4Rb9VTy7rXkg9bLSgD25GqL6nSghAIvAwiEu3--T9MZDwW-Ygyr_bY-jGtXLViSUoOIjddYk7-RZBHz-PbmD3errPYqPPMn8JwT8kIdyEjU_iuRocKi_qMl7mALZ7DeEU1FI9hRVXiJblYFf8sLjFJ8NJHcwGefaoPR_7G1m7JkoaHmKPQ6KCgLnzrp-SnIl0bPi8_nOyyjfHPs01pc0s34eIZMnUJ9zoQxd3J7McKJ2Pyh__sBC4ZmpQdck4bR_DN231LSIXEJvK5c3J9v8PB6LIzWR2oriSNmxRvBzIA1f0_SP5f_QV4qdek5A==",
  "id": "rs_01e1520bae42157d016ab47218938487d0aa075bb3b527e021",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.045,\"left_z\":0.10,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"I see soft animal toys and several slender pen-like objects, with two empty baskets behind them. I’ll sort the toys into the left basket and the slender objects into the right, starting with the gray toy.\"}",
  "call_id": "call_nzGSV6EmO30S3xYrpcTFwQf6",
  "id": "fc_01e1520bae42157d016ab4721fbc1087d0b32456a9e6ac9c2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nzGSV6EmO30S3xYrpcTFwQf6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3435, 0.881, 0.3046, -0.0357, -0.289, -0.2035, 0.9996, -0.0212, 0.7986, 0.6109, -0.4107, -0.0132, -0.0238, 0.9995]\nstate[eef_state]: left_x=0.2876 left_y=-0.0456 left_z=0.095 left_yaw=-0.0087 left_pitch=-0.0206 left_roll=0.0079 left_gripper=0.9996 right_x=0.2918 right_y=-0.0003 right_z=0.1756 right_yaw=-0.0051 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -1.7709, 6.8991, 1.8339, -0.1441, -0.0757, -0.0659, -0.6496, -1.2513, 9.7573, 1.619, -0.0904, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3da928bfa39aa09b72d9ad41cd1e950806e6006e7abf63a56e03ec9413eae84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea07bbeb009eea1bd02e4715ee7c9cf080dbd2e2afb04cfa7da063c9b8910254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f33909f9d16624d9e65da8945573f03d9d23a9c2195be640635659fdce7d12",
      "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 2 attempt 0 · /responses · status 200 · 2.924 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, 0.6159, -0.3801, -0.0231, -0.0303, 0.9996, -0.0154, 0.7975, 0.6109, -0.3836, -0.0132, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -1.2376, 9.4154, 1.8486, -0.0073, 0.1148, -0.0708, -0.9504, -1.306, 10.0308, 1.8584, -0.1099, 0.0317, -0.0659]",
      "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]: [-0.3435, 0.881, 0.3046, -0.0357, -0.289, -0.2035, 0.9996, -0.0212, 0.7986, 0.6109, -0.4107, -0.0132, -0.0238, 0.9995]\nstate[eef_state]: left_x=0.2876 left_y=-0.0456 left_z=0.095 left_yaw=-0.0087 left_pitch=-0.0206 left_roll=0.0079 left_gripper=0.9996 right_x=0.2918 right_y=-0.0003 right_z=0.1756 right_yaw=-0.0051 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -1.7709, 6.8991, 1.8339, -0.1441, -0.0757, -0.0659, -0.6496, -1.2513, 9.7573, 1.619, -0.0904, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3da928bfa39aa09b72d9ad41cd1e950806e6006e7abf63a56e03ec9413eae84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea07bbeb009eea1bd02e4715ee7c9cf080dbd2e2afb04cfa7da063c9b8910254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f33909f9d16624d9e65da8945573f03d9d23a9c2195be640635659fdce7d12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHIo0MNWhQZCd--Y2QEWYf-btjMAvbay6Kj3mS_kzp2F-RdIAXhRfwtd7fG4Ax1ECQ6tWjthzIqObZWbMfxVwVG5iROR5gNxb0Mwe37IORfo2uD8ZAaWF_zo7aHcAkfcCud-ojc-neDaXjhP5p8T23ge91ZSQMgK2jOBEyZfxgxEWJELzGBtJJYkLHNSvfdL8-O1v24QnCNz0zBS5jgyZoeiODynIRblfJcD0HA3ltwWtT-jwaR3YDAWnD6VgcggyCmolA1BaZnap4DwthE2E1iTptiCi7rzXxNx4nacNKmF4TrtW3l-Q5gxHJ1OcTsFws7V-OvKa0RqUcHOZvmcliwPICRqMMIa8KPP5m_TMJjivZiy5YOUM_PFDMW5e7Xf4n2nLsPAm9vW1dwB0pBq85gb4vTQ9QGBy0uy2xecfdMT7EPmPvqmCY0eYZbu8RLmNUMhHaumN9oIkCaqvGLYCraev875jDxKC1SDaTKDkZOoos2YDA8BswimYkgsKCVaixzs6p2ZjalnwewkjCGlMUCpDmjKl-iVGuLz4I_tXwvLu4gIdVl_OySxTmZLgl5gWeQs3gSl4zLCrjG1tne9TbkAFvSWcx6mMW_LrRwFfMDCd-u7bjgbl6ic1Mi8c6tYXJrizOnqPlOddZxqDyvqCaR2_lL9o7rQb2oKrwYXTjsQCjI9EsVYuvTotc-5gryHvbZfhmvS47MoghARmQpX39gstePlJJHBEzPibjPGCCxmMBpAHu5yY1Nk93VUU4ChmdKM5n1a_LtZahxsVSU0-UnV66GKX6OrXHl4QsEOnQmmGsb6IEQ16mfFldBtf0tnxwH-_oFx95PN8kaQu0jD-KouUfqX32JiuFSR_pvt0qJruV4idcIs_ZUtEWAXg2gnmeL8OoplTsetO-xXpF3LTQvdyiePkGWm4JE2sq2AoTxlJSqIuJHy0omkgeHFDgK7y1U8Zdm_itCBhf-DNosBApvJlM2PPWyLfveibqzTK9IyMtmr3bBRAIajiJgjsnn_KpyAq-r3AEN3DfJplEPxljoGnhzu5Vbg8uJK3GJJ1L8ThcKMg8NCmxwhl4hwXuejZALBMYcis0q_Oa14Oh9aaN5vrimq5XVHQCFpBGSIxX5kNefF7FIO_sRz9uFxcWUrwt9vtyO3Orymaw7WMpO1ZOqLUOlG7Hv3-HLnFqF7C7zq5GoOW3Tkp4xmewvwgiV5Js6F_j3-t6JNPGk0zCX-cYDLhovsq7qJvD3xrbfMU6aWh7QILSfa2rRjzMCI5m6uLYiL1biMfA7uinK6p52e2w8jCd7y7ObcsE0tuGjxHkZ8w6BuVt_mSPZssvXpU2iMbFy9ExypsCw2NmAgVt8_knuJjWOBWbChiRscKt0xpfjMOfMcGiK9YsaQ0ZrF_0ds4BoXAIgO5X47m32RAHHy3RN6QhjpV-FX-LmCtYInfdp1ys1WeO9uSqrbK3gdeWJ3je1pjsskxhmVMlPDKtz68DNl7INR_B7U8LQD_f6-dk0mpdbUkjY3ZSWytqN23NB919ZF79YaxL6g4A02n4qkDoa9ZrVsp8xdcblWlNdqbPa-f-DrWG3zSeeuCBPSAuoMO6c2MvK7roeCWwwjw6SEk51-Sub21cMNEUsj-BAuiTCXN3P8caISnyvVgD-VAeDFVJnz02-9dfOaFYGIzB4b5mrEOK_KqA6FT-_46-VuHZFvzLbifFLaSVjPsAYPCXIupxYzIlDJn467345rSE6VWzqPKlX2gzxAfUpqngQf5BHuxqmvMFW2PUe1izl9NsGpzc5V",
  "id": "rs_01e1520bae42157d016ab47225097c87d095674a4f0dd2d860",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":0.01,\"left_z\":0.025},\"note\":\"The gray toy is left of the open jaws, while the yellow pen is near their center. I’m shifting onto the gray toy’s body and lowering for a soft grasp.\"}",
  "call_id": "call_fJRwxtt5kSuIUh8TXcKUnNTa",
  "id": "fc_01e1520bae42157d016ab472279ddc87d0ae2e58f06fc49851",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fJRwxtt5kSuIUh8TXcKUnNTa",
  "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]: [0.0399, 1.0737, 0.0536, 0.5476, 0.0082, 0.0307, 0.9995, -0.0212, 0.8013, 0.6086, -0.4103, -0.0124, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.293 left_y=0.0138 left_z=0.0546 left_yaw=-0.0004 left_pitch=0.0895 left_roll=0.0386 left_gripper=0.9995 right_x=0.2917 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0059 right_pitch=-0.0328 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -0.3624, 3.5077, 1.1697, 0.1978, -0.1685, -0.0269, -0.2256, -1.265, 7.4188, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f751727fb56684b7dc64ef5290f55448ef41fbfa54cdfb754ceaf03d772ef9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92c710b26bd2fed6c84969233f3570a2c50995505058e8895f82bd949bc02e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53175fdd353c8f8a6b5288d729b64daf420be9fc846058c4f4d63699bde4709c",
      "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 3 attempt 0 · /responses · status 200 · 4.041 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]: [-0.3435, 0.881, 0.3046, -0.0357, -0.289, -0.2035, 0.9996, -0.0212, 0.7986, 0.6109, -0.4107, -0.0132, -0.0238, 0.9995]\nstate[eef_state]: left_x=0.2876 left_y=-0.0456 left_z=0.095 left_yaw=-0.0087 left_pitch=-0.0206 left_roll=0.0079 left_gripper=0.9996 right_x=0.2918 right_y=-0.0003 right_z=0.1756 right_yaw=-0.0051 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -1.7709, 6.8991, 1.8339, -0.1441, -0.0757, -0.0659, -0.6496, -1.2513, 9.7573, 1.619, -0.0904, -0.1001, -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]: [0.0399, 1.0737, 0.0536, 0.5476, 0.0082, 0.0307, 0.9995, -0.0212, 0.8013, 0.6086, -0.4103, -0.0124, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.293 left_y=0.0138 left_z=0.0546 left_yaw=-0.0004 left_pitch=0.0895 left_roll=0.0386 left_gripper=0.9995 right_x=0.2917 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0059 right_pitch=-0.0328 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -0.3624, 3.5077, 1.1697, 0.1978, -0.1685, -0.0269, -0.2256, -1.265, 7.4188, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f751727fb56684b7dc64ef5290f55448ef41fbfa54cdfb754ceaf03d772ef9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92c710b26bd2fed6c84969233f3570a2c50995505058e8895f82bd949bc02e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53175fdd353c8f8a6b5288d729b64daf420be9fc846058c4f4d63699bde4709c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHItlChRimTUFRf6Ka4ToVVIPPib75MElUbeLfjaCGdy-qyY1lTqtCdjFcOqAUEjHldz63UsC-pomHYLqTWcQQXtsTsdAa6zrlJxaXa3PvvuosRlVxebtVc9-P_SV_aodtBjFhKm9v2D3VCutPPdp59NfVUVAM3cNnwy4ooVMhBsGtZAMSaK0qrf0KHGYzrjR5-B8dIYe_3AZNOKSVlwpFvHgD5gUc7QxxaDBbzA-KemkepFF4-uPUeXgwqz-juouLCMuMw030Xs_89HrrV5ey_t50MDvnod_GzGY-bLuxXiN2DPNfc6N-7qDIHRsKPAPnDqsQmlD-UmU_zP9h4cVRigvN_n9LR0mF7iZN--PGEjnpibrWA5wo-BDC0a6nf4Ex-rnd3p8I_D59vXT4ce2lUu3JVMe0H0DqDKwBz7D1MxyhUXkdbYp9hO88bWiQ6Wk3udsBp49jCYT7mYv1Uu4k48LbDa168oAWx6DM_ekUbK-TaV3SWfom2uGMDjLYlaI4xDk_Gpa-1BuaNz_Rqpm5iTAZWtmDN3n5WNllAjQSu0W4szYU10fYXeCDbCXyqvoncyNAYgVISx2Nm5bNJ3qC-NySnHil5xklSsgDoS35zFQXvIHCw2mQYn_wAl5yaTvlhkzbuthMy-mNjT3C2oGMKzFsT2SOxFWjD1qZNZxMCzEflgJx_pfjS7mIHFq1bdY7I5LyXjM5h7-5SkjnP1Z8MFCZnlChaQKbmyyqwhAQDKe7Q5La1zP1xkaIrrr-SZHJE30t61CrANS450jSUXYtp7jOm9Mkl8A9JLEQEmCwkUE-6Dm0g73beOElfRbZ0PAUaGJl3agXzkLybK2QcrJBO5pYmdZHIPCqsXdDOdaLnexY_e0YOIxWpah1hgFPA8yFtg0RXC8y03U6Iwb_ZO9ZmraQWpk83Ovi-eEMb9H-ovqSs5oEBMnF2XyMvP-7gEkmTRZaPaVjm_h8jya4Emm3Htd3bMccx-GFVQYA-r0bwM9FN69dgiE26sPed8SI-HfjGWQMZ_oYDHZLvwkwHIlD6vVAoaaw-OgD9szH9emqBvv6aCJPEUy4d-lSwrnysjgGtbzVVYjlj-9z5cSDJK2bSHFJUyGlKtjKNifZeuHRfW_JmWrneITMVW917zKQwlQc8ON1z4tie1zwc5k3IPkGSSVw7KpYjg-DLDUIq-ZVDorql0_R8-6omQC-JMiF7-aTwyUuhWGhwcB1K8fdA4LV5SbROC9fDcAneg2yuIyLJDgF8zIjxrWvRNdkjNGARN0CaiRsqgbPmC6eX61Urcueba5g==",
  "id": "rs_01e1520bae42157d016ab4722b9d9c87d0b105474b92f56b99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the gray toy, and the descent stopped against its soft body. I’ll close gently through the gripper controller before checking the lift.\"}",
  "call_id": "call_AcWmP0YMZ1SMeQUxQHYTGSen",
  "id": "fc_01e1520bae42157d016ab4722c0a0487d08439850d0ad54211",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AcWmP0YMZ1SMeQUxQHYTGSen",
  "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]: [0.038, 1.0737, 0.0662, 0.5423, 0.001, 0.0273, 0.0099, -0.0212, 0.8024, 0.6086, -0.4103, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0147 left_z=0.0584 left_yaw=0.0056 left_pitch=0.0967 left_roll=0.039 left_gripper=0.0099 right_x=0.2917 right_y=-0.0005 right_z=0.1736 right_yaw=-0.0066 right_pitch=-0.034 right_roll=-0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -1.9487, 4.6838, 1.8437, 0.0269, 0.022, 0.7937, -0.3897, -0.8957, 7.1179, 1.6825, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324d86efe122dd7c465d4abc8688999cece5b96991f4ce41bb0e0156fee80560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea6a5ecd746c8eb97eee71dddd2b3d290ab936239d72fbfbd11cd4696e77df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5ed8128f03939506eeaf17d9c3943c3fa6941296ad57a2ff486bdac99255f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.794 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, 0.6159, -0.3801, -0.0231, -0.0303, 0.9996, -0.0154, 0.7975, 0.6109, -0.3836, -0.0132, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -1.2376, 9.4154, 1.8486, -0.0073, 0.1148, -0.0708, -0.9504, -1.306, 10.0308, 1.8584, -0.1099, 0.0317, -0.0659]",
      "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]: [0.0399, 1.0737, 0.0536, 0.5476, 0.0082, 0.0307, 0.9995, -0.0212, 0.8013, 0.6086, -0.4103, -0.0124, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.293 left_y=0.0138 left_z=0.0546 left_yaw=-0.0004 left_pitch=0.0895 left_roll=0.0386 left_gripper=0.9995 right_x=0.2917 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0059 right_pitch=-0.0328 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -0.3624, 3.5077, 1.1697, 0.1978, -0.1685, -0.0269, -0.2256, -1.265, 7.4188, 1.7167, -0.0562, -0.0513, -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]: [0.038, 1.0737, 0.0662, 0.5423, 0.001, 0.0273, 0.0099, -0.0212, 0.8024, 0.6086, -0.4103, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0147 left_z=0.0584 left_yaw=0.0056 left_pitch=0.0967 left_roll=0.039 left_gripper=0.0099 right_x=0.2917 right_y=-0.0005 right_z=0.1736 right_yaw=-0.0066 right_pitch=-0.034 right_roll=-0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -1.9487, 4.6838, 1.8437, 0.0269, 0.022, 0.7937, -0.3897, -0.8957, 7.1179, 1.6825, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324d86efe122dd7c465d4abc8688999cece5b96991f4ce41bb0e0156fee80560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea6a5ecd746c8eb97eee71dddd2b3d290ab936239d72fbfbd11cd4696e77df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5ed8128f03939506eeaf17d9c3943c3fa6941296ad57a2ff486bdac99255f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHIzQRBBr9GxK91Zhma0-9tob9dHCY6dfoqwNJWAmm62PGb_NaUtCdZqinWEaicP_Hxo7jEDNAwI7q0hdI7Qwh94ed9e7GpIrKHmtH9nV7NXVYXTDnB74Z9U7CUVa2f7P9VwHVxXcRyKVTe4GQ_5qBK1BQZ9VpDfFx4tUc0ftJzlP9HivFPh4aVfPp8oypOflHkDVgw0CVvjv0oEtiNR-DnW6NkDxSO2aM7IV6G274m6avW9MUpYlzbuFpMcA7Z25M_8V3x8Xiktl-J4Hpu91gB0-LQPym4wq3XAVAtkQUPnLE8R9ZGLs5ae2eO-QjEynojPCc8L-4ew6isnBzzbvhcrESIdRqIE2_GVDRtcqaPUKql-FJrfi-1oOoI87zLKmHkdxZV65iuK_gBmWgqfDa7s7uXM_1ybDqk2t269l7Qrw8MgePRCggZ2OSwSnfVlmRoM-kafVyf5bmUAGXSZSy4EzLC3WC1jbxHXtYxKvMkdilJ-alBixzes_F6i2h5fI7dHds9tF7FoF6kFL8E32krrQE25YSFtMN1lxTO-OUiXurbJJCIOKYdtsDY7OIBmIxWOMhPJZ-8V8k8cmApMpF56acX-9FtwxQ2AQTf3YY1sccKI_jDg2G8E38Z21jiyNdt_7CCarWpSRa3I6oWoPcYyJSWpNZFUWz4la4iuV5ZFEuRR0Oc_bnIqsEM1-0lwwdM0ojSSkFBZ-NuuCfiQZzkXhGEcS01XL8OvAX489kzVbs3CfvfadnCbAPkelYalhHBV9EmeJ1NqeKP_D7u9ywwuJb_768QCV0W26f5-f3AvdXeMDhFvTcf9wD-C9GdWbfxm-jY6KQy0mD5Wt86RKE7Bjir-kp1P0iUBLXdZ2yf4YZDtoZYLJwhW6IvD9bidie6moO_niO31GSeS_bjYuVQu6GbelEMabE4KD_8joPEMjsciBi0VB3X7LPOBIujgarlut_y-PlM-aDdy6JfSUeusAoCvLmRGMzt3D0S7YUspJfSR-wUaXgzEBgPMZb66u7u0DRJ5gguLqH9iT8B_D1L6KVe3iSKaSB_BvZSJz3KM3HmIvadaaummVkpbNle0IjR2wyvVp2Gt_Tw9n5-M0yYsSWp9NuRTarvCNS16V_WXIM0xH2PrP40OoDiG0pRb1Hx3s94q22NRSvQSZwGQnqDeLsiGvJtC0k7XjQYCMAonaIzdzTnL3-nXCF0JNeLfQS9r0mp98zRPpchkl-xmvUEs19pmrdrdKvD1Ep7d5ZL-DMSVP2kyAC7cAQsi39oQKa29uJvKg2pIzoGPphyd-dW4KF4kepACz0L8Q6l9QIIPA6F6-tQ7eEJggmkht-ktXURP85ONOeZR0uFjujA5BKTG29qlFrE9c8cMg_A1Kf3NAgT5EZXjjRGY7wAPTIQicS5E",
  "id": "rs_01e1520bae42157d016ab47230ba1c87d08387cc493407c711",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.022,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The nearly zero gripper opening shows that the first close was empty; the gray toy remains ahead of the fingertips. I’ll reopen and move farther forward around its body.\"}",
  "call_id": "call_AMl7NXtQScyPzf5XuW1Lczd1",
  "id": "fc_01e1520bae42157d016ab47231bc8c87d08985b3c687eb268c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AMl7NXtQScyPzf5XuW1Lczd1",
  "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]: [0.0578, 1.5196, 0.2016, 0.8036, 0.0086, 0.0299, 0.9988, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3401 left_y=0.0218 left_z=0.0322 left_yaw=0.0177 left_pitch=0.0476 left_roll=0.036 left_gripper=0.9988 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -4.3419, 5.7504, 2.1661, 0.0952, 0.0464, -0.149, -0.1983, -1.4838, 7.159, 1.6825, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d5e99172a8ecb040ccedcab1630b63c680dc52adc1dcb0c6ba58b72228efb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2dda3838ccbe586f4a8a64ab2af8d0b2f400f0642b105944e657dc1549b619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8b75168b51cc0bcd91b81d6d428809f63fcbd916d40c3d43d17fed7c6e70d5",
      "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 5 attempt 0 · /responses · status 200 · 3.093 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3435, 0.881, 0.3046, -0.0357, -0.289, -0.2035, 0.9996, -0.0212, 0.7986, 0.6109, -0.4107, -0.0132, -0.0238, 0.9995]\nstate[eef_state]: left_x=0.2876 left_y=-0.0456 left_z=0.095 left_yaw=-0.0087 left_pitch=-0.0206 left_roll=0.0079 left_gripper=0.9996 right_x=0.2918 right_y=-0.0003 right_z=0.1756 right_yaw=-0.0051 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -1.7709, 6.8991, 1.8339, -0.1441, -0.0757, -0.0659, -0.6496, -1.2513, 9.7573, 1.619, -0.0904, -0.1001, -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]: [0.038, 1.0737, 0.0662, 0.5423, 0.001, 0.0273, 0.0099, -0.0212, 0.8024, 0.6086, -0.4103, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0147 left_z=0.0584 left_yaw=0.0056 left_pitch=0.0967 left_roll=0.039 left_gripper=0.0099 right_x=0.2917 right_y=-0.0005 right_z=0.1736 right_yaw=-0.0066 right_pitch=-0.034 right_roll=-0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -1.9487, 4.6838, 1.8437, 0.0269, 0.022, 0.7937, -0.3897, -0.8957, 7.1179, 1.6825, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0578, 1.5196, 0.2016, 0.8036, 0.0086, 0.0299, 0.9988, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3401 left_y=0.0218 left_z=0.0322 left_yaw=0.0177 left_pitch=0.0476 left_roll=0.036 left_gripper=0.9988 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -4.3419, 5.7504, 2.1661, 0.0952, 0.0464, -0.149, -0.1983, -1.4838, 7.159, 1.6825, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d5e99172a8ecb040ccedcab1630b63c680dc52adc1dcb0c6ba58b72228efb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2dda3838ccbe586f4a8a64ab2af8d0b2f400f0642b105944e657dc1549b619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8b75168b51cc0bcd91b81d6d428809f63fcbd916d40c3d43d17fed7c6e70d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHI6-w4gqcfyiA2yqyEnyGSxJIwFcEFeuaVeLdKrCHXyOI2uWfEKtAUjL283RccNRZx4tGnu5kD4G55HuKegm05CU74KFNW3uJ4OHTqKzKW7cOOiMuhboT9iy_LDp40uZ18V-iqf_EXFnCB8AzUGQBzYM29PPsa1BNZwXJAA1fdRKwD4HyABpMr8mhj2joVItMQCQjcBfAxH8DGEIJSo-kPmeZcxFI6ubQJSb-1TBn69GlkmYeaDXG67Y2eEzpfyyZ7j37B2nM517DQUWL7Ttd4UAlqDrgjwsVu9I1CWd_2epDL6ZV5Rj-XOWrYcT66V5Iz_yUe6AMwzCRU3pyz6fz_OBe81cFR_7FFYwEwk3_Z7317HbjFUIwU8OBFpvHiGGxmyakP-0CoWxVIePRwMVf5f1m9xbyMo4v6N-IEIsukSgKHZPPNJFIhYfjWVV8e6wAdQQFEbTsFOVuYnH_MshBo7HSkrLSW1u97Yu4VKBiMtcA_8WYGc4sivN4ahlTzXsd9X-xgKnodHW6HYfzseqOdz_NtuC3QBY0DX7wJOVh2huTfckRfZiYdDUHEayKCeV_FS7pFbteYvfi0TD-vuoEl8BD6QUU9sdeEvqsfO5AVO_MqBzxQdXlM20YiLGoEs1--bi8e3a87PV4teNN9pDIHtL8l6vUfGBP2MXK3bdjQMGIrMZDg7fMnfPL5VQlSTEC4fMgsdDH9MMkZYtsOKCIEHHsYc09P2GtmXnN_iqgYIzlbmXkpp7rc8efBjVNghfOoD7fzLm2_lYx-iQZi0sMjPQ8xm656VNjgOlGm8SxzrpetzG-GAu7jWjxBL712s0dmBAe89hd28o0q7OyrCZoIhBfb5C1RTIWkfMsmeXdJajuBOmTkiUXvIDraemrpJj3poSZU61aPyHFTVic18OM9qSWlbrAWjPlthIah3N_joXQ9KRxkAcphCf6d27afBumG5V3ZHwedYiSSvuzomk2O4odLqB1zCau0lQqgNLMKQrLS62yYybLMdq3o6GiX4qd_njqwuOXGfSihUMscIE6lAXDPz4enxacnTvQ75dmnI5iHHMH9yQt1QMAgIvdZKASzN7_3KSmWObB92KmX581E5hYDyn50088_lHNcKIibYluWkdZnG7k1r41mFc7mM3HHK4K6A1hcxTRkoWO8BLNW6sOBJkgK9qc1jC7efoMILVcu2L4Ka_jcHCFVxncMZsLG2F6NRdV_GMJG_MpZ2cJgStGEuGXWqMOqR73f7nGwBBvzj84ZaBwVZJLY1lv_71xDkHbhnYW-Chw4fMvZSfGOW_GUJxdH-LacHrWoz1DP5TDlbvLVSDf9e8RHz4brndyYDb5y4ARJ-EyfI9cPDzYdqrdRGQ9lZC8L0pT8nIj588G4SJ43UR2f8v-SKxOCuUfuC4futiEYif2NgN3eD7VS3kMyCk_JXNT8uyYsRVAzicYJddvcE5UfF84T_p4TUETpcLaZ2UhLb6Ixo5YSlOC9org_GQqx4FOPeKi5f8j26LPRgdHRhVauGZQeqhqB0Ne4BeLzJKU0bdlRAxWNIEFBjZ2lPrUwPp3gv8epRBS-vySe8MRawz6vjr-fpJS3a1cSR",
  "id": "rs_01e1520bae42157d016ab4723852e087d08b3c45326b33d5cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_x\":0.36,\"left_z\":0.035},\"note\":\"The gray toy is now beside the left jaw rather than centered. I’ll shift left within the allowed workspace and slightly forward to put its body between the fingers.\"}",
  "call_id": "call_DcCMBZjrFovI1nTFwMrDxPVF",
  "id": "fc_01e1520bae42157d016ab47239e1fc87d0bedf45e1e7924658",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DcCMBZjrFovI1nTFwMrDxPVF",
  "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]: [0.1722, 1.5848, 0.268, 0.7784, 0.091, 0.065, 0.9983, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3516 left_y=0.0485 left_z=0.0279 left_yaw=0.0438 left_pitch=0.0264 left_roll=0.0231 left_gripper=0.9983 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -4.506, 6.0923, 1.8388, 0.1001, 0.2564, -0.0659, -0.2667, -1.0325, 7.0222, 1.7216, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec628df4402ea0e6b33bf556f7154fae8e68f1978cc1b1117f61533518dc342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe9ab8b1be4ee3b62727cf85e47ba9f4c990a3c611541ad142d3fb1a1d10f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b247ba69deaab4e9a196cac0a383949920248647d1e20654d004937323b9762",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.819 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0399, 1.0737, 0.0536, 0.5476, 0.0082, 0.0307, 0.9995, -0.0212, 0.8013, 0.6086, -0.4103, -0.0124, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.293 left_y=0.0138 left_z=0.0546 left_yaw=-0.0004 left_pitch=0.0895 left_roll=0.0386 left_gripper=0.9995 right_x=0.2917 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0059 right_pitch=-0.0328 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -0.3624, 3.5077, 1.1697, 0.1978, -0.1685, -0.0269, -0.2256, -1.265, 7.4188, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0578, 1.5196, 0.2016, 0.8036, 0.0086, 0.0299, 0.9988, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3401 left_y=0.0218 left_z=0.0322 left_yaw=0.0177 left_pitch=0.0476 left_roll=0.036 left_gripper=0.9988 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -4.3419, 5.7504, 2.1661, 0.0952, 0.0464, -0.149, -0.1983, -1.4838, 7.159, 1.6825, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1722, 1.5848, 0.268, 0.7784, 0.091, 0.065, 0.9983, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3516 left_y=0.0485 left_z=0.0279 left_yaw=0.0438 left_pitch=0.0264 left_roll=0.0231 left_gripper=0.9983 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -4.506, 6.0923, 1.8388, 0.1001, 0.2564, -0.0659, -0.2667, -1.0325, 7.0222, 1.7216, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec628df4402ea0e6b33bf556f7154fae8e68f1978cc1b1117f61533518dc342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe9ab8b1be4ee3b62727cf85e47ba9f4c990a3c611541ad142d3fb1a1d10f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b247ba69deaab4e9a196cac0a383949920248647d1e20654d004937323b9762",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHI-ZhcOlaRZunJ-NM9K7AI7AYrHJ_bn432ajhBbTp2ken-RiXHkhnTePNNn1ziiUTnb8gOwKKrmaoX4hb3nRNZyTSH4atXUiv6yr2pfuDk4UWcG68PY5EtLSbkPeGnKHWifnI-2gc6klDs2Drp7B0zrUYv8PttDB5RSzpsUf_uyztBmfoW-2_Djhpp-yVx4qY8Ia3aPQVbNsuwqdGkon_xX6vDxXLCgegRDtHogdXeAnA7jPrneJJQwiyWfte8Qtobe_fhSruXxpQLvhRqB8WBFC-xje2DYtxBI8SnG9am6kkWW5JRJaV0ooSfWWC3ZWm9DAnSDCnH4cqPg392LTu5etTygN6F6ZjQHiEBb0mqnLAVe75DXOw5QYLVz3oH79BRpUsQbm_HCbhQLo6IaKy3FePklHEprHHZlBgOMGfAgoVZO4PU6tiZxzabGvLmsJRjJ3dhFQyFniMqgkx-rPPJ5CpymOHYMwk0FwWb751shnpMfjK5kh6f-jhH3hqhf3-0TY-0D7wzKl1fpgdu5T5zlM6gQHSNYYLsJX3p1GhDlK9mUtPDj3fQplrL8qHqSCK-m2HtBcjHTX9CEjwyz4-x4_W36cOfhPfX646i_prmB-sPxNR6CCyuNQjNF774zGDliRETJpCjfuOZZDUadT5jE4yyom2ZZn1mQ0fQRkN8YziK_vYlU2jGXOd_jbAUqEURZ26-pNVMpHOPJU-DGYy0c1QxFjzdd5JyvjINw8knSsI059rlhkaDviJ4BPZqVacL0bYB_2Cf0-eTnu_Et2I1eYsvgvJuHxu3H9i-EN_bDfKDHCkqbsMyVHCXlxJifDB1PB50Twfj-e9gGguPlFp0uf4UM8L9PssQ4N48e4dGpUDfP4H4sKKEAlyBFIwMlYvL23YE1OJoQDAg1tT_uD8WitVkL_6pizuyEOYbdtYvfx-6Jujhya1sjEpwchi3hHEVhhNlAePpW-mg3hgFe87DP_qj462MMkdy9Po16yWcr-nopGpgKvbXl3Kcv6FyLcwIeopKfZcC4CWrvwPpTbwcvIxJYuvNl35n99nScOlDHVmNTXVNHLOOHUt3lEIiAaYcKwJm81Ir-nBvxADOmBHGBadGFTnxPDMA5a_PgtXOo3RJY6w6oReM0OVQGek9YBmLctEuI8uT5clDuaKxDjEkkfqSgaP3-AKcEP97YEMjHGOUiaerAr5wvYBA3besn0j7P1tZ6b21bjE_g1vqSOji5tU8itzrQzkN8uVde6Mf9Ueu-I-GiJOTRlgP8JycK1gJRz48s21VqF-epK4gf7ORahlUPkzui8bRDer-ft9E7UIhbiIAKmXRgBqc7MJCEkmWpuepsOzqmQzl1z0s_Uq44Be1fZ-6i4mi3Kf0ZzFQYV4JOQLXzteITT0gO2Iu19RFI",
  "id": "rs_01e1520bae42157d016ab4723c6f6887d0a9b145fffbcde3fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers overlap the gray toy at the left side of the table. I’ll try the corrected grasp and use the gripper opening to determine whether it caught fabric.\"}",
  "call_id": "call_L0YAL2l5uVgvvjRk0WNvokx6",
  "id": "fc_01e1520bae42157d016ab4723d49f887d09abdee76b0f8278e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L0YAL2l5uVgvvjRk0WNvokx6",
  "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]: [0.1738, 1.5898, 0.2718, 0.7723, 0.086, 0.0597, 0.0097, -0.0212, 0.8062, 0.6083, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3515 left_y=0.0499 left_z=0.0262 left_yaw=0.0524 left_pitch=0.0189 left_roll=0.0201 left_gripper=0.0097 right_x=0.292 right_y=-0.0005 right_z=0.1724 right_yaw=-0.0063 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.4906, 3.9316, 1.79, 0.0757, 0.0513, 0.7302, -0.3761, -1.2923, 7.0222, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc355c7876de66e70b318a0d325fe919ec17a0b77d4c6b10785608724fd267c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3bb2f4a134b9c3cffa6fa9f52b9f397ab07a777098527099a68710ac959a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ff9ee456d36d3f6f7e30d5d93c6b0b3cef98c479cd6b4e30e5672b756cd7c6",
      "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 7 attempt 0 · /responses · status 200 · 4.906 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.038, 1.0737, 0.0662, 0.5423, 0.001, 0.0273, 0.0099, -0.0212, 0.8024, 0.6086, -0.4103, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0147 left_z=0.0584 left_yaw=0.0056 left_pitch=0.0967 left_roll=0.039 left_gripper=0.0099 right_x=0.2917 right_y=-0.0005 right_z=0.1736 right_yaw=-0.0066 right_pitch=-0.034 right_roll=-0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -1.9487, 4.6838, 1.8437, 0.0269, 0.022, 0.7937, -0.3897, -0.8957, 7.1179, 1.6825, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1722, 1.5848, 0.268, 0.7784, 0.091, 0.065, 0.9983, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3516 left_y=0.0485 left_z=0.0279 left_yaw=0.0438 left_pitch=0.0264 left_roll=0.0231 left_gripper=0.9983 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -4.506, 6.0923, 1.8388, 0.1001, 0.2564, -0.0659, -0.2667, -1.0325, 7.0222, 1.7216, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1738, 1.5898, 0.2718, 0.7723, 0.086, 0.0597, 0.0097, -0.0212, 0.8062, 0.6083, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3515 left_y=0.0499 left_z=0.0262 left_yaw=0.0524 left_pitch=0.0189 left_roll=0.0201 left_gripper=0.0097 right_x=0.292 right_y=-0.0005 right_z=0.1724 right_yaw=-0.0063 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.4906, 3.9316, 1.79, 0.0757, 0.0513, 0.7302, -0.3761, -1.2923, 7.0222, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc355c7876de66e70b318a0d325fe919ec17a0b77d4c6b10785608724fd267c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3bb2f4a134b9c3cffa6fa9f52b9f397ab07a777098527099a68710ac959a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ff9ee456d36d3f6f7e30d5d93c6b0b3cef98c479cd6b4e30e5672b756cd7c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJEuJP7qO1D__yDpistW4aj7sAMQeBDQVMSqHy32uap5WTZg62QK4jVvE-L1irBxCM7ooctR3JiuSBt0wLmtNQaYVSGyImtK4iTelTppuHVrbriQ27CMzyfQmkU9p7XkQpuv4z-PvCVzGuYYduvDyvG5W1BJwWikrE3n_lr2ryyx7tyV8kRCl4ARZzp15bmfgiSOtD_MGVrv20h2WXDckGAQ_LSoSa1M1APbJKqrNA6JH_ZZKhxlmomVh4ngv8ZqCTZbwQZ3wdXQBAgTx-XT9VXCh2GgYlpkiKf-Qdz-NDXetYdICRjplG3XtAZLVhz1u7EkpzAmmASRqzNZRWqiDyYFTdlngeRgSC4UNCkEu9BkEUhTxZYnCNM9zmLQcfPf6uAeaUxRQMLnwVw8YSmxVmyHeiYNb41z4eQrLvtx0XRcH308QV1RN3K8-eKC-Arh_c22LmN4zpEQYrwz1ax-pG2s0hOUEJSJXLrWcSNThnXDL4L16xHS7Gcf8pS2XeCYeyeK6vm1TF54SPgRSnwjUyHNkMRIgZA7DwZUWbFFfLjHtD7sqH4KJ4s3tpgtw4eH7O3ZROtty7afwmf0Z5dMAxDxdhpZFtyPzo88RHg--kyxVMmwFfjIqgrdtp3pR8ZYAThej7w7QpXGfw9fyLyR5wPeQt6YO-B4KxWdGj0iTPzeTOFH3e1PF9kSWnaaPRJPfGmvQDIZfCg9xYu2H_WYI71jZ1Tm90yzQlCdruowksXDQ07N8tiK0amDeIRv4BKG9gz9T_hLCegvTk8eG0Lx1XruzzCeS5hJ6sBRmARLF-zcSHaK8ayktZej59SW1SRE5kg_hjbrlAASisGmD2ALnwz_pfyNuma-Q7bl4FAdVzBnQDDcoqlic6-NIwXzDo00U6r3KNtnyMj7luU6i2au7xQ3dj_PjxDGHNjVrDjqOxdgEnsnWHBgZUSrsQ87WaCxGv9t8GcYfgyXTD9wNJAR7buqXkeZW5VTu68If0l0YjyJehnOLF7wEMI9Vx-FnitGIOFh9oUZQff-l_yxl4Go9MFoPnE_LsyLWoE0sSQSBCBHRJ63rpAaFeWvfZ86BiJRauojKlnWywC7gYTWpjB_opMnoaqQLx9CRpuJv_A41xDgR-CnVJssN-48Cr3A61SlkPBffTHohRI01Ee1pRHv4GSkDX83mQnhwkz6huvncUhI5AbYHVuXYMlEJC7ESg79e_igvYCVigmMTRNgdphzcRAW3cFNEDs9EslEw9VJ9a6qIjEJhm8hm2TQIz6Ndf163VhE2NQs52CueDmpIl9COlfhQh38dOUpy8HsAEprcdPiwdxG7L2xRJQJVjtcKZ1YfWyYC4SWHHUQM9nZvsiOP7RFKcUU0ZU-wGKQXMTQbHbKLPaAIYEgp5im01FhS5O0aXMhisXNSWDK_DqPBSS1YNFlYUZ94vho49ge4fZKya4bXdqZQKByv98iO5frv4OLu_aQ55cn0i1nN7zfuwQI1f4NVRZjV4cgZN4cCkd8tVje6oBXQMizyX9ERrOj3gJexWcJjTXtcQJ7ATJ9q8Oi82gS6efRR1Cljuusu9R1DDOKK4xcaLYJUGXCQ5i-hZTVxATognr8VZ_ULnquGreES-3E4nyDbVY6ZJWP5BaJu2RIeyEUs4BFw9FGvvVAyNuEGEWCJltTfid8SzsqIZP_rsQISqk5Nd2xjkew8TRquQo9uaJW8f4S0H-PBpnbTNCcfgcnn03M5u_L5HvP3YtJXYr09htbMMoZLF9GsY25Oxw5GDtZCqdkuIC8S-XKwJD-70INuEztnTCLRM9Iz_-_4HrV1zD4Ijb02XIJpQzfG1lllKWXhF1s_OTgGHPnJBCwbzMCf5dTbTqBL8qLlieBxb1oo2rDo141Hw2Oy3wkejeKTjgkcPzT9RojuyR3oRcE0fYZ3PHhUQMwqRJJXktXK7YFFT8kpK92Qo9RtQrDnpEsvXYn8aUrkMfcMf0e4EXDOS7R5w_J42bImqxUC_shDfz_eYURJ7RMAliMfB4ZE5hmBeZd9ulHtdv7I2l07AoQJGQxxsdDoq4lfDIA34x3hu1VGHLmDT-ENt1VnZRzuxS1RwZnjIaOooV6yttTWl38YZWghNrDkhNZDylu0QcT937s2SV-g1rUL5IibBij93qZRqlLCLNZ0RxvduHiCtXJt7j_r3kGuwH9Yf-hfiDTfaP-9GnYr6dImRZBHFYj97CK9xeIXm5EuTjCgtul8PHN-1U",
  "id": "rs_01e1520bae42157d016ab4724076d887d09572dc8c9933a05e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The second gray-toy grasp was also empty, and it is now beyond the left-side grasp limit. I’m moving to the accessible tan toys in the middle rather than repeating the failed approach.\"}",
  "call_id": "call_W1EaboyU25LGBG0N6ktIFH6n",
  "id": "fc_01e1520bae42157d016ab47243a1c087d0a1982c77a44edbbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W1EaboyU25LGBG0N6ktIFH6n",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8711, 1.5654, 0.9539, -0.202, -0.749, -0.6186, 0.9987, -0.0212, 0.8097, 0.6079, -0.4095, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3464 left_y=-0.2191 left_z=0.1397 left_yaw=0.0435 left_pitch=0.0013 left_roll=0.0182 left_gripper=0.9987 right_x=0.2922 right_y=-0.0005 right_z=0.1714 right_yaw=-0.0066 right_pitch=-0.0412 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.9538, 9.1556, 1.2088, -0.525, 0.1001, -0.1538, -0.3487, -1.5521, 7.2137, 1.7363, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc7ab6dece67f0132181dd4d3cc0aaf53330f4584b822c1cba2811f56652c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b615a923b5b8deca4c1df21f35c181c340c58d1dd0fde76fe632de6c0e187de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5603db744fcb04faa1613d6eb20897eae3c33287eed4fc199d088ecf9e06f7d4",
      "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 8 attempt 0 · /responses · status 200 · 3.892 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0578, 1.5196, 0.2016, 0.8036, 0.0086, 0.0299, 0.9988, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3401 left_y=0.0218 left_z=0.0322 left_yaw=0.0177 left_pitch=0.0476 left_roll=0.036 left_gripper=0.9988 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -4.3419, 5.7504, 2.1661, 0.0952, 0.0464, -0.149, -0.1983, -1.4838, 7.159, 1.6825, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1738, 1.5898, 0.2718, 0.7723, 0.086, 0.0597, 0.0097, -0.0212, 0.8062, 0.6083, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3515 left_y=0.0499 left_z=0.0262 left_yaw=0.0524 left_pitch=0.0189 left_roll=0.0201 left_gripper=0.0097 right_x=0.292 right_y=-0.0005 right_z=0.1724 right_yaw=-0.0063 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.4906, 3.9316, 1.79, 0.0757, 0.0513, 0.7302, -0.3761, -1.2923, 7.0222, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8711, 1.5654, 0.9539, -0.202, -0.749, -0.6186, 0.9987, -0.0212, 0.8097, 0.6079, -0.4095, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3464 left_y=-0.2191 left_z=0.1397 left_yaw=0.0435 left_pitch=0.0013 left_roll=0.0182 left_gripper=0.9987 right_x=0.2922 right_y=-0.0005 right_z=0.1714 right_yaw=-0.0066 right_pitch=-0.0412 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.9538, 9.1556, 1.2088, -0.525, 0.1001, -0.1538, -0.3487, -1.5521, 7.2137, 1.7363, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc7ab6dece67f0132181dd4d3cc0aaf53330f4584b822c1cba2811f56652c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b615a923b5b8deca4c1df21f35c181c340c58d1dd0fde76fe632de6c0e187de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5603db744fcb04faa1613d6eb20897eae3c33287eed4fc199d088ecf9e06f7d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJO4HlaDbkb5xqBC1yuQd3cHxCMkuMlY8l9dPj4bUpodtUEHpBDg0Q_uYUbJaSKBIDX2E3OWUwP-4-BwY-g_LRF8pFhwQotZ2AacV1FZuIQUXZ-76dwOfDPuhCQsHMVk7nElSaDVih8qjfimarPi_ZL3M_ds-B4pXdZvgVMY-d54KgGYoBlLETA69fVD_pwl943pkC1XgbtwHUZMjncuQBsrLe3ANFvE_yGKTXl-LD0mzKStFSiJ3LTjHAghQ4Ld3a4M38bC6w6NRnhkLjBIep3o2-5GdaAJSMKdLa70DXDqioNdVfFt6N_WrwAFwfryY1qT8qrga0qPD2Fi3KyCg8n5kCbr8cjcudUIRGoYk0Jv4U3W4oc-lcRvhebHw7m2ywsH54bjMMLkEEwhAJ3Sfh_GqXsiT-47AUzpgRkzaeOyYghJvZQRW-KXCPdMZGUX8ArARCCM-Y77Sjbdgyb1biKH4QOvwXf-XWAEO9kilW0IV2SuHOKCJMsj_bqjB5FiFPsdeW_o3T1sVFDVBwF5R13lhxspfBhp9WAiRy3aBL3jVmX6fngCBDC6qTtWMI06jbkWl40pCdOqzl-zeYiDAoup7POjE6NkmnWrtBwA4wdv5TdodBy_SBQ_uk4qCuMpxFutj_CvU_-emO_VDDyHMt0anPgb0b9AI6lxq2ytfnNfPNCtES1NZ-tlBTWgErIMvaMHgo7-hHpaaORPeedeOfcz1Yf_iu0a74bTmMuoPc1Ewcel9jQ_2mJZt6LD_hso7q_6Vv2nEcuPrP6W13A7vdWRDFEMHjK902vDH9tWFmLamhsyZul0y3e-ga5ge2S2fnABrDVj5DdEW-a5fJehemcmwuSjdxR3qfi0j-AbEohjPrpCD3nuUJXi3P1W5Z_1eNmUw5HNUZm7sabzxu0OcLCgC2wj5IbNNMELKclcxxoR6Up3GYjSGvnQVkRO88cBY7MARkr7e7DitxgUjQpqmpBSHCEZCsv3i-fEUP49ClN947BfTsXhD2ElMRfRcGVoIA2IBQaxyAb6zjoPk1iXWDvlCPo9H8jUbolMOzgkbJmL6Rr9Wdmk7N8XXxwhY0R35jg9iC-4ZN8rg8hP3d5GSchpceIgIggoIICwng6c-vhbAGNs6pwNxF3Px6BDvWeh2UWNa7lUT9kAevpSmuhWnTI-Ev4rKbKidaOK5e0Hg8AzPHybVLoXSa0lbXfZLbvZJrhQ9xUPda5dsuaXHgWq9CLlJziTA_FccBWrob35U3VHQGkRsTVGfhuUBeB3PKOKb7Zmb3EgJ1znHzYUSP7M2SyJK_4sko06syOMRZmoTo9ERrUonKfW9vzwiUM6qlKtfoQbpo2NqtPISR0vzhscHsY7e2-T5svfd1AbuX4WIVEmo0t5055SSlHj1ltZwdZxivbIIzc0xog6OZ5auBFoHpQbt55Bvuw0b275I23TyfuE7eGH-EqcbDJxKL5srbaVnqKJe1yLILjV4H_JS8_4SUALoaLBCi71EAwej7Eaf3rdjT0Czq5jqkdqY0bguvCmFc8YJfvatNM5psa9ouJNt8nnW7s2UIyFMfv7dCSYxrFMV1zD6Emw-GE3UO8iYjJSzNJjTq2QQ2-t7S_2NPXABORl0PsrZjAl7P5Iq3ykiaOOtZefTGqjruo5utBXda8jkXHE6ywjWnrneaDd2BHssGNh2P-yfgAnVw6UQf-R8nKs8StrXYVTO1tOc8eJHzUvxQ3",
  "id": "rs_01e1520bae42157d016ab4724b14c887d0ade3d50ee7499bf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.26,\"left_z\":0.045},\"note\":\"The tan toy is visible just to the right of the jaw column. I’ll center over its soft upper body and lower the open fingers around it.\"}",
  "call_id": "call_NBjdFYkItVRezRMl3es7KsCz",
  "id": "fc_01e1520bae42157d016ab4724d7e8087d089be56fbbf6c2772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NBjdFYkItVRezRMl3es7KsCz",
  "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]: [-0.9565, 1.8515, 0.9039, 0.0708, -0.7986, -0.704, 0.9983, -0.0212, 0.8108, 0.6079, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3418 left_y=-0.2589 left_z=0.0533 left_yaw=0.0367 left_pitch=-0.0037 left_roll=0.0191 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.171 right_yaw=-0.0063 right_pitch=-0.0427 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -7.4051, 4.7521, 1.326, -0.4518, -0.0415, -0.0611, -0.1162, -1.2786, 7.1453, 1.6874, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac59eeb8a6896544a82e45f888f05ea63eafbf9930178d85cf3bd222613b2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3db696d13511dd7331c291b739af7c6d062d1d496607123b2a60ba1bd80ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2913238363fcbf208c8edfe010781c669a87a036f96b5553fbce8bf340268f",
      "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 9 attempt 0 · /responses · status 200 · 2.815 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1722, 1.5848, 0.268, 0.7784, 0.091, 0.065, 0.9983, -0.0212, 0.8051, 0.6083, -0.4099, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3516 left_y=0.0485 left_z=0.0279 left_yaw=0.0438 left_pitch=0.0264 left_roll=0.0231 left_gripper=0.9983 right_x=0.2919 right_y=-0.0005 right_z=0.1727 right_yaw=-0.0066 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -4.506, 6.0923, 1.8388, 0.1001, 0.2564, -0.0659, -0.2667, -1.0325, 7.0222, 1.7216, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8711, 1.5654, 0.9539, -0.202, -0.749, -0.6186, 0.9987, -0.0212, 0.8097, 0.6079, -0.4095, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3464 left_y=-0.2191 left_z=0.1397 left_yaw=0.0435 left_pitch=0.0013 left_roll=0.0182 left_gripper=0.9987 right_x=0.2922 right_y=-0.0005 right_z=0.1714 right_yaw=-0.0066 right_pitch=-0.0412 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.9538, 9.1556, 1.2088, -0.525, 0.1001, -0.1538, -0.3487, -1.5521, 7.2137, 1.7363, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.8515, 0.9039, 0.0708, -0.7986, -0.704, 0.9983, -0.0212, 0.8108, 0.6079, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3418 left_y=-0.2589 left_z=0.0533 left_yaw=0.0367 left_pitch=-0.0037 left_roll=0.0191 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.171 right_yaw=-0.0063 right_pitch=-0.0427 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -7.4051, 4.7521, 1.326, -0.4518, -0.0415, -0.0611, -0.1162, -1.2786, 7.1453, 1.6874, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac59eeb8a6896544a82e45f888f05ea63eafbf9930178d85cf3bd222613b2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3db696d13511dd7331c291b739af7c6d062d1d496607123b2a60ba1bd80ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2913238363fcbf208c8edfe010781c669a87a036f96b5553fbce8bf340268f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJTU8IGg3UeMq6kqmZ_BEdrSHt0jXl_B7O4wV3dowkNcZxmuXS063pA9V-IE7UeUV2LJtMmIV7QSg7doLzDGAen6TZaCSjf4uJ3ZBQqHrGAJykDEIL67L9urn1WEkj0W14CYDbQ26DBbxjO4ksEFVTYMkuAwfAMYcbW2pvXsXdy4I3pZ_3rLs4Vv6dRyS5_454EpaV3ud5XsVubO0cWw8T5ktWXB92uvfzaCORYohP7b8U8CVDRScA_5NwAlllYPgYoLITQrklrZ13msrjqbQVLgA3wka56B_r5N748j4COqVz6ovO8H6gIB05KRk9_9TkPKSW5ZEHqTIECBApsX7e0E7NbY_q2wJjrbEMqiJE-Rm7PQnHZMkoZPMgy_LUzOvDk1SgbOzIbfV4Sqii_0RhAe7aGi5Il5bsgl0RbLP73Gl5ahyqYlueSIPaj376hMK5E9cLhOlJJ7zVEuw8Atd9Ogxr8tJ-fvMYqu6tlyT9F2lokCzrUZ-tW7hKarTMGSlQswkpSB7bgOedSSwxA4hHzZk0aCXqnvzVPvZ81yfEKlyeRP09u0yUfc9MwPyu8ev5_QS7ieheYSO-pFYvQJ6oogLbfGnhF6P3FFAee_fgqtoxn2x3R7JPpY3KErMw3yGaxI7CzQH7g4MuZL7x6qV27nx0YokeD_qRC23yRCcULqqHMq0KqDm2N6dZGHcWs7G6CHxX4BsHgDNXWZUlDSHu10bR3f45B5zclFhkO2U0XHTbeHDFyZfTDe4kaetG7NjocOGcT4X6RWTdiSLbaQD4gNJx2RplRbnJ8ed4rRZAsjLOT7CjHUyjUswWIhbGPgOkRoNLZLdlk_AOwnYOofu3uzxI_DaalOAQua6N0bso2lSpa90mXO7IY-_q5CnCbDSOYiqG_Ocpc9HdWkX7CnliFewG4Pg9WlpP-g7ybiwbZtGt5BE5JOTirfVZKTHyWgdaGua4ftg_Q0JwqmFkpp-6aVTCwDS_EubRYS53DzWrkB-XVFqWlGyLOGdmHLP0KeOd0CLd40p4PuUqHW5Z68Eu6UfZRv-ruEQBCTDtxuiLfFb9EVTpJE3bxeOh-rofED88YK2xn2ZU8M57X_CMf1IM80STei-nyh5gCNgshlpLq20AxX_19o6kkaNIxpispXE9LsGWh7ODi-5N_sVAPULcJavwdAKKq1NTu9R13HXvlPf9PtR5LUlsIakz_SWwIrusY4ug2kX1qvHFfEhrA_Zfm9gD-kGFuEnof3HzgeQWVJe-CmnnLevlxYYu7fJ1X0vM9CSxrR35m73K68veWH2EfiaBynz3gIuqzZtKvECJXAj_g6DiDWCf-4v4toA8AFs2Imuwj9ZQ7nFxyDBTTr9dQIMIHagwjghUTUwcEUbHq6kUhftLcIlaQp-6KMJsOfbx2FdWZwHcy4uo3rAtsD9ODCH2lNkKc0FjmPdrzmeA5RCnXzZwkzxV15L_XJ_wjC6P4IT6qcUkMZzMSX7AqdOl6TrTxqcdZcgZxw8C0zUryG6FU4WThcGq8_76bT_k_sCXbujFxAVbu1dr2YEINm0DODcnOu6xvJMH1KQZmBG-YSZ8=",
  "id": "rs_01e1520bae42157d016ab47251439487d09c7ab0e37a4a6bbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan toy is centered between the open fingers at body height. I’ll close on the soft body and then verify that it lifts.\"}",
  "call_id": "call_f1830JjawxUjACg3bmw3dNwq",
  "id": "fc_01e1520bae42157d016ab47252c33c87d09fa81dafa5201865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f1830JjawxUjACg3bmw3dNwq",
  "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]: [-0.9581, 1.8645, 0.9039, 0.0952, -0.8051, -0.7113, 0.2898, -0.0212, 0.812, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3434 left_y=-0.2608 left_z=0.0519 left_yaw=0.0432 left_pitch=0.0068 left_roll=0.006 left_gripper=0.2898 right_x=0.2922 right_y=-0.0005 right_z=0.1705 right_yaw=-0.0063 right_pitch=-0.0443 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -9.8256, 5.3675, 1.0672, -0.3199, 0.0757, 0.7643, -0.0752, -1.4291, 7.2821, 1.6923, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7799ce3375b008220e6ffc28bee6c31a82f272fc41fa7bdac69dd8be502276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6420d212779712649b28c4f8ca6bb894685374c2ebf4303cf024a548467a44c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dac2a972858be3dcc5c2d5d73e781eead37580707511699f1f892998b19250c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.96 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1738, 1.5898, 0.2718, 0.7723, 0.086, 0.0597, 0.0097, -0.0212, 0.8062, 0.6083, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3515 left_y=0.0499 left_z=0.0262 left_yaw=0.0524 left_pitch=0.0189 left_roll=0.0201 left_gripper=0.0097 right_x=0.292 right_y=-0.0005 right_z=0.1724 right_yaw=-0.0063 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.4906, 3.9316, 1.79, 0.0757, 0.0513, 0.7302, -0.3761, -1.2923, 7.0222, 1.7411, -0.0171, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9565, 1.8515, 0.9039, 0.0708, -0.7986, -0.704, 0.9983, -0.0212, 0.8108, 0.6079, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3418 left_y=-0.2589 left_z=0.0533 left_yaw=0.0367 left_pitch=-0.0037 left_roll=0.0191 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.171 right_yaw=-0.0063 right_pitch=-0.0427 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -7.4051, 4.7521, 1.326, -0.4518, -0.0415, -0.0611, -0.1162, -1.2786, 7.1453, 1.6874, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.9581, 1.8645, 0.9039, 0.0952, -0.8051, -0.7113, 0.2898, -0.0212, 0.812, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3434 left_y=-0.2608 left_z=0.0519 left_yaw=0.0432 left_pitch=0.0068 left_roll=0.006 left_gripper=0.2898 right_x=0.2922 right_y=-0.0005 right_z=0.1705 right_yaw=-0.0063 right_pitch=-0.0443 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -9.8256, 5.3675, 1.0672, -0.3199, 0.0757, 0.7643, -0.0752, -1.4291, 7.2821, 1.6923, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7799ce3375b008220e6ffc28bee6c31a82f272fc41fa7bdac69dd8be502276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6420d212779712649b28c4f8ca6bb894685374c2ebf4303cf024a548467a44c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dac2a972858be3dcc5c2d5d73e781eead37580707511699f1f892998b19250c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper remains about 2.8 cm open, indicating that it has caught the toy. I’ll lift it a short distance to confirm the grasp before transporting it.\"}",
  "call_id": "call_siCOP9pP3J8QgSEhQQgY8iXz",
  "id": "fc_01e1520bae42157d016ab4725689ec87d097cf424bcb82b35e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_siCOP9pP3J8QgSEhQQgY8iXz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9581, 1.7504, 1.0061, -0.1955, -0.8013, -0.7265, 0.2926, -0.0208, 0.812, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3379 left_y=-0.2538 left_z=0.0942 left_yaw=0.0499 left_pitch=-0.0353 left_roll=0.0544 left_gripper=0.2926 right_x=0.2922 right_y=-0.0004 right_z=0.1705 right_yaw=-0.0064 right_pitch=-0.0443 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -11.1658, 8.335, 1.2772, -0.4225, 0.0904, 0.2613, -0.0615, -1.1419, 7.0222, 1.7411, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc82c94ff57d6d3773d1ca31680cd13b54b0b28d09e1820b37cab6c2fb5eee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8bc291da20d57fa4d056e595e75af2316f318e21bc5253fbfc627526bc6a48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361edaf78f2fcbf4e503cfed0c6d9bbb12ae06cde2445665ea1c6629bd0587a2",
      "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 · 5.699 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8711, 1.5654, 0.9539, -0.202, -0.749, -0.6186, 0.9987, -0.0212, 0.8097, 0.6079, -0.4095, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3464 left_y=-0.2191 left_z=0.1397 left_yaw=0.0435 left_pitch=0.0013 left_roll=0.0182 left_gripper=0.9987 right_x=0.2922 right_y=-0.0005 right_z=0.1714 right_yaw=-0.0066 right_pitch=-0.0412 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.9538, 9.1556, 1.2088, -0.525, 0.1001, -0.1538, -0.3487, -1.5521, 7.2137, 1.7363, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.9581, 1.8645, 0.9039, 0.0952, -0.8051, -0.7113, 0.2898, -0.0212, 0.812, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3434 left_y=-0.2608 left_z=0.0519 left_yaw=0.0432 left_pitch=0.0068 left_roll=0.006 left_gripper=0.2898 right_x=0.2922 right_y=-0.0005 right_z=0.1705 right_yaw=-0.0063 right_pitch=-0.0443 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -9.8256, 5.3675, 1.0672, -0.3199, 0.0757, 0.7643, -0.0752, -1.4291, 7.2821, 1.6923, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9581, 1.7504, 1.0061, -0.1955, -0.8013, -0.7265, 0.2926, -0.0208, 0.812, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3379 left_y=-0.2538 left_z=0.0942 left_yaw=0.0499 left_pitch=-0.0353 left_roll=0.0544 left_gripper=0.2926 right_x=0.2922 right_y=-0.0004 right_z=0.1705 right_yaw=-0.0064 right_pitch=-0.0443 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -11.1658, 8.335, 1.2772, -0.4225, 0.0904, 0.2613, -0.0615, -1.1419, 7.0222, 1.7411, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc82c94ff57d6d3773d1ca31680cd13b54b0b28d09e1820b37cab6c2fb5eee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8bc291da20d57fa4d056e595e75af2316f318e21bc5253fbfc627526bc6a48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361edaf78f2fcbf4e503cfed0c6d9bbb12ae06cde2445665ea1c6629bd0587a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJga7vkpNXoSUxIWpzL96lGB9cmdt_blRaHyF1TMZ6SVWkHEBdaPb9eP-n43MCgjbcAOxxmrTIFmYICDKTZ9EO58SMFMsiO2QvZGvpma4VpKQMThb_p7w0kwRV24De6BKQ94T_9NqzCtHoRwYI6XFlkRQO9KJYL6DNXq2PUWTTFvM0pemj_mbwAFSwvi4TDHwJS3iHIS3NgAIBEX8P0g5W59uS4O9RkZ0x8PxK9jKVcsUaByRAav6aZ-rdbMPd9NotVFiMl3N1CT-S1OeX-mymhyq1aLGmCfZTa4cFr1dmBzSMzf_knVO8g7d598lvbwtq4I4oORZ2ICeXAFn1_Cf0v9ABqdPOmop2xWAzyRCYYf7pF3o0F5xDovl5Nt1mFTjc8Tvc5AUAK4vjQ3s0ChRVuVEONpxaAZsoN0nLxHTT0uoosy5miZHykdISJrps4otj_Zt3PFSlc84udu6FafVecXbIA3CZtj0ykwrroG2qQDE3xPp5a8LxgrJTpCGQgb5kirYIc2wcJsqFcK5PDCokrzud-aurUgONj6sY-TKWv-LRRoJc-AwlBm8nncMmHCZ4F8fzaFMyTPGhcGIGUZpPvYP6PPCX99bMlaYlZ0WCbcgl8iu8lR3-znlMbFtmCweKjogRxsNg3nYdyf6u2cPAfOAYBYlhRMh5TfB1JpSOLTBq8bHwGjHj_e-rAhgyRPz5luJSOtaensGiILX1akI3wKTfzJleA2lJbBKpbvZcU4XmlpoOhdzzonBzaEw3dmgbMX_XGEC8XMisGA2BAV6MEkDkNTrqlJBIyZ6my0ZccR_8vMvwIPswucYFXeKYB-sBtOBeMd4ZdPvp_Q8WFmM6qKP1vHidn0xkXxmyEedg-GikBVQJbWhFvWwShnL8uz91yOsbtuGKpyqs2VqJ8mr94h_MJDRM2ZD4N8H2ltn3FIOTBgXqkyy9Chv9GiYVQIhUYRaLeZ6OuQRE3KJaX7FbOu95DBykydUhIFQj-vrMC4EpKlhWznMZYpyZ2BD34beUVRST4yhlIq8YMrxCPZuk3Eh_bBgMGg3BfUtMEcoK5mUvNVxYlaqEfckFjUTeRsyMLAIg5VBjoahYczd_zEfOK2hNGEBV8Oyx6kWnopOz1jqJ6ynHKmP8RqIJwy4mECew0KRXw2QfTvsG9kiJbkWhOzTt-0RNZ6Hl6kiawIhX_jp8ZCe2iQOiOThIvIl5D1fM6ht2NCndbdAwVevVQSZltsnQQRvkj03dIdLB1j8QtPIjKQU6tN9svrUwrCTIZTCmGD5g2qfe8tfZg29L5j84oEYAD6IxtJyg6SCCL3pe-dRLzczrsoG7sM_ON6Qb857c1eh8XMgW7qWx5CCqTCp47mUmVHo9Dwij-PdtYBrai97BwwhG0wGTGfhKR-B0tffS5sywrFLhHV6WNvlxhBGgeMvV_c1TF0tJJ3bccpUNe_zlhvDTse4cjsH7Y9JjNVXaKBotJXlarYUdTMNPauINdyW556aslxm1k4mCexZTYos6e0x0fafKRnzuFGXqc5yWzyJCsmxAkW5osM8e6tkCXV9zsYUYwCbbe17CpA99t2hxFcZzukyDtrrscsHY_UpLdNRttKjGoTTPnSwVOv8DRh_Y6B0ZuJ_qgq8JWTozwpzmuhmn7KCUgxVbDjw2iytKi0dcBtcmuUjldZzClaQcmR_6fvhZ3NXVrbeGCXPs7MGd-0CYxybda7uiOfAxbW66U52d9PUIo9n4oQlW_t7VH-Q==",
  "id": "rs_01e1520bae42157d016ab4725d44d487d08e41f916bcfc22d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.14,\"left_z\":0.24,\"left_pitch\":0.2},\"note\":\"The tan toy moved with the gripper and is held securely. I’m lifting it clear and carrying it toward the left basket.\"}",
  "call_id": "call_DT7Cm53nNdC2G7NELFpdXgkk",
  "id": "fc_01e1520bae42157d016ab4725f8bd087d09fde6b6a9b9c5382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DT7Cm53nNdC2G7NELFpdXgkk",
  "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]: [-0.514, 1.61, 1.092, -0.062, -0.5735, -0.2527, 0.2945, -0.0212, 0.8139, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.4458 left_y=-0.1375 left_z=0.187 left_yaw=0.0793 left_pitch=0.0809 left_roll=0.0938 left_gripper=0.2945 right_x=0.2923 right_y=-0.0005 right_z=0.17 right_yaw=-0.0068 right_pitch=-0.0462 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -10.6462, 10.9197, 2.0684, 0.0513, 0.359, 0.1832, -0.1299, -1.1966, 7.0222, 1.6972, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a968f44b5dbc59db6bd46526bf7298ab597456e103f1bd8ed66ddfd4ace8cd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8fb0ad35c53fa1a8cb71db76b070163fc4637fdde5779b5bde99880395468d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7773948660bf9cf68a641b445596364dfa6f5fede07905aca0cf2b5f88f7de1",
      "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 12 attempt 0 · /responses · status 200 · 4.093 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.8515, 0.9039, 0.0708, -0.7986, -0.704, 0.9983, -0.0212, 0.8108, 0.6079, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3418 left_y=-0.2589 left_z=0.0533 left_yaw=0.0367 left_pitch=-0.0037 left_roll=0.0191 left_gripper=0.9983 right_x=0.2922 right_y=-0.0005 right_z=0.171 right_yaw=-0.0063 right_pitch=-0.0427 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -7.4051, 4.7521, 1.326, -0.4518, -0.0415, -0.0611, -0.1162, -1.2786, 7.1453, 1.6874, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9581, 1.7504, 1.0061, -0.1955, -0.8013, -0.7265, 0.2926, -0.0208, 0.812, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3379 left_y=-0.2538 left_z=0.0942 left_yaw=0.0499 left_pitch=-0.0353 left_roll=0.0544 left_gripper=0.2926 right_x=0.2922 right_y=-0.0004 right_z=0.1705 right_yaw=-0.0064 right_pitch=-0.0443 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -11.1658, 8.335, 1.2772, -0.4225, 0.0904, 0.2613, -0.0615, -1.1419, 7.0222, 1.7411, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.514, 1.61, 1.092, -0.062, -0.5735, -0.2527, 0.2945, -0.0212, 0.8139, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.4458 left_y=-0.1375 left_z=0.187 left_yaw=0.0793 left_pitch=0.0809 left_roll=0.0938 left_gripper=0.2945 right_x=0.2923 right_y=-0.0005 right_z=0.17 right_yaw=-0.0068 right_pitch=-0.0462 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -10.6462, 10.9197, 2.0684, 0.0513, 0.359, 0.1832, -0.1299, -1.1966, 7.0222, 1.6972, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a968f44b5dbc59db6bd46526bf7298ab597456e103f1bd8ed66ddfd4ace8cd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8fb0ad35c53fa1a8cb71db76b070163fc4637fdde5779b5bde99880395468d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7773948660bf9cf68a641b445596364dfa6f5fede07905aca0cf2b5f88f7de1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJvorGqGRmh598zS61Sv5OggzkjdusNCzYKWgHFcbeDR4tWrVKEl8obK3jxOQ5cSrF82XPmJKyFTQ53UFv8xeydQJ8Iwh0J8amso0svgVwwsTgoBd_sgigpF876XA9A6y7p8trOkpbjesQ4muJ71sBxsn7uy5JJs4sTPHWu5j1VD0fAkqbdFyEtT3F60Ng6T2z1p38RCmFFUkkWbuAB8mcETS-4m6t3GeXNFp9HZV0FUq__eeS80Fdv05gqS1f3HKtwKGS4io1nUGRuDCZMXRD6zegcsOTszcGbLQUyjO11pIM_SXZtDPITcYeCXg3_cOS5C9VmJiNjs93CB6YPiqAW814IprLyWPJnIHd1dZYS3QIB5blDQPERUTTwJDdBwTjIXuUsKZ0r3uGVYKBha3OSqo0XwDXuTXslIqZQ5ZGk_ULIh5NYyHy9gjP05KQ1hKK1Y1mRoXHH3opPYiZ_CQ3Vt87W1YoZSv67IhHAsHFGEvKk0scMVGLTQE3kfcVcCFbmvBy_GA-nt3W41T26J_CpinicwvpPsQWX2wzfwE1IyQ3qIbXNDIBTTbn7eZRFmkFA2E4LRN313-SCGn3YNYmuQr6y0gRHiZTXflq84XIvZBJjvdZEp8HVrSn53vkPooqzN9o82FPl-C31FEl6oy__-OJJZzXKv4PLladqii_Ht0NAB7l7JID4-TdLRWJEqXoAP3tJjEe_Nqc2Vsr0nideoS6R6WJ4H5bKwid4pzeI7b-T6CJVwWvslX1Prbg8jBM5Eb6qyJF8Vh5AcBbwxbM8G6sXyQxCu_wDYrapuuZmC4faSIIwkpIcBrou_Xvo3LFYEiKnZQPTz39DZtziRp06rKj0MCvSGrR6SdlnP5sRBHXPTMRkPqRVHjPF_0uGZaj_WBb593p3MWz1ijbjehlAQ9Fig3MRTAjr2HeFnV9-vd6eHKJRlVm85RBO2eZip1PUdL_MtZLcyqg2hziwbTcOgma5u2yNwYr_OtLzOELr3nKCqdw2Q3te9mTVBAKHO2tsz1U0figluUhhzY2BFQouwaBiyY6r-oanDzky6q6jrcqCwoBdBhz1OVlR3QITcqUPoyQEmHD3AIF5AToj3hjaXb2p2V7_UMf5rvNZtGtKPxk6K9nKaqBP7WR4bi1LVBLPMx3u9RqzGd-ppq8A9nsVEy2Kwg5O2psW7960WeVboY6XVt6dx6ugmEB0ng97sf-njH6w_GtUPyi06F83bEsXfNy5AlH79u962zXU_v7WwF8r25zM_4KUeotu556xrZXXFOW6IV12pKRDP0VQIuQ7QEx6Z9gZyno-WSeFu4pcmOPyaY1V4XluJ-n2Ye-6F9TM1fioZ8ZsXfEypOimWzEHP7J-mrY-EeqmYI_2EgNc568OEDF1E81wm9TiX1b1hTWlMy6o2jQHrHJVMUv0DkvPCt5f3kUSxpqrBQPdrRaHDhYV0ZgeSxKM3EHiAuIyyhuGuMk_dRyzR1QBNcOKtJ3zcg==",
  "id": "rs_01e1520bae42157d016ab4726d1e9c87d0a9184343d191c020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.11,\"left_z\":0.25,\"left_pitch\":0.4},\"note\":\"The toy is suspended in front of the left basket; the basket shifted slightly during the approach. I’ll move farther over its opening while keeping the toy elevated.\"}",
  "call_id": "call_aTRwkdQe5H1Q6iZjAkVInS4P",
  "id": "fc_01e1520bae42157d016ab4726e612487d09ec9900718081dc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aTRwkdQe5H1Q6iZjAkVInS4P",
  "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]: [-0.358, 1.8202, 1.2171, 0.2634, -0.5167, -0.0738, 0.2967, -0.0212, 0.8146, 0.6075, -0.4103, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5302 left_y=-0.1014 left_z=0.204 left_yaw=0.1123 left_pitch=0.2643 left_roll=0.1161 left_gripper=0.2967 right_x=0.2923 right_y=-0.0005 right_z=0.1697 right_yaw=-0.0063 right_pitch=-0.0473 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -10.0444, 10.6598, 2.5079, 0.1197, 0.398, 0.2222, -0.1983, -1.3744, 7.0496, 1.663, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcc889527edbd8ad951c0e9a75cb6883c2d8efe8d4c1a7d58d654d77a496675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e2f9621b70dac7760f10af764d84036ff8bdc2083741d472f32ad159285945",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec2fcb977be3e2e034338fba0aff9034a3510ceabb6a0fb72a974f60b8ad41f",
      "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 13 attempt 0 · /responses · status 200 · 2.053 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9581, 1.8645, 0.9039, 0.0952, -0.8051, -0.7113, 0.2898, -0.0212, 0.812, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.3434 left_y=-0.2608 left_z=0.0519 left_yaw=0.0432 left_pitch=0.0068 left_roll=0.006 left_gripper=0.2898 right_x=0.2922 right_y=-0.0005 right_z=0.1705 right_yaw=-0.0063 right_pitch=-0.0443 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -9.8256, 5.3675, 1.0672, -0.3199, 0.0757, 0.7643, -0.0752, -1.4291, 7.2821, 1.6923, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.514, 1.61, 1.092, -0.062, -0.5735, -0.2527, 0.2945, -0.0212, 0.8139, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.4458 left_y=-0.1375 left_z=0.187 left_yaw=0.0793 left_pitch=0.0809 left_roll=0.0938 left_gripper=0.2945 right_x=0.2923 right_y=-0.0005 right_z=0.17 right_yaw=-0.0068 right_pitch=-0.0462 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -10.6462, 10.9197, 2.0684, 0.0513, 0.359, 0.1832, -0.1299, -1.1966, 7.0222, 1.6972, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.358, 1.8202, 1.2171, 0.2634, -0.5167, -0.0738, 0.2967, -0.0212, 0.8146, 0.6075, -0.4103, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5302 left_y=-0.1014 left_z=0.204 left_yaw=0.1123 left_pitch=0.2643 left_roll=0.1161 left_gripper=0.2967 right_x=0.2923 right_y=-0.0005 right_z=0.1697 right_yaw=-0.0063 right_pitch=-0.0473 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -10.0444, 10.6598, 2.5079, 0.1197, 0.398, 0.2222, -0.1983, -1.3744, 7.0496, 1.663, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcc889527edbd8ad951c0e9a75cb6883c2d8efe8d4c1a7d58d654d77a496675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e2f9621b70dac7760f10af764d84036ff8bdc2083741d472f32ad159285945",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec2fcb977be3e2e034338fba0aff9034a3510ceabb6a0fb72a974f60b8ad41f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ0zEWqLz8_yVeAwtntheLOEMEfezBwLeXflb2o7zWaUAmejPNf6U9jO_lHE169xcxe1JUhHt22oBGTBYIO5cMAy_6A22PWN0l_eaSANwGDWn5Nvs-JjgLof7HAn0TIYlK0vJdx4eJ7lzNsIvSD3DuDJFghAmUzNTzTUVHbkFk_9xMHZDT6_dC5fn3JjyKpbwmz1leBPtj7XO43tVHbbSJb3gvkoTuEl9Iq3byO414sZ_qja_nCjSdxSkTTbctaJ3RvKENurh_nN8CbuPw49e0GbHpJJYQ0p4DnXKL0j-R8oBTwAwSrUwzNFNUtOt_Hy-suRLsgDrJBmOgF3rF7TPbqDM_aVHFIh8E64Rc8BVBSaJmSIiznTJIShu8ASdvjSulurrpb-d1UjFsRoMChRc2BqaR2irh127iWOu5WMIZeKvAMrZRNzZInKWdhApkl3vPaMXNqcFnrGtnQ_tTTaztrHyoUgMlJIUD_BiLlCPPNuPEqq8wRln36BrYA59Kl91VebWWG5WJji5JNyhzSs1K5_m3pjET7ADxT0T323xJYPM8et6k_T7cOIJVL4Sl8h4dq9FDbl4lvuZqHKBbAc4iIPsV5dpnxUXtCz-BZE8pStsYES1s3CqQcLFE3-C9Q0wMkhmv52ezzz8Sr2OXi3LbLg-Hpgr-t0g_Oe46Ekd5gYf4smlCYDKo31SlJztWO_QbrSZ01m9mi4eCF959zYf9aVfV7d7vsCxmkfYr2mEnJQqDzBZjX6y1V3-4N1Zov-f-BjrNr0JOfPU9TWUujK4fwRKzpxskPQM21dq8TXodq2zqwGgR3ySydxQc5C9WYPq3BRb4CVMk1jlNy6MNy_1bnMcmzL3ZQOFRx7jXJSD-4jq7wVP_yHiscVVCo6ej7J4VmSl4ojC4DSaSpv2XRzPX5rjyzumzS1av2zCnf0It6-mJUXJrYPvZX9ghMKORDvDLc25Cu44ZOmT-dupjEycyjhQP7t7c-LnTb0Dh74S0_koe3gW4ItCR6eDrPUtPUgdewzJ3XlA-zt_PNKBLHPhpovA0l_SanK0JTwN5Wvjek5SIJ0640dUXJ8d6KoMjYXHLv3mX1Hg17MT6qS2fGTzvdiE9ZqYcacGwcGzFqiKL1cppAO1vIIf9h9FljAPSLaS5F1zq7ybChIp1ahSVJqnOAtQbcDWOCc23rjaPrFZeoRrXLfa0Q9o6hpn-11gMOM-CpUfBxIHQpzRr4Zli-JjKtZlXuCd2xeCSJQS_F8-fSk5FvhlI711qDZyV5l1rVZJck0p4MwZbVj84U_0KhkXfFwtFzQ2C5jTfeGdnOxWTYlaZ1y_yH7kldNTESIF3qlzuFLCX_WcHHFWJFcB2J9tD2pugEYA_19N50-0mX84Yuu3QTGBB6DAGb5Da86ZTmjH_FnV9nBg6wN_ou8_t4VuFPgx7XWIK53BKV88g_VOlsAsjOvmB-fpYIutLUgpfnik1v2JZ4NIrUc5zxAjmsG1D0zggIJiKoYB9LAtibVmEUC-n66cBxib_00K6xRWRck5ZLFujkS4z8RFCIj4NPH737ae3JdZZgDeRCbpvxpfMAbvEaDuzf_XsNXpiWSfjxnkR2IZ0sA5UFixCS1_iwuErLt2oopYaNH6uLa_wDWq8NeDDnzFe4A-2Cp1NUQDyylrqF",
  "id": "rs_01e1520bae42157d016ab47271e9b087d091c12c141fc0ba94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_z\":0.155},\"note\":\"The toy is now over the left basket opening. I’m lowering it into the basket before releasing it.\"}",
  "call_id": "call_vxRMU5CQ5MJQjZYkvamIGjn9",
  "id": "fc_01e1520bae42157d016ab47273fa6887d0b8b22b047a92bdde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vxRMU5CQ5MJQjZYkvamIGjn9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3416, 1.9575, 1.2255, 0.3904, -0.514, -0.0677, 0.298, -0.0212, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5514 left_y=-0.1001 left_z=0.1626 left_yaw=0.1229 left_pitch=0.2618 left_roll=0.1222 left_gripper=0.298 right_x=0.2925 right_y=-0.0005 right_z=0.1693 right_yaw=-0.0063 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -9.7026, 6.4342, 1.7656, 0.0659, 0.0122, 0.1245, -0.1709, -1.5248, 7.0496, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f4da3d10c813024765462f10e00f5d19c84d86bc956f6c85732d1977873fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0a55e9c27a1da1feb58d310017d5bc0ed9b3bd0f804d75f50b794d7876d2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ac1a1407f4013374ef7ba52d59847d8f9d192bc2f46dbb40d06d325b9a193",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.667 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9581, 1.7504, 1.0061, -0.1955, -0.8013, -0.7265, 0.2926, -0.0208, 0.812, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3379 left_y=-0.2538 left_z=0.0942 left_yaw=0.0499 left_pitch=-0.0353 left_roll=0.0544 left_gripper=0.2926 right_x=0.2922 right_y=-0.0004 right_z=0.1705 right_yaw=-0.0064 right_pitch=-0.0443 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -11.1658, 8.335, 1.2772, -0.4225, 0.0904, 0.2613, -0.0615, -1.1419, 7.0222, 1.7411, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.358, 1.8202, 1.2171, 0.2634, -0.5167, -0.0738, 0.2967, -0.0212, 0.8146, 0.6075, -0.4103, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5302 left_y=-0.1014 left_z=0.204 left_yaw=0.1123 left_pitch=0.2643 left_roll=0.1161 left_gripper=0.2967 right_x=0.2923 right_y=-0.0005 right_z=0.1697 right_yaw=-0.0063 right_pitch=-0.0473 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -10.0444, 10.6598, 2.5079, 0.1197, 0.398, 0.2222, -0.1983, -1.3744, 7.0496, 1.663, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3416, 1.9575, 1.2255, 0.3904, -0.514, -0.0677, 0.298, -0.0212, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5514 left_y=-0.1001 left_z=0.1626 left_yaw=0.1229 left_pitch=0.2618 left_roll=0.1222 left_gripper=0.298 right_x=0.2925 right_y=-0.0005 right_z=0.1693 right_yaw=-0.0063 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -9.7026, 6.4342, 1.7656, 0.0659, 0.0122, 0.1245, -0.1709, -1.5248, 7.0496, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f4da3d10c813024765462f10e00f5d19c84d86bc956f6c85732d1977873fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0a55e9c27a1da1feb58d310017d5bc0ed9b3bd0f804d75f50b794d7876d2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ac1a1407f4013374ef7ba52d59847d8f9d192bc2f46dbb40d06d325b9a193",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan toy is resting within the basket rim. I’ll open the gripper to leave it in the toy basket.\"}",
  "call_id": "call_xHRElo8tcgM2oVFugxUPeBG1",
  "id": "fc_01e1520bae42157d016ab47276463487d0af9ccdae4169fba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xHRElo8tcgM2oVFugxUPeBG1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.9686, 1.2255, 0.4358, -0.5148, -0.0788, 0.9954, -0.0208, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5555 left_y=-0.0987 left_z=0.1663 left_yaw=0.1386 left_pitch=0.2932 left_roll=0.0952 left_gripper=0.9954 right_x=0.2925 right_y=-0.0004 right_z=0.1693 right_yaw=-0.0059 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.812, 6.2291, 1.7216, 0.0611, 0.0806, -0.232, -0.0752, -1.388, 7.1043, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c745e6252fb3f8a11f4cd702c501d223842cbae77499045c2519a657d23af5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68868eecdc4a2e788619228411b3e82a35736a6aa88955fec272e0ba73ec0a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8b5307349ff3951498ea89e510f2b8dcf93835a54ecced71a858e566a241c2",
      "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 15 attempt 0 · /responses · status 200 · 6.345 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 56 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.514, 1.61, 1.092, -0.062, -0.5735, -0.2527, 0.2945, -0.0212, 0.8139, 0.6075, -0.4099, -0.0116, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.4458 left_y=-0.1375 left_z=0.187 left_yaw=0.0793 left_pitch=0.0809 left_roll=0.0938 left_gripper=0.2945 right_x=0.2923 right_y=-0.0005 right_z=0.17 right_yaw=-0.0068 right_pitch=-0.0462 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -10.6462, 10.9197, 2.0684, 0.0513, 0.359, 0.1832, -0.1299, -1.1966, 7.0222, 1.6972, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3416, 1.9575, 1.2255, 0.3904, -0.514, -0.0677, 0.298, -0.0212, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5514 left_y=-0.1001 left_z=0.1626 left_yaw=0.1229 left_pitch=0.2618 left_roll=0.1222 left_gripper=0.298 right_x=0.2925 right_y=-0.0005 right_z=0.1693 right_yaw=-0.0063 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -9.7026, 6.4342, 1.7656, 0.0659, 0.0122, 0.1245, -0.1709, -1.5248, 7.0496, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.9686, 1.2255, 0.4358, -0.5148, -0.0788, 0.9954, -0.0208, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5555 left_y=-0.0987 left_z=0.1663 left_yaw=0.1386 left_pitch=0.2932 left_roll=0.0952 left_gripper=0.9954 right_x=0.2925 right_y=-0.0004 right_z=0.1693 right_yaw=-0.0059 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.812, 6.2291, 1.7216, 0.0611, 0.0806, -0.232, -0.0752, -1.388, 7.1043, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c745e6252fb3f8a11f4cd702c501d223842cbae77499045c2519a657d23af5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68868eecdc4a2e788619228411b3e82a35736a6aa88955fec272e0ba73ec0a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8b5307349ff3951498ea89e510f2b8dcf93835a54ecced71a858e566a241c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ8ZODBXCL1ki6TxlrwPox5yMRFgcs1qv-oIA1fEjNRGrev4lbrcqBGShpEP-xXZx_FVDW9JTAmREtgajRLuCrY_xFQi9IoIDvc7LllDZ-ZOBXaGhfcP_FVo2KSH4bq7aPZtmn2jSr6yo7tOCB5L9Epgb8eJ8GcPTHMU2-YXN7FgDIdRQrQpqpeaEr3VEA3Tz_zmNS-m8IEFHnDkqEOUlUyjCG5VNNYSp4E-7BLJ_C654dsQsoCgoduFLcXBIgn3pMmsaoI3x3E3XqsCpdCbq_aqH-NjKs1Oxk4PCM4-6PIcWidQ_7PWAvg8_Rz3Xk8oAHlpJvey6C5LNVJNAzbTm38cBhhQj8s7AogTWpQzJ42GlQdPMZ_MABzQqlGJpP0ada7-x3EkBbRRwLstslb-Z52VjhKG0gB09Jnjq9bT3H0xdHTvogXp-ad78dzPgkvhgpj81e2HptsF4K7GFPs6CykWgdlypawr5xP0Bm0NPpD5wMZCq7rrp3KUBg2DN7jzECHX0rK-kut3pFy15P6xhNncFHyw8RMWufPeAxk3NZcPhaTIHdIle699Or3IXRTuUeLZJM8Gi5hVoAeQLMFjd5EuFIDYd_ZHjqdku5c7y2Kb7TSlIM3sgeFBJmdVRDkB_dgf7-j928dEJriH01M2wmZps6LpJkKGTrpbj571LpU5-wVHyvMGghYESLv8-YhjKoU_O7MFW0bPg1m3Fh-eezC04G57tYR1ZH0tIFYf67jb4CU1YKyIzNtDMzezaJo_Rm8y01DdKfv5ISW8Q03JY_FepuMwmO7LWZ_8xT0JeEkujWXPti7I2H2dW4DJ7rK5grnNeMiHx6tMfGoQQx-Kkr4HloWQdjY2MJbZM7UR938oGXH2LTVtA5e5k6ye8D8zNF1tdi5eaVqU9OAnVQxKO7qt8qCli5gkxmirCZo8IhyWCzhCSKgtkBXq8iPATQ_fT_mM7sRS86f8k5URo7I8ZhnPfT6aSAxVSc4KtuctOcR3j5VIdDCDvgZWzw1tWZ-ubjmAucKaF0eZPk_6W64y5jua2PxQl2nzUguc_g88rnjZ9tI96hqWqgc9pz70pqFlBHqNUGqH3t1xSc2dJuWcXVDxRniegLfEPrw4D0_Udk2iSYmp44qt4Bfas0E6OWK0dJRy87pP-JhTWSe2hF2UO3ghh6fh1dN_ULjxGC9Sr7e0Us5sH1ITLcKRK31y029qon3d7_3-TJDKryUwk2b5MW4QewxlHMbRZzyOuCAck4IWGk_eNTL5MA8e4-8-oMsNmRQoAOiObOdrniqGxoRHvekZuJ4187yQAXCat1ALeecIqt-tAQtGWDzw6pP54x_OQgx6YYTd_1oCOXw4xYVY4zlM0oaITdBiPt752kDYICxcXNO67NWeYPIOtx6MFolTXOLWor95iUEgnjOuFblsfgNKA5sA7aKUfvd8WEBsy0NBPKPexZK7oxezSHHLBalQ1HLdqPUoWB7haSXxuwZ6UsBo3D2Ejq-FDo9RvOMcCSHDxSrTxu2HjM0VBe3LvXfUjdI83KaYMtZpCfuHtnkNoWvT0iQDA5_yDTR50UP6UqjIt67l66tZUZweJ_Ho1aIrLuvrHo2JQIZ_wKRVwvkSC7O0GDGCQ46ZgZYhkJdFxgBM1jXr-McyCSFMR667VQodQ2F9FTb9hCiZypjj2Vrt3NtFnRIXMCLR7up8qUWbyaEYzlEI9QhCk664rWHGIs9sERJ_6W9MCzP1A88eZ0RhzgzoCO2pfTFTfb5Y35LwirC1KMfMoZA5QkrvufKxZ4GbxygosjpNGOjZ3eJYKNn42Ml5Bktk0UYoQHfElMr65xaT48=",
  "id": "rs_01e1520bae42157d016ab47279001887d096dc3bfa65ef2124",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.1,\"right_gripper\":1},\"note\":\"The tan toy has been released into the left basket. I’m clearing that arm and bringing the right gripper over the blue-and-white slender object for the other basket.\"}",
  "call_id": "call_iWwz1fjO14fk3hLDhZsZJf6d",
  "id": "fc_01e1520bae42157d016ab4727b3c7087d0be0f7448854f5ba0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iWwz1fjO14fk3hLDhZsZJf6d",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8928, 0.7849, -0.4423, -0.379, -0.1497, 0.9967, 0.7242, 1.5269, 0.7433, -0.0353, 0.5438, 0.4389, 0.9995]\nstate[eef_state]: left_x=0.3119 left_y=-0.001 left_z=0.2286 left_yaw=0.155 left_pitch=0.0529 left_roll=0.0785 left_gripper=0.9967 right_x=0.3394 right_y=0.183 right_z=0.0839 right_yaw=0.0278 right_pitch=-0.1056 right_roll=-0.0409 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -1.7436, 7.2274, 1.7998, -0.0317, 0.0513, 0.1148, 0.294, -6.5983, 8.6496, 1.5556, 0.5788, 0.1343, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b93a6300382aa29df810e4c5efe1b43bca76994063067c6d3bd58f33b61ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d1f1c3f37e93e8b66d680e7f669d99d1e3dd3b778c7719d592d4caf115a974",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3697f0f98e9b3d4c0463fc5aec7177a7b5cb2dc55f8df9714f2406fca3f6294f",
      "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 16 attempt 0 · /responses · status 200 · 4.837 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 56 changed as sent

message 60 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.358, 1.8202, 1.2171, 0.2634, -0.5167, -0.0738, 0.2967, -0.0212, 0.8146, 0.6075, -0.4103, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5302 left_y=-0.1014 left_z=0.204 left_yaw=0.1123 left_pitch=0.2643 left_roll=0.1161 left_gripper=0.2967 right_x=0.2923 right_y=-0.0005 right_z=0.1697 right_yaw=-0.0063 right_pitch=-0.0473 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -10.0444, 10.6598, 2.5079, 0.1197, 0.398, 0.2222, -0.1983, -1.3744, 7.0496, 1.663, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.9686, 1.2255, 0.4358, -0.5148, -0.0788, 0.9954, -0.0208, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5555 left_y=-0.0987 left_z=0.1663 left_yaw=0.1386 left_pitch=0.2932 left_roll=0.0952 left_gripper=0.9954 right_x=0.2925 right_y=-0.0004 right_z=0.1693 right_yaw=-0.0059 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.812, 6.2291, 1.7216, 0.0611, 0.0806, -0.232, -0.0752, -1.388, 7.1043, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8928, 0.7849, -0.4423, -0.379, -0.1497, 0.9967, 0.7242, 1.5269, 0.7433, -0.0353, 0.5438, 0.4389, 0.9995]\nstate[eef_state]: left_x=0.3119 left_y=-0.001 left_z=0.2286 left_yaw=0.155 left_pitch=0.0529 left_roll=0.0785 left_gripper=0.9967 right_x=0.3394 right_y=0.183 right_z=0.0839 right_yaw=0.0278 right_pitch=-0.1056 right_roll=-0.0409 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -1.7436, 7.2274, 1.7998, -0.0317, 0.0513, 0.1148, 0.294, -6.5983, 8.6496, 1.5556, 0.5788, 0.1343, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b93a6300382aa29df810e4c5efe1b43bca76994063067c6d3bd58f33b61ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d1f1c3f37e93e8b66d680e7f669d99d1e3dd3b778c7719d592d4caf115a974",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3697f0f98e9b3d4c0463fc5aec7177a7b5cb2dc55f8df9714f2406fca3f6294f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKEQ1bGIngGdI6q2X2pFQ9bN9gqA6d7yRzyO2jYA3P7KLUfA8270Mmo1L8sErcYPgvjV01FkD0LwKmNbiCWgFeVAU4c8Y3zgvgoFnQPTMRgPB3-VjJI1v7Ikc2Pq9nPjDQmn0zaFTT9gQLR6yk8qHqXapXBXv0YuwN73wE08WikNvPAMEB5DeLvgt7-D36RMPeAKXOcwQO6WsZqa2NJTm4NJtFYEQYErJlV002HaZIuIzNG3iJ-NSPUuiiY2jkqXX-gdOJyEm5MFU8_kBBM-kS8xAfT8qAgVZNypfau-tkwqDNDdB1j33y9DF5297EcvmdVurbbi5vKxXNeg25cwVVuBlYxcy9X45DkcYNssvIU7MLrI5fsbjt4Kq4CsoFZsMATUY1_oF6WqRqaVtJ0dF3TzUB7fxH69LDv_H_PfK3wRtjZtWi7I7Efo8lnyN6dwRUtJRI8nYWUmjnsyqq5elkMKXTSKyVRLYUULXisxvc8lyOCCHQbob8jp81S_Sm8R_Nhl-dslLCFPMSCfnnwThYdBEOhedbGVGPdTTA0XaYt3tcSnJe8mLE2OxSpLxluNZ7S5c4fEL6rjo562J88U92Ydr1qTj-yUHS9VO722_3ioXo5R3H-AZlPZcK6bF_VhC9_Ve4r_keeBKWLfFWZBhklamDQ7FAyQQELa_a7gev-6p5ySwMsVLwjUR6lTrLbzWF0pzmjUPVljOdKhEk3A6ydEpDq-BisJlhoX0G2JyBfEqeqwE6I71wdNlZEc-PbD1LZPz9ZVcGV2eFk_Xl7uRwWte3d9BWs5jtYwJa9y9660ZtAaBpDhUQVfNOzwND32SLzDxDjU5eSgqTA9s36PVkNJRDuXiF0V5XrR1wRPWB8Z1G5oHFfzCkkJVp0ZzsZgrQxdxmxzor8rSoSqGCKWs2haVFEVBSqW4eHnnUN39gmI-OGsEQksRzqbfkCsGzUrO_hQ88rGxj--k_9Vmv8lVAX1UJsbzlR6KAhcahp3_rHe-XJtF0sjYMcmhVl5gSDYb9J-VBwllTE_lKJENes2Tc4wXyihTaHH-k-DfnYB-lKxS92EoDgWpfGQM1ufzCfim6LTMP8ZROIMgmYEV-2pczSLt_nq0AiccEqtwfAmlRnVPDhWe-oSOxoGdEFHg4oneK2JPQCWK7gz2skh4j7nV-_SA5w0gPxAHUrpP8V5D5Ke1Dhhh0fhZWHsA_jX-5f2-zSDpRBvFfcoEyMmejqfuNYKFWTUqmiKY5vpphFZIXfyfLboVptLpEt5DQLxPIUq-RnhMRL-8flgI99nxscCmUaYRXvxT68I1_Pk5VWdNqq_Aqpl8yZSV3Ns1BXmHnFAIc22gL6FKdjXYkZpEVFQNDNeYl6jcLiAgu-a5MTqryGVB28-f4EyD8HAUw8GJRcazWiKPIrhngK2Xk7VPOLTIX_EWOJwCewHsfG60och39SyGPfsgO5-XmF_9o5ghJUoCfhBu8ZLDD1m5cYxJYatrmper6V13QC5-yWRiyb72LquJmEo3jltmQ8IbvDGwSON_iP7AYqE48Np2njxwk5YyYhFbXJ__qnWfa381L5NrMcCABxf1g4K_yOZ9Ld0l1wbgmypY2r_1h8bYoGQXMu-wFGudymQk-W9w253L6sOxUHMKS_DkvqEF9pg_uyKICqRxUI9XiiDLGQLj4uAp-Vrya4TFF5m47GA2cY3E7mQW1xKE2mC8VhML04lNQBWKneBGHybM4ZK8pu5XHQkNZqTIv86B9aDtgV-iGnmDlJZgTAzqHFsAmvK-QnRgiA6nb4Ru71Gljcbco8hJC7-Q5-mWAdr1i3t7-7PyiG5hW7lFEIgwniteIyk0hbTP6NlKSRBJn34g23_L5KPCJh5pHxlm_nGP72ZqPYson6NmIWA0IbcDankXlKTRuBUHMUH8lrcbx1lUvFjeQMa_VaXSHl5eEqzCHJQ5H2joTFg-CM5am6HwewZe2WcAKswyyGNPC49Ml8a2oeFQNq2JbyyBbzdeAwlqRp5IESquUHbp-hQUlvLJYwAQ20kfkjRmdRgqAzcS7XB0mdLV-as10qKTI1-C0HIaAmb8Z1b6UvwTFxbXJkELWdOmlxX5RvGQKibyYVOuYRUxB2wSPI5BtTdSHKP9wy8ETsHwfMAyMN_5cuc1AkDoOz9xDT8o_gNavXZBkQges30Vog1jjaoEmqIUo8BNToJIc89od-_Q7talGEGXZIjhjuFWAu7D3DgNzUyBJf6fmSp8uycjdw3-Nx_Rm86maHsWqGVRTyzMtMwq2acbkZ-dY=",
  "id": "rs_01e1520bae42157d016ab4727fe27487d095e5f4b1b5289d03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.23,\"right_z\":-0.005,\"left_x\":0.48,\"left_y\":-0.09,\"left_z\":0.28,\"left_pitch\":0.3},\"note\":\"The blue-and-white object is left of the right-hand jaw center, so I’m correcting and descending around it. The tan toy appears snagged on the open left gripper rather than left in the basket, so I’m raising it back toward the basket.\"}",
  "call_id": "call_WiyYZ0nZ6xmaumsxaQSvROsX",
  "id": "fc_01e1520bae42157d016ab4728334b087d0abbeccd04e7f1ddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WiyYZ0nZ6xmaumsxaQSvROsX",
  "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]: [-0.384, 1.5558, 1.1629, -0.0235, -0.569, -0.1555, 0.9967, 0.7719, 1.9186, 0.8116, 0.3279, 0.585, 0.4847, 0.9995]\nstate[eef_state]: left_x=0.4688 left_y=-0.0829 left_z=0.2493 left_yaw=0.1663 left_pitch=0.212 left_roll=0.0924 left_gripper=0.9967 right_x=0.3722 right_y=0.2312 right_z=0.0153 right_yaw=0.0223 right_pitch=-0.0559 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -7.8838, 9.7162, 2.1416, -0.1441, 0.3492, -0.0024, 0.5402, -5.6957, 5.5316, 0.7985, 0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0c30646273ab409d998fecd717faf335dcc0f1704f67ee059cd77fca45e8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75dce07cbf6a4479e7bb745c619a3afc3ced7987582701ec38a17acb31469216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438fddc0caf7cb322e7de6e4fac0df3461440330b50bf7823c8b4ba4ec00bf9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.445 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 60 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3416, 1.9575, 1.2255, 0.3904, -0.514, -0.0677, 0.298, -0.0212, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5514 left_y=-0.1001 left_z=0.1626 left_yaw=0.1229 left_pitch=0.2618 left_roll=0.1222 left_gripper=0.298 right_x=0.2925 right_y=-0.0005 right_z=0.1693 right_yaw=-0.0063 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -9.7026, 6.4342, 1.7656, 0.0659, 0.0122, 0.1245, -0.1709, -1.5248, 7.0496, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8928, 0.7849, -0.4423, -0.379, -0.1497, 0.9967, 0.7242, 1.5269, 0.7433, -0.0353, 0.5438, 0.4389, 0.9995]\nstate[eef_state]: left_x=0.3119 left_y=-0.001 left_z=0.2286 left_yaw=0.155 left_pitch=0.0529 left_roll=0.0785 left_gripper=0.9967 right_x=0.3394 right_y=0.183 right_z=0.0839 right_yaw=0.0278 right_pitch=-0.1056 right_roll=-0.0409 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -1.7436, 7.2274, 1.7998, -0.0317, 0.0513, 0.1148, 0.294, -6.5983, 8.6496, 1.5556, 0.5788, 0.1343, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.384, 1.5558, 1.1629, -0.0235, -0.569, -0.1555, 0.9967, 0.7719, 1.9186, 0.8116, 0.3279, 0.585, 0.4847, 0.9995]\nstate[eef_state]: left_x=0.4688 left_y=-0.0829 left_z=0.2493 left_yaw=0.1663 left_pitch=0.212 left_roll=0.0924 left_gripper=0.9967 right_x=0.3722 right_y=0.2312 right_z=0.0153 right_yaw=0.0223 right_pitch=-0.0559 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -7.8838, 9.7162, 2.1416, -0.1441, 0.3492, -0.0024, 0.5402, -5.6957, 5.5316, 0.7985, 0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0c30646273ab409d998fecd717faf335dcc0f1704f67ee059cd77fca45e8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75dce07cbf6a4479e7bb745c619a3afc3ced7987582701ec38a17acb31469216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438fddc0caf7cb322e7de6e4fac0df3461440330b50bf7823c8b4ba4ec00bf9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKK0WkbjUkBvX_0H1zG8P5hunKd0I2oKnKtg5bY_0rFD1R3z1K11xZQy_4lxwwSJj9LU3DcJkqtNcVbCbN2ggAqoeE4vaRJ4YO8TOhOF9SU3lFvyYLwGAm7lWg1ooAkyjAVxhXyguLuh6w_mFx8D_A05sSJpBe57oam9wOCMbKAP86PfMq_XmZPbRu2pmsvDTU2v7Zcj4JQUJ77PFFSAbYeFxaYEslHTovugQmSRp9r6d-yN9KzXiJnG8iVTwgF3wYpdT2JOow2DJpWXUQNZufHNC2d-oKlGndAlKFMlc0BFj0at3TNykTJkhsYSZRHpon8XhV4sqNkCKR_Dwcn4bhfyX4koY9LeAo3wUU-UtCjlXihF7-bWmg-lMTAKgs7IIFtLJVAiAAucWTV3dxKxxh9AEGwW56rykkMuv0at-6m2jlJNGnV8Q-ElsiYKdGbaoi6zPMaj7t0J2aUHF4TPs2chRNMemGc6RfwEzVthmKXa9eUhUmAgqns9rK_O5Pu3ybDLDu5M3Wt6gKuAiKY86Iv2kT78XW14QsRLsEXXbQnntshUnNr8r41UijnYJf9FtUjOJTZJKOrlKUH4cDVZj-rXmY-svhBaLETy5CDqFwzt80xTawtoYUhs-K0zTY4wQXGs0yqLX3vwYnz_5_MSiqGcZ25oVIy95_PUYOLiJVSR-iTcyY_6CkeoOVz7q-ZZ71mAcFZkg5V4QeVvpOChWXDrr7U3gD_ypliv6gD5UJAXVXR-UNSfY7HOtW7Ks5kj66ueUunLXcjp1OO6Jpz8dRCJz9cl9hpMYQBxvV2F5cLGukgc7iTEr_b5BOp_eZ7au5ulT5EcDtzhHgGKHTBI_e8k0y2hPqxtMWTqDbrLgT2ct876tf6zpqO2etyRnw1dh-RmHhXklpS19UEZJLEzMhSlvNWV6talblqllhau37Mnnzn-T7j7xA9GJI707Xi47fxYA2DH8GG4By7XE6DNfIpSsAVJ8Z0uuq3fj5PUOdJL-UMFXRzGtYPKzs8Zfv24_eIclijLAH0YqcNdDudMSUXll8eJRtzTBBsBd5HIpHlnrghjih9pWO5eIEoGF6OyJrtxqoz7gFzLqnpESxHYjr0emvOSbH8-IupwxuTz6l86A7E3MlHP4fHvx-l8t4YNqpIsq9_5OqtSYnhTEpDZ5s2t5hZm4Elc-evlCBG33-twWMuoBPL5VX-agX2A2NjFhBzkAb5yY15_wGFs3MpljMZo2olZ-m3lvZ6flyzd0RdNLuO6NrCCmwcoo645iK9WC_eBBJQ-JcVPKR5fXas0tFJA7O4mreWHbTYQXu-cyFhS13Y835fQswgToSUJYi26UnzfqKJ08jQXZr8xyRBXmiU97EIj5EzltTAK1pW1uQiTfjxcb6gomK4BvNkaVtSpVK85Pcnq7iWT_xAJju7G91kw_IFRVWzJu0dR28pVr5xWNN15Lrb_om52fNKCaJCTW72u-JmMxRBXTAJV_1Eq2mvD7VcG8ug8i5p1AGvZ7M2xqfhYhZ0SiaetT1bsuaVMpHYbAZbuLl7L2yApZ_85Jw46lsvexcUlYOyAVAzxAw27W9nMLYhe-4ZTllULVVWXDP9cN4dBmX4hbsYtINE7RT6e6_sQrVe204XyEbDPa2e97lB0wyfRHLvH-Jga3tVYqrP14T0mIq80BZtfxCbb8MOYhvZPce4TGjOL_jF4SYbSzGdj1M6vPjLjW1oPZ9xDtRcqlGYDCEIaqITYVRTgRPijF4ae4EB7f4sEFdnhcWt_PY7UHyvhtI0iwTGxhMObZaU03IfJDu1sEgxoW_KHf4bmNDl2dQQAB0uGCdmS-srLj7-TimM4DYw6l5G2XkI8CucfjMAc0_7QQSP3TBYR1Ocvw==",
  "id": "rs_01e1520bae42157d016ab47287287c87d08b64ad924c86c040",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0},\"note\":\"The left gripper is now clear, and the tan toy is still outside the basket, so that placement needs a retry. The right fingers are at table height around the slender object; I’ll close and check the grasp.\"}",
  "call_id": "call_O6yMd8jp98vm0gOW9OQ80J1u",
  "id": "fc_01e1520bae42157d016ab472897f4087d0bb8ef5b30828784f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O6yMd8jp98vm0gOW9OQ80J1u",
  "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]: [-0.252, 0.9123, 0.8013, -0.4675, -0.4232, -0.1833, 0.9967, 0.7712, 1.9301, 0.8154, 0.3454, 0.5739, 0.4786, 0.03]\nstate[eef_state]: left_x=0.3117 left_y=-0.0016 left_z=0.2271 left_yaw=0.1828 left_pitch=0.038 left_roll=0.0823 left_gripper=0.9967 right_x=0.3739 right_y=0.2346 right_z=0.0138 right_yaw=0.0334 right_pitch=-0.0538 right_roll=0.0072 right_gripper=0.03\nstate[joint_eff]: [0.1983, -2.5641, 6.735, 1.8291, -0.1294, 0.0708, -0.0073, 0.0205, -9.6889, 4.8615, 1.3211, 0.3248, 0.0464, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584af60dc321a94a7d84f18701b187f1fbbdc035ab3c3af2274d661c869c5c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9820f393f35576c3639cb95bf895d61334ae626696ae56b91d4bbab91f2c020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0998a2caee777552c4283d1e5c8c6f29166b88b03c67a796677a6ad0d391c71a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.18 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.9686, 1.2255, 0.4358, -0.5148, -0.0788, 0.9954, -0.0208, 0.8165, 0.6075, -0.4099, -0.012, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5555 left_y=-0.0987 left_z=0.1663 left_yaw=0.1386 left_pitch=0.2932 left_roll=0.0952 left_gripper=0.9954 right_x=0.2925 right_y=-0.0004 right_z=0.1693 right_yaw=-0.0059 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.812, 6.2291, 1.7216, 0.0611, 0.0806, -0.232, -0.0752, -1.388, 7.1043, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.384, 1.5558, 1.1629, -0.0235, -0.569, -0.1555, 0.9967, 0.7719, 1.9186, 0.8116, 0.3279, 0.585, 0.4847, 0.9995]\nstate[eef_state]: left_x=0.4688 left_y=-0.0829 left_z=0.2493 left_yaw=0.1663 left_pitch=0.212 left_roll=0.0924 left_gripper=0.9967 right_x=0.3722 right_y=0.2312 right_z=0.0153 right_yaw=0.0223 right_pitch=-0.0559 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -7.8838, 9.7162, 2.1416, -0.1441, 0.3492, -0.0024, 0.5402, -5.6957, 5.5316, 0.7985, 0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 0.9123, 0.8013, -0.4675, -0.4232, -0.1833, 0.9967, 0.7712, 1.9301, 0.8154, 0.3454, 0.5739, 0.4786, 0.03]\nstate[eef_state]: left_x=0.3117 left_y=-0.0016 left_z=0.2271 left_yaw=0.1828 left_pitch=0.038 left_roll=0.0823 left_gripper=0.9967 right_x=0.3739 right_y=0.2346 right_z=0.0138 right_yaw=0.0334 right_pitch=-0.0538 right_roll=0.0072 right_gripper=0.03\nstate[joint_eff]: [0.1983, -2.5641, 6.735, 1.8291, -0.1294, 0.0708, -0.0073, 0.0205, -9.6889, 4.8615, 1.3211, 0.3248, 0.0464, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584af60dc321a94a7d84f18701b187f1fbbdc035ab3c3af2274d661c869c5c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9820f393f35576c3639cb95bf895d61334ae626696ae56b91d4bbab91f2c020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0998a2caee777552c4283d1e5c8c6f29166b88b03c67a796677a6ad0d391c71a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKPPAK9zvDCzAoeY2UqAi4v9ypzGHVKO5yIH0JDFitcBgIf1MQBuPWbNmv8mhAU4ZMm9Cr-VkOih1Gnih3kjNv434KCkWqTdn6lGsmmxiXRzbCcxmIx_x6DJjYM8M7lqvNdWA6cLCftMJc88ihX9cwD--rZRiGhqMOOdg-x94ICWoj1jEMhM04yv5bge27GU57nU1c0fTHzfhTdwwNwuD-Bj-PD4i9gnXRyXrZVlagxepLdNNRmfBhbXPb0N_NYdbCK70MaW-6V47RJy2IFOvvVJMNcocXTR7fnZLT2u4M8YWvqLoPqzibMNbH_l-I4chV3WxlCnEOcdOa0y-W_rUlUgEx-wABhwjauPPmNxPywar9TLKAgI8bNUnar6ifwpCUq2Rsx3TQN6PiyqyJqNYqlO8xn_28TlwKe2NVNWfQ6RiTgDgxVCijl5jYsO6H9lftgiobYSu7szPDVQApajgMCWWGire2xZZZqkyZRoo_giILSr4ssnnNDoyMz3gvkKWm8QaduuA0WP93aQXNMZyJZNCDqTxMw3nPr6KiAOYOg8j1gfMg7jxam7H_dEuqR5ssK31_0oajUn_M8PxM3Jr1DoNmxR17b98tTS9TzCp_7R0oi7vOagvYZZ9-hUVw3VPUwfkhYLGP9YKKdaskNB7VQ6A381bkLGqrzr_TqdlxrOKjkA8FbuNIDgmG1dykzhozBdhpOiHf6EyZOesJDBQVNTUknATfb6k-bucyz5hslQiFkFLAXLq8cNVh8slzDa_ZxLsIHOakLkanFaCMVAUWzOiQTNs8384rD-LaMsZIhv-9znIbyV9yeBVIclgb2mc498aKK67cSNtyO5GZtX683zwVeThkZ_x-NhxlC1SlfDwLQFJSmEsSKTix275-OVv9JgIwX9wjCxpGDUobbVYVx5tQQ14z_Hug4oPm5QWHwgVJdfNeI26Ycm1QUX10MDla-JjuEmfd1G3q--vjgjOcIyPHYxgBrN79KefGgU_eXnGyQHtyDuPwHD5sHe56d8Iuh6AMcFCLRiXoQzDJTE-OiKIYbczSHJMfQTCi1rCqxsFdsFL6G3hxGOU0WxnVRG5cV-g_20Q0CkTf0c9xKK4of86xQzA1ngSYLDDGm5voIZrseP-ncoxsKcW29RrStujiyEU6VsmNA8Bpbcqi1-GQTnCyNJHmLSdBjnL_2EIMnzy8S6TGXnVUJPMLcc8BLGhVVvbeiskpHZGcWym2v-I-uXKic_FTQEclQB_iA1xNTxyX8hXKfocmF6NIts2DSop-hVPCB-ASHFdrmgdPI7w_BXdppRRQ4St1HerekpazbPkRdMY7BNcJJhi0_N6Nb761XTWc3VdQQYJVkj9r9tICplfne5MRMUbd27Fhpta-zrjGfsjRscpqorTp5Rb5LYBi9coq92j2g2KOKRUmcsI3kvnNTkcpWB78XGfhnOFTNTYYqBq-nqeuyeofbQNKpp0iG-NH56LvEUGcF7w9EC7b4aQ==",
  "id": "rs_01e1520bae42157d016ab4728d469487d0ac2a52bf60a7b693",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper closed almost completely, so this may be an empty grasp or just the thin shaft. I’ll lift briefly to see whether the blue-and-white object comes off the table.\"}",
  "call_id": "call_GGcfzmLG6BDcs3PIjie8pJf1",
  "id": "fc_01e1520bae42157d016ab4728e755c87d0838e63635f185ee9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GGcfzmLG6BDcs3PIjie8pJf1",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 0.9192, 0.7952, -0.4999, -0.411, -0.1844, 0.9967, 0.7712, 1.7943, 0.8677, 0.1555, 0.5644, 0.4755, 0.0294]\nstate[eef_state]: left_x=0.3079 left_y=-0.0024 left_z=0.2158 left_yaw=0.1739 left_pitch=-0.006 left_roll=0.094 left_gripper=0.9967 right_x=0.3724 right_y=0.2352 right_z=0.0568 right_yaw=0.0421 right_pitch=-0.0596 right_roll=0.0084 right_gripper=0.0294\nstate[joint_eff]: [0.0342, -2.5504, 7.5556, 1.9512, -0.3199, -0.0659, -0.0122, -0.212, -9.7573, 7.7607, 1.3504, 0.2759, 0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24373d83a14f1962d0374bb48f8153a2e5a54f0ffb21b672ee2ed25b06f8e17b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3b37d5171503410f6c9f68ca62b6f8c3bccba854e63572c6ad0626fdc964c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f176f4101704ab0f426014ed501a8c240c470f9c331e20203e15341ccf2b36",
      "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 19 attempt 0 · /responses · status 200 · 3.072 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8928, 0.7849, -0.4423, -0.379, -0.1497, 0.9967, 0.7242, 1.5269, 0.7433, -0.0353, 0.5438, 0.4389, 0.9995]\nstate[eef_state]: left_x=0.3119 left_y=-0.001 left_z=0.2286 left_yaw=0.155 left_pitch=0.0529 left_roll=0.0785 left_gripper=0.9967 right_x=0.3394 right_y=0.183 right_z=0.0839 right_yaw=0.0278 right_pitch=-0.1056 right_roll=-0.0409 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -1.7436, 7.2274, 1.7998, -0.0317, 0.0513, 0.1148, 0.294, -6.5983, 8.6496, 1.5556, 0.5788, 0.1343, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 0.9123, 0.8013, -0.4675, -0.4232, -0.1833, 0.9967, 0.7712, 1.9301, 0.8154, 0.3454, 0.5739, 0.4786, 0.03]\nstate[eef_state]: left_x=0.3117 left_y=-0.0016 left_z=0.2271 left_yaw=0.1828 left_pitch=0.038 left_roll=0.0823 left_gripper=0.9967 right_x=0.3739 right_y=0.2346 right_z=0.0138 right_yaw=0.0334 right_pitch=-0.0538 right_roll=0.0072 right_gripper=0.03\nstate[joint_eff]: [0.1983, -2.5641, 6.735, 1.8291, -0.1294, 0.0708, -0.0073, 0.0205, -9.6889, 4.8615, 1.3211, 0.3248, 0.0464, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 0.9192, 0.7952, -0.4999, -0.411, -0.1844, 0.9967, 0.7712, 1.7943, 0.8677, 0.1555, 0.5644, 0.4755, 0.0294]\nstate[eef_state]: left_x=0.3079 left_y=-0.0024 left_z=0.2158 left_yaw=0.1739 left_pitch=-0.006 left_roll=0.094 left_gripper=0.9967 right_x=0.3724 right_y=0.2352 right_z=0.0568 right_yaw=0.0421 right_pitch=-0.0596 right_roll=0.0084 right_gripper=0.0294\nstate[joint_eff]: [0.0342, -2.5504, 7.5556, 1.9512, -0.3199, -0.0659, -0.0122, -0.212, -9.7573, 7.7607, 1.3504, 0.2759, 0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24373d83a14f1962d0374bb48f8153a2e5a54f0ffb21b672ee2ed25b06f8e17b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3b37d5171503410f6c9f68ca62b6f8c3bccba854e63572c6ad0626fdc964c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f176f4101704ab0f426014ed501a8c240c470f9c331e20203e15341ccf2b36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKZwIUTbVRrZOhfHJ-iR7PQACbjH8PE4GdCVN5ONgo6at2knSLByU2dsD0JX-LnhEB2j6_c7JGp3VutRs8fHQyt679rbf0tVx5KAPVAvYXHFrAj_tavuCuXqtzSuPgIV4FjsG7KC3XqNz4RNGaTkMBikZX_XY9UWoF3pTMJNUrR4A_sVLMMAyoOINoNaWYBPWykBvJvCAToPcToPZx1-7BlAlTxM9KSrvVmCNGCE6jmu4UFVU9rhHiegrKH_mNs55uZC_mTb7F23LBhjJ8M1vxctyk8mRwgnFDq4nnN7LnHeZMvmslvQYdc38Qa_JA7YFhEfKZt-wZVcmIxXzMgaKoDMh0CeKKWHx4zW_4cBFn5_28C2ScbrRIRsBuY3gf4zzxCvYIDjksZ_CiLk6KNY-MEWLpLRta3AzWcrYIIVG2VAbnpFp6J_ws4-wh2x5qrW4zndtH4KQZYPHm5wwz4Dp_P6NCYslYnnNNVsp3pS6b0f01sb5lZUtgRge_zwkDDHtRscedQ6dn42otIGzd2yn2ZpFdrJt2my6AWFvj02gadcPT4AoE8oSECfZ6ZcAj8g2ZshMPhElntJCEeBgdw7FXPyICoYOv3yY42cuwc4XpR-j40oxs4ul0hULSpcLZzTWszkxkwednvNlaUDs2y54sie1suMdhL4TduSNqGfQILhuCrCh2uA2CnmabEc5rqacX9ftpk9B8r-R8ANKPQBmhXlMsm5VBvkLJWrGdioOWmKRi188H-EvvOB1AAQFSWSChZr6KaZ-97185Xge30ibfOEeKhCl6gv2C_Dy4FFs3xoy_Svq_0_c6A7hnj6uUIo2oLdM0hP_Vq-wnnAJQ8qM94oUkMSBHoKrod4Cl12QoVSMHcI5fvY_kXX3W4s0l9e-9kN14jFGFrpoUgCy8arDqwZoKtFxg1OPZmRUxr8mIjdg6xGQb7nJ-S8HUn8-aUU-CykLhm912ulqzmebEtZaa9reIrbTPluD06fggqMsVu-rCev0LFVrMCThA4e68hKQoTyKLhvia-qfALJhUW1axfemN_3Kgjt5J9EBcwjoAD1X3_yzeq-xPuIL1l4a4j02PYMDPm5Lo4_X5u72NQzxnBmBLMHacvypo7CNsEASkM65EywEddwOmLhhXKJQEA0-0FlpA6x2OG3XOhigFnKbvJrwhy29IHDw0XQVIjwIAuhzBaoMOfV4_dIEp9EFmRSkK0K65_nwwis6DQSMmGhJCcOA8dEftjVQhGbVhVImxcyw_2BOjL1dW4V396IAd8ZOVprnGNagOxYDthAEN02dVVJ2Gfaq1dMUJaah22MyAHvJfEI2Eru5-MQoCFBYcJ2O8CGzZhMAlEELPEqVCZZYwIkNGn1oQKcdqiwYNWOyuIUki204tGpHKeMdMny389ytfzrQ5k57Z2a5RIRk2dCwWRbSzjikk00z1sxEKG__UwAkRN-TRLd1rEXwiQ9AtuS6wC-v2YO9T8RevcD9K0Jwc3f136MbXSfl0wc29Atb5CFW-h3Z9OjICTjRFORkgwG9wLslQ8lEvmBo2xiu1ikn3MJ3BHZu8rD24_pddlW4Vash-bHXksvoeo8rEbD13lcA_twJJRd6uZ2wPi5GqMmGe2_n1u87ccFgl_Kf3agmbN23hNXizJOyk2hTpucIBDx_LDZFetyyd8UZwCxt8UoIhVQFoVtpzOoIC67Nl95Q76tqZvXXkrYPVpOD3nT8UxI8QGfvenD88cKuHc64h_1bdN-yCnnnysWsmX37LdzGX6PEg6zgLM9U9tqB8UcL9HVtfGVqPdnH9X_BeUg25k9PUWx1xcCg2yGXfgPtGzR1Quti-n-OWcPdpA6ahEkifg64meN6fP45J1O09GHeH-Cck8ZpUZxKQMjNV9JQj-6NSfESkQBzhhnG3FvlfXeX22majkfEag4kcaHigEPTI8GaChcFD7q0Cc4rRy61nw_n4sH4l23bzxH13i7GPLz0r4AgCS0X-i_DQl215hXC641EuXG4JZE_pnyYP42zA2DlF4NoVJ58rhJwyGB2U4byj-EHMxLlCZe6r8Bleax8hURrFXBhznKDkV75qs7o7DEnxGJGXtApEk3k7XspbOVemcUNSDku0ipaJKgT8oMn1EuhKaiRR4UzZpywVY5IANqeQjTuE9vD_PQGEfUlG_RjAwNwMWm1PbGaACCiEZbhcnwukJZiDNVpqqe0MBG7tJcLmA-FfvYHvyUgwSCqHeGzrnhsqfp--M9n5C4JN4p8i-T6IM2WKkmRY5OFhwLFfFErNzkgxYdw4WdYo8WmwMnh06aK0hwCHJgmXAYCq4EOVNDrDTQV0fp2FD_4WHicUOQAU8pesVmZJGsEJsVmdRehcjmTvZIVEt2mG8vX_eK27OcSBOgaC2crv9u_fg_cvVQCczrxIkarCtGstb-0qLAL27IW9rkl06J8jB4al4F3kirzjXxufBJC2a-9jRab5OR_VKqTh5GvrG70GwBEL3icwpRUa_tHxUSEEpGOhOFX9pKKXzDbLOlYo1rHNdRQnsVT8m2AeGscQ5x09jIGGpNtTmwVQbpYJ5dH3zBc3MRvA_VvI1-yjcSnryEx7OMn6xkudHJISY8AjBtmdmMXe2oJIs_-wd2XgEPcLBsR0zKqejEjXt5JSvoEP7wjyMDX9BkBeIA5jFiIzOO0amn0JF8DCoudGPLC8F9DiCKIgR38w-HzglLfWoV1Go-e1C32hkotAvZezi_rSmNnrFFIpnAUqZprjmkylkolSjzxCZkgH4Fkb-hdbbKjqfIlbNeMBVkOJYdOwEjW5vvVwGmGlg-s2beGRFjkT8Leb9MuZftewKDoVuRHkfGcZM1DoL6Sh_FKs07HMqVuUv_gIuwGAogiI4IoBnQixgcAdbalSAjE8uHQs0GzvZHFdNGATvjELRJO3X94XHNQp-lir32Ddb8mnM9-ZZK96NrWtphAvVdtzGK_6ZKZGtKCsKlYEiBQlznu0Id7O6CtXrqIywvwRvJ0r0sni1jIIB4R0EavpFasNLVKfMdtG3GK43Mq5tYaXVuXzxcgzVfabAEiYDJcg1P6hyUcQDdUrx5HVf2v69pLHO3z_lmxa4ZOWTwnC2TFBpcyIcGHwlr-k6KCivNKOKZxDucHqQ1VOHHGTg2i_zb9OwaepIeJ0LJkm-PE_ejkBnljOjIO_Y9JNT20h3ALvEzxffKPvqIbdp6qr4tBL2LPBVezBIh5EdKJpM0G0_mKDBxQ7E8qVtdqBmq_YnGWaY7JNNSc2Xlliq6vmfe_IihhxAiEoOQswzXLyfi3bxuIEyL3Jl5fBxXcHjIDFRlLBu62rDfS9C0LR3L1bKJ8kGhCaMQzq_inyhyc88chPApqmEQYoHw2trpAw0tMHyklGZmiP89oXyNzeOiScItrhdN-oGvAlDzg==",
  "id": "rs_01e1520bae42157d016ab47291879c87d08612cfb0d7ce22ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.215,\"right_z\":0.003,\"right_gripper\":1,\"left_x\":0.4,\"left_y\":-0.11,\"left_z\":0.085,\"left_pitch\":0},\"note\":\"The blue-and-white object stayed on the table and now lies nearer the right arm, so I’m reopening over its shaft. I’m also repositioning the left fingers around the tan toy for a deeper placement into its basket.\"}",
  "call_id": "call_P6h6AOevWZeOdCqo50dCxQ4b",
  "id": "fc_01e1520bae42157d016ab47298493487d095b0cd7c33c5f627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6h6AOevWZeOdCqo50dCxQ4b",
  "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]: [-0.5228, 1.602, 0.7311, 0.0879, -0.6525, -0.3614, 0.9968, 0.852, 1.7927, 0.6056, 0.4015, 0.6201, 0.5457, 0.9947]\nstate[eef_state]: left_x=0.3856 left_y=-0.0943 left_z=0.0788 left_yaw=0.1867 left_pitch=-0.0423 left_roll=0.1633 left_gripper=0.9968 right_x=0.3226 right_y=0.2183 right_z=0.0137 right_yaw=0.0434 right_pitch=-0.0435 right_roll=0.0273 right_gripper=0.9947\nstate[joint_eff]: [-0.5265, -6.5846, 7.6239, 1.5263, 0.1001, -0.188, -0.0073, 0.7726, -5.9009, 3.8632, 0.9695, 0.1392, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0778b4d7bc7a546f4c3a585103e3f7f8cf4d34a00ceca34ba893bb4106e627",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803e4c6e7321ff11897e3bf6b8088236042b6ec9e7642b1dc5057708f5c756a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20967750e6c1c1978201055a8365123bb7ea9057176cce5d5fd7b9478fecfc",
      "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 20 attempt 0 · /responses · status 200 · 3.318 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.384, 1.5558, 1.1629, -0.0235, -0.569, -0.1555, 0.9967, 0.7719, 1.9186, 0.8116, 0.3279, 0.585, 0.4847, 0.9995]\nstate[eef_state]: left_x=0.4688 left_y=-0.0829 left_z=0.2493 left_yaw=0.1663 left_pitch=0.212 left_roll=0.0924 left_gripper=0.9967 right_x=0.3722 right_y=0.2312 right_z=0.0153 right_yaw=0.0223 right_pitch=-0.0559 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -7.8838, 9.7162, 2.1416, -0.1441, 0.3492, -0.0024, 0.5402, -5.6957, 5.5316, 0.7985, 0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 0.9192, 0.7952, -0.4999, -0.411, -0.1844, 0.9967, 0.7712, 1.7943, 0.8677, 0.1555, 0.5644, 0.4755, 0.0294]\nstate[eef_state]: left_x=0.3079 left_y=-0.0024 left_z=0.2158 left_yaw=0.1739 left_pitch=-0.006 left_roll=0.094 left_gripper=0.9967 right_x=0.3724 right_y=0.2352 right_z=0.0568 right_yaw=0.0421 right_pitch=-0.0596 right_roll=0.0084 right_gripper=0.0294\nstate[joint_eff]: [0.0342, -2.5504, 7.5556, 1.9512, -0.3199, -0.0659, -0.0122, -0.212, -9.7573, 7.7607, 1.3504, 0.2759, 0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5228, 1.602, 0.7311, 0.0879, -0.6525, -0.3614, 0.9968, 0.852, 1.7927, 0.6056, 0.4015, 0.6201, 0.5457, 0.9947]\nstate[eef_state]: left_x=0.3856 left_y=-0.0943 left_z=0.0788 left_yaw=0.1867 left_pitch=-0.0423 left_roll=0.1633 left_gripper=0.9968 right_x=0.3226 right_y=0.2183 right_z=0.0137 right_yaw=0.0434 right_pitch=-0.0435 right_roll=0.0273 right_gripper=0.9947\nstate[joint_eff]: [-0.5265, -6.5846, 7.6239, 1.5263, 0.1001, -0.188, -0.0073, 0.7726, -5.9009, 3.8632, 0.9695, 0.1392, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0778b4d7bc7a546f4c3a585103e3f7f8cf4d34a00ceca34ba893bb4106e627",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803e4c6e7321ff11897e3bf6b8088236042b6ec9e7642b1dc5057708f5c756a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20967750e6c1c1978201055a8365123bb7ea9057176cce5d5fd7b9478fecfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKd3szlueKblWsAVWNH-GuZbCNZRO6zEXgynWvIHlyp2P2u6PigbSuDsF7DccyqMqJH-VmP_unBPdk0E_NUdj0fJgC72BauPPTVPY_kkbrwKaw8CTl4KxW1Z_rlazLt8JAwyLKFuPuooozWX9NbV0lQYa7vnaOWGPj2c6zF0wML3T6YySeS5xOkkcUvJS2cF3J1TlajWxPEQa2xWuqZ99fwmuCLwSriFExhsEzrnbtucW7b9YB-PMkbZREM7CYErpLlSDvcxO_MXKRy0YhxObFMhEkcrK7WFizg_yMNa7CmAc5hjANL_25DxMou3WmDOW1wz3HW6lph2L7aLvttfthkZhfVMRUGL6WiBA0UVkhwu0t27WbpfHY1G7M1de7nNHDo6kmhD_Pyvkz-71vR1y_HIbyhEOnmvUQwQqQ6ypRTXPj7I_WT2LErPVo_PtyRljHzVfLYSsLrwrcf21EqFafR_XTS2AtbbqxmKgJT6pC6hYCb5x5hGoTnFPOrjzxqaYVOzEsa-FC_hst48HzPXi-BK83ZVMawMGCbAQW2zDBdxh7_Z0vX18ESuOQOlX6RAQWrAmSy_qEztLrz7er4G_7_bUMbIMNlWtWXTzzQv7rqIwrN5yGNl88wmROkPpUYaYdn2EkM30d9l4MBTu3JdQoETsWALyPUdjcN396qTd3DbvnkPxUhlkQa7-XYcRgTNFTYVhcYf5gd8xPz3KqXasVnbbayBxGlgL0PSFXeQGs7VOZmSHqf43XLtnyxB944NhoETxK12PVNwlQdHnPHhixVJPoDVenOa61lXkfFDioPyOMvS3Yarc-48wOonJIa_isjg3vzeDDK0NpVulXG_kLXFEMGonq-e2YjeZKP67Yz9HgvhVCNWQr8rfPlsp9sk3fR9nnjLqAHCTgMa2q7wpoqelzYRRLVxkvBXUeuZRuQWPk3kb73F2R7byBsh-Qq54azkOaiWnRXB8ec5yfakZIeab3DkfPTeJYq40ckHReJaon46ewYj-qetdnHfACScvonPtp37g2dqz_bladO85XsuNluPaVY7rhN89fwPM52v7Q_yNtlaMrqfb4_b311elUIauC4VoSxJTDKOohkvonBaBUNMlQ-RE0nabgbO6ELKhJ1CL_LG5dw5caapATiYEhCH0CmE6hH--9VA8vD5VVLW4DwV1T_JkUu2oQBWZSeFUOc26C5cumuFtnNYLoNBZbSizIdsxvLI0k8p9zC2Qz66Dvu7YsciGiwSwtw-QMbOvFBQodiAjv-6n-HSqnyj2rvD2ERLWaN5Mu6Ab2P_6kCH28EPYlWt5jJqix1w3_JMJJUaA3vA-mxacBQQ567WuX-",
  "id": "rs_01e1520bae42157d016ab4729c4ac487d09bd153ae0ae65c56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both grippers are positioned at their objects: the left around the tan toy’s body and the right over the thin shaft. I’ll close them and check the resulting openings.\"}",
  "call_id": "call_EfRk1CKjxxmvmhHoqiPORqUG",
  "id": "fc_01e1520bae42157d016ab4729cc7f887d0b1b26484bbbb0012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EfRk1CKjxxmvmhHoqiPORqUG",
  "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]: [-0.5205, 1.6165, 0.7376, 0.0978, -0.659, -0.3672, 0.1298, 0.8536, 1.7943, 0.5961, 0.4088, 0.6167, 0.5419, 0.011]\nstate[eef_state]: left_x=0.3884 left_y=-0.0938 left_z=0.0778 left_yaw=0.1967 left_pitch=-0.0373 left_roll=0.1608 left_gripper=0.1298 right_x=0.3204 right_y=0.2174 right_z=0.0112 right_yaw=0.0494 right_pitch=-0.0479 right_roll=0.0231 right_gripper=0.011\nstate[joint_eff]: [-0.212, -7.9385, 5.2444, 1.3358, -0.232, 0.022, 0.8376, -0.1709, -7.4188, 5.2855, 1.4188, 0.2515, 0.0171, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58ba6db245c47fb07244a86398d1252b5faf8b78a2037b20c697e4c165b39ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ab82d12a95b54592aede6f993372feb89dca7a0aa71895e778866c1f4202f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49fa07199b1cf8592bd1d276e1f808f8f935ca2042544fa2b6c01166aebcf1e",
      "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 21 attempt 0 · /responses · status 200 · 7.452 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 0.9123, 0.8013, -0.4675, -0.4232, -0.1833, 0.9967, 0.7712, 1.9301, 0.8154, 0.3454, 0.5739, 0.4786, 0.03]\nstate[eef_state]: left_x=0.3117 left_y=-0.0016 left_z=0.2271 left_yaw=0.1828 left_pitch=0.038 left_roll=0.0823 left_gripper=0.9967 right_x=0.3739 right_y=0.2346 right_z=0.0138 right_yaw=0.0334 right_pitch=-0.0538 right_roll=0.0072 right_gripper=0.03\nstate[joint_eff]: [0.1983, -2.5641, 6.735, 1.8291, -0.1294, 0.0708, -0.0073, 0.0205, -9.6889, 4.8615, 1.3211, 0.3248, 0.0464, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5228, 1.602, 0.7311, 0.0879, -0.6525, -0.3614, 0.9968, 0.852, 1.7927, 0.6056, 0.4015, 0.6201, 0.5457, 0.9947]\nstate[eef_state]: left_x=0.3856 left_y=-0.0943 left_z=0.0788 left_yaw=0.1867 left_pitch=-0.0423 left_roll=0.1633 left_gripper=0.9968 right_x=0.3226 right_y=0.2183 right_z=0.0137 right_yaw=0.0434 right_pitch=-0.0435 right_roll=0.0273 right_gripper=0.9947\nstate[joint_eff]: [-0.5265, -6.5846, 7.6239, 1.5263, 0.1001, -0.188, -0.0073, 0.7726, -5.9009, 3.8632, 0.9695, 0.1392, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.6165, 0.7376, 0.0978, -0.659, -0.3672, 0.1298, 0.8536, 1.7943, 0.5961, 0.4088, 0.6167, 0.5419, 0.011]\nstate[eef_state]: left_x=0.3884 left_y=-0.0938 left_z=0.0778 left_yaw=0.1967 left_pitch=-0.0373 left_roll=0.1608 left_gripper=0.1298 right_x=0.3204 right_y=0.2174 right_z=0.0112 right_yaw=0.0494 right_pitch=-0.0479 right_roll=0.0231 right_gripper=0.011\nstate[joint_eff]: [-0.212, -7.9385, 5.2444, 1.3358, -0.232, 0.022, 0.8376, -0.1709, -7.4188, 5.2855, 1.4188, 0.2515, 0.0171, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58ba6db245c47fb07244a86398d1252b5faf8b78a2037b20c697e4c165b39ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ab82d12a95b54592aede6f993372feb89dca7a0aa71895e778866c1f4202f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49fa07199b1cf8592bd1d276e1f808f8f935ca2042544fa2b6c01166aebcf1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKiGIHfU4ZV4z8AxxQOT-MhvaC8SLUu9-52ahBgXxKffcAk2sDwEWZI3A2sSsEVtpqTRAFhuWzPNYVMtMuh982VCy7kQWexXDz0dTmIDFMTC4eqeVZY5lUO74Pa1giy-3QIzgNRXUB4KjlO0CKrjAuQk84viVsFlKpf4enqKwG5oqyVkwXyz3diC2mVIlv8ij4IILi0E2IMmwfXPh8FKjHu14wfIkpWdw_-TlP2jnFkpp1SO7y_6VkqvyMlWbfyaR7UeKJMrQHXXcw0DFjCrJpzFt9W3i1hsChzI25EjdasXncly8decmUR9W6SnEM1tj5XydUHaTJDfGPYLeKh9FZTOY4tCcN3QOd5PvtgZeJKy5sxGCFrpgQP5Yk3ZmBoEPeIvvXF6HxM8T5vPN3V-paR6fjR8JFe9aStwwMAjt853PsaPelros63bJuujGQ9DM7A-xebqc4uPG9gw7dyD1W6OV5IdbPxPwySARs-lrsJuJkj_JXf2gDFcVO2WGErkcc0Bse0e0g_S4uaMYSF8k8P4plnYQTB25tsgLfv1V7bYcuzoeaBIcC9-33Ze5dkivqW85WGJuGD-7b7wZZTxRRZHZkVFNjCuhWrwGCmxUBSmaVJqWqGuFt0C9_3_goqwsU1d6hRIxOm9vWP8ztjsydzd_zN2jmTiP9WOcmeStZkxYRqYKogMt3kJ2MfabfxvUoHMvy2Q7Btv33G9V_JYQDwI9WBqwR61QNBX7NF8PwH7TADh21LA0diZEUkSXzmkfN8So8U9C8D4R8DRefy2jktuCoOB1sWePsF076kjA2Pd1XSUZDk4pXSbBgvgJgFR8zZRmLXix9THMpCWNuZzuNBvpu27V1rKSpM3Fj6pfNdllX7UJbtt8Z0rApQkNL37zvCa1Oc3hIXCle_ZvUCo_aFJdYpLpffC-EdvHc1khPfRCDXSNnCQSAxnOSe9lGplfBlpI676YBHv7TL_65_s6coY_JkEZmV8S4dHGYmaYvNd6P5iuy-kn2a-yCIXkc4vQHvJISIz14Lrt2zWaTl8Y_F2m5u3_nW79lo0tmMEPawfXOoh6h4cIzLpjKKBw5VL0LSgCsE-d4ZZTwqE2hafdg6hYiCzey5PQgb9gyR_GTHHqCzOHQ3Gw-42aA9KNUMGGEJIciGFRe1B8Iav0tDuez97K0GBVDfJ5Rm7ZMa6u6zKJ9byooO9fLlJbuulVLZAWASWEe1WVKShLICKJJOCRPGbMeNf5dMlGYcGSZpA-z3kWjis0OXfqxtZ-1SUDl58g6w",
  "id": "rs_01e1520bae42157d016ab472a051e087d090811a35cc3530e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The left gripper has caught fabric, but the right close is clearly empty again. I’ll verify the toy lift and move the right arm aside so the slender objects can be located without occlusion.\"}",
  "call_id": "call_sKqEuZFYYYs09rdlZyzjaw18",
  "id": "fc_01e1520bae42157d016ab472a0caec87d0963860bb9ef337b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sKqEuZFYYYs09rdlZyzjaw18",
  "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]: [-0.5205, 1.5158, 0.8749, -0.2253, -0.651, -0.3756, 0.1325, -0.0612, 0.8295, 0.6849, -0.4828, -0.0513, -0.0277, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.0901 left_z=0.1169 left_yaw=0.1993 left_pitch=-0.1043 left_roll=0.2057 left_gripper=0.1325 right_x=0.2927 right_y=-0.0053 right_z=0.1863 right_yaw=-0.0109 right_pitch=-0.0565 right_roll=0.0193 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.7983, 10.4, 1.4042, -0.4371, 0.0904, 0.7888, -0.1709, -1.935, 9.7573, 1.619, -0.2613, -0.0122, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dac9bc73120d2fa3090ec51ef9f54040e8efc6b03e479c0e76749dab72092f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df105f272466589b02ef11b4e9dfaa8871d2f77766bd1b9a70e497d51379c4a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d972677719fc234257b75612a17ccfd6f7d323ae01122b4fd2a6332f8fddb9",
      "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 22 attempt 0 · /responses · status 200 · 7.329 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 0.9192, 0.7952, -0.4999, -0.411, -0.1844, 0.9967, 0.7712, 1.7943, 0.8677, 0.1555, 0.5644, 0.4755, 0.0294]\nstate[eef_state]: left_x=0.3079 left_y=-0.0024 left_z=0.2158 left_yaw=0.1739 left_pitch=-0.006 left_roll=0.094 left_gripper=0.9967 right_x=0.3724 right_y=0.2352 right_z=0.0568 right_yaw=0.0421 right_pitch=-0.0596 right_roll=0.0084 right_gripper=0.0294\nstate[joint_eff]: [0.0342, -2.5504, 7.5556, 1.9512, -0.3199, -0.0659, -0.0122, -0.212, -9.7573, 7.7607, 1.3504, 0.2759, 0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.6165, 0.7376, 0.0978, -0.659, -0.3672, 0.1298, 0.8536, 1.7943, 0.5961, 0.4088, 0.6167, 0.5419, 0.011]\nstate[eef_state]: left_x=0.3884 left_y=-0.0938 left_z=0.0778 left_yaw=0.1967 left_pitch=-0.0373 left_roll=0.1608 left_gripper=0.1298 right_x=0.3204 right_y=0.2174 right_z=0.0112 right_yaw=0.0494 right_pitch=-0.0479 right_roll=0.0231 right_gripper=0.011\nstate[joint_eff]: [-0.212, -7.9385, 5.2444, 1.3358, -0.232, 0.022, 0.8376, -0.1709, -7.4188, 5.2855, 1.4188, 0.2515, 0.0171, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.5158, 0.8749, -0.2253, -0.651, -0.3756, 0.1325, -0.0612, 0.8295, 0.6849, -0.4828, -0.0513, -0.0277, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.0901 left_z=0.1169 left_yaw=0.1993 left_pitch=-0.1043 left_roll=0.2057 left_gripper=0.1325 right_x=0.2927 right_y=-0.0053 right_z=0.1863 right_yaw=-0.0109 right_pitch=-0.0565 right_roll=0.0193 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.7983, 10.4, 1.4042, -0.4371, 0.0904, 0.7888, -0.1709, -1.935, 9.7573, 1.619, -0.2613, -0.0122, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dac9bc73120d2fa3090ec51ef9f54040e8efc6b03e479c0e76749dab72092f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df105f272466589b02ef11b4e9dfaa8871d2f77766bd1b9a70e497d51379c4a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d972677719fc234257b75612a17ccfd6f7d323ae01122b4fd2a6332f8fddb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKrBZRBHFITH-js06EEJUCfmoP-gRrj59dD3EIUdZvDexq3PfejlDSmJ0sgXyOez-HLJ1ew__NQR1novI4b8gO-O_jI12WPg0QJ9EaszWBDrPp7HoDzbKSdV_0Bm__XYhr60PrU06cjDTV0uMmhG1MHptyTrWRG_TzG-x56BiHNbwzoFd3yGK0qQya_A1pt8dA2xU-EYXFSqibaL9TSPcAowt_eogtdU7skTqeqPhoUempFIn-D_89SLa4gTRk5cMF0k5edPoRm7svAnGEe1OCSqnLGTJFxnHw_HiXjBRA-_FeW1_enVQI6dYZ0Rgk43AM1Fq0XnTd6oul9tcu6BTG259IJjviQzLARFq-ekIczo6c0jJEOII7EIeZs3bu5KCQmlsFtiysSo2fYnxhCJWzwrqJ2MEe0tdbtt1KOovzw8e4IviA1tiAi8vXLjLOyL4HkZEXtyzkeB6uBR_8s-wgtaOmurkvfalk6I0CXEFkSPx9u0fFLyQvT3PVf9Hm72nkuY4iCPnYy_JzFqQYAHoJ-2VHwX7w_7mmxvShKolBLaYdfniE1BPT2k7RY4cUJYHNKBsgyr3KXcfddQnikxkd_i9BPiuy1tMw3xg4w4gh6gVUUcbuqriWIlGdAQQZDlP0OUeV3Cyz1z5ruwfWkRTyjE1g2ROpsASC5dSAMIAAdKGXjFI3ed9pMsn5LuzAtXPNCtyRe2caWMwldaPLYuLysxNW-hoYNR81JkeoZKxRJVYk-QX2DzissvY5GN42CqGj0LcPFFTr04TZe6OhxDtY7ed_svyO0busLfN-Y30nsmoT-RoIwxmsJ4SsNT8IMxsySrer5-8wocaEMXp_AGHX7mXu-hHoxBidLboU7uDwf_nqOXgMbklvPJPpsqwSqimF2HS3yNmYcUzqVMczadCN1D2RwMqTM-yZuNbvHyVtFlWIFkKgSaJdQMAF-lJyjSjDqfb4iLqh7wSuzCNiCuCl2jrAfjOXLMTVPmOtYyK6jWpBenXyJXPyZOLxGDbGtdXYJqR1apvESZX8mc3KnT_eQ7rCflzww_hGvPzfOYVOG346sp0ynxQeSXea5TONo4m0rGQ8m2x8expVepO_IJo-5MdrVakXRRkJ1jGGBQ7HyHfFFWbauDgjmRdFZr6u8ExYHxoqqGrYOUV1hxVJmAtxnCmIPLwGccfDeFYfDocUQtCqZn72VrCC16rez5Icy4dkZ5uS3SMKmf1ih3wB-O3Pcpf3BbDcFPE1yZuUd9nqlSr9WLRU0otYnKqip0MsJO_51BwlfxV8h5XANnKtlR2wMbZKBSMn0XbReNqAJnbjc4JO6K7CGtRUsIvNNKJJuIuzXUw8EnUZvt3_6w_winadMvcZnDu4ddEVSGkzoEupbeNGAf1nJJVpKorvyEzuDaKgLn56kfYMWWIMWy5I_8JXpL-Urqx6JObkjnrv5YsJf7mZx1eEcMmgllkyLXvsfIBeRUYzFfC_tqpbs9OxCZGzp9kCus_DWXzpHbfIS3NCOokCgHbkRNMqkwW3AKYSJYLd2AHILuyqIzp9aiMlAPnM1mrB5R4pc6uW8k6Qnk5NxJEEiPuoTZivinzo5ysRhGjtpsowZw-JPAoBg9lfzmPQEk4Ex4uk8-jtqORnPS9VM1Yxc06wmNntLCWXNbVoK7ymNDAYzo59GAB1a8Do45S53TX_kbGICwQ7D-bvVWdkImBXwR6Km5RfzLmgA_HjwgsIkUZRsAJXtzAr3QJ4IqLGXklxdApFQ5mjYYqPTBqnpEIpT0yLeoW-0dHs8YE6IfzVkv4JJ_r0q4nnTRay9sKRo6uFdUK5g9aDWqM04xrFmLuyL121Y45ydDuM_lCq7AitjsPgG93CFXNkUrRLH_v1Stwi9gdWnP54sfIXOSgw4EOVMlIO-SVT8B6pzju84cMWylm--fG-XPMEfC9PKYFulti5pfRwh6fKJUSqUc21RLoCxP5K-3PCyoWPVWzwxue7Q6VVRslLl1TJEXeBYxKAWSuONPBe7B51bc8NC7q9eOKZSBTF3LfryECFTcfW2WW5-_V60QmOJsDMnV_O0gLM5qpzKYkUr4BOJOUaeCoO06KZPz1EiSKWnGyJetgoqLxgbJpweaSevCC56J74nV4Ql8eGI_zJ6QyBh2lk8tWmJZUxik9ZIUPPeXkk-CED7OIjbVou4hPxFn1f-F5RkJFP7KTn4nXArWZFWYkqMJ-myXTv2k3FAAIiq8Fje5fYfGS2SAXIX4O801Oo3RI1QOejHfjfBnDxvJkgK-q-esI07too=",
  "id": "rs_01e1520bae42157d016ab472a556b887d085399f0cf2777af3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.09,\"left_z\":0.32,\"left_pitch\":0.5,\"right_x\":0.32,\"right_y\":0.17,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The tan toy is lifting with the left gripper; its long dangling body needs more clearance before release. With the right side unobstructed, I can see the blue object is farther right than my previous attempts, so I’m correcting that approach.\"}",
  "call_id": "call_eLwRmv8Qm0Y3qNBggmWi6739",
  "id": "fc_01e1520bae42157d016ab472a9e48887d0adf360bb3ab5baaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eLwRmv8Qm0Y3qNBggmWi6739",
  "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]: [-0.4328, 1.6253, 1.1652, 0.2466, -0.7601, 0.0467, 0.1346, 0.7372, 1.5818, 0.4904, 0.2565, 0.5438, 0.4744, 0.9988]\nstate[eef_state]: left_x=0.4832 left_y=-0.0852 left_z=0.2789 left_yaw=0.2087 left_pitch=0.394 left_roll=0.2294 left_gripper=0.1346 right_x=0.3091 right_y=0.162 right_z=0.0224 right_yaw=0.0204 right_pitch=-0.1172 right_roll=-0.0237 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.2393, 11.0838, 2.1172, -0.0024, 0.3687, 0.5788, 0.2256, -5.9009, 6.9675, 1.6093, 0.6032, 0.1832, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1fb279d047e3e441814494f60adcb5842cac34530b4e36893e4287ae80275d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82939324adc1e1358d395689831de234244741a4565e7aa0ecd7690caa1d770b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3324af69a9926f20ac77833d13586a46270de2979ffc61a63095d3a21bf8dc79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.393 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5228, 1.602, 0.7311, 0.0879, -0.6525, -0.3614, 0.9968, 0.852, 1.7927, 0.6056, 0.4015, 0.6201, 0.5457, 0.9947]\nstate[eef_state]: left_x=0.3856 left_y=-0.0943 left_z=0.0788 left_yaw=0.1867 left_pitch=-0.0423 left_roll=0.1633 left_gripper=0.9968 right_x=0.3226 right_y=0.2183 right_z=0.0137 right_yaw=0.0434 right_pitch=-0.0435 right_roll=0.0273 right_gripper=0.9947\nstate[joint_eff]: [-0.5265, -6.5846, 7.6239, 1.5263, 0.1001, -0.188, -0.0073, 0.7726, -5.9009, 3.8632, 0.9695, 0.1392, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.5158, 0.8749, -0.2253, -0.651, -0.3756, 0.1325, -0.0612, 0.8295, 0.6849, -0.4828, -0.0513, -0.0277, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.0901 left_z=0.1169 left_yaw=0.1993 left_pitch=-0.1043 left_roll=0.2057 left_gripper=0.1325 right_x=0.2927 right_y=-0.0053 right_z=0.1863 right_yaw=-0.0109 right_pitch=-0.0565 right_roll=0.0193 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.7983, 10.4, 1.4042, -0.4371, 0.0904, 0.7888, -0.1709, -1.935, 9.7573, 1.619, -0.2613, -0.0122, -0.1343]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 1.6253, 1.1652, 0.2466, -0.7601, 0.0467, 0.1346, 0.7372, 1.5818, 0.4904, 0.2565, 0.5438, 0.4744, 0.9988]\nstate[eef_state]: left_x=0.4832 left_y=-0.0852 left_z=0.2789 left_yaw=0.2087 left_pitch=0.394 left_roll=0.2294 left_gripper=0.1346 right_x=0.3091 right_y=0.162 right_z=0.0224 right_yaw=0.0204 right_pitch=-0.1172 right_roll=-0.0237 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.2393, 11.0838, 2.1172, -0.0024, 0.3687, 0.5788, 0.2256, -5.9009, 6.9675, 1.6093, 0.6032, 0.1832, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1fb279d047e3e441814494f60adcb5842cac34530b4e36893e4287ae80275d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82939324adc1e1358d395689831de234244741a4565e7aa0ecd7690caa1d770b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3324af69a9926f20ac77833d13586a46270de2979ffc61a63095d3a21bf8dc79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK0JEFKME2zjBF8TnY5tfLykv3LZst9rM8UiOReoFzMJapyy2eYC5lU2SaUhzXo1owefA_OQy76iKEi3L8nekjo0pH0XyH7CTJMHtwJdGHiiy3LAwq8c4BNf29uoq7t0hNWqtY5SIoBlPbCHLqikKYb9-1VOXhJ_SDSWTsk-W0mbj-BIhO6T7-9bvjEEXIPhT7t7pnCDn0Cyw24Pf_FxENTVDOJxpywo0ZBRc-SYIag7g5sb4S2Qu8cv52CCeaqJDTrnZhYE7I-RqUQQm-i1XotcfFSQHBQGhqgk76Ne-tFmQuo7Pz9tLZVCX76nM6wnDH_2eFdJFoValc9mcaFWdI1GQm7lbrcrP4_P5XKAHGHBBYG9Sb6rdO_6ZRapa706CAIRPSSu0kYkcvM9N-EUeWWtt654LkPL6C7wq_LvBqvLOQN12VzKrOCgIZ_JXBK0LxfHfpm9ktL97cR8Y3zpbl4impwgSQvp3B2DxR9OphjW0ymG0C_AXE3KDm0_jce2JVBeMZ_GbA99EZH-j5guWepBmxQ8lOzIbDhOWmCrsC7IF8o0Lee4_bECJCleZ9Rvz5V9thQDg55mmGSKk8R-Vk0_9BR0K80fjYpMuPPx1fstETqGYcpGrrlMNZbUW4HWk2ren9e5DWpm24VBcE1k1gL6GUIjkwFZ55oDmBIAdoBPwyiTpQfSrKifAVNnHxPo7NZCP_67nExKQ9aiouRabm_TTFVRy2dK0Ec7ednjyTnZpCyGcOi0ZywjgmPJuMWYH2qLNz5VOXaDx0xzWE-7F_mMlk1k_gsZSSTog4S9My81T3zGmjjJj-1y51CleA2LKFXaV0zjy5VQPCWhudRMIJPDMp-nTDDcBP13fBECcvwiEQv-Tkcz8Up7sZiiD-s3NXvIivOY8aQ2mdnddoPO1UMJZuWP56BwXhEpWRKxKnFqcxxN-Hc6VTTA88b-O-8rHLt0C0iPT4MNYFh1MDe_wWfpLW-BX0BvQxtn2ncum-vjjZr8mbOjBb2L6pXJNZUXgSl-mfNkgh-_OgZTdh6k4L0TFa_-tMXxu1UCs2R0w7EJ7KEiadIAhx-GQPlS_zEWc9_BcqhzQJMjX_nj-kdRI6oVlo05WkMbldCUHdDbwGjgDv69lu5bSliFx7j8yBpiwyht-085zCDcaSnsBi5EI61HpoEuOzXlN59-2IEx-KgeUjstS4DdBjOp0_nX9YIRw_o12qsQwopobTRyoqBWi0HJ0WHicmaTL9VBrNjTzTu-7ByxJfkMtqh82TqymB1htzfvQiLRV7sBvz-JzeJtwTkJHNy2Y72M0wqhH0Z-rbcMEvT0FejdxFNh3_u5lCFdINGVVHt9KBx5y75snskNiWdf19fJkqxXj89Jv1IvCkJZTNOSnIn8USj-29Yr7mz41BpYt_jOgXPmwvrz00eCwm2siW9Ug9ByCW3Tqys8JLF1smE2oGU8yXHAAQY48Xhlztvs5M0K5309qp5vUUuk-Rj6RO2Qql7-4v0XN4RE7HJM3AX3T0uCikvyqWzJlbgAjymGPEFynZbpGBYg4MaCGsc_KKVsG4Ez_PRj7en6nTtPs1Cjo0ZlzNPCnQOb5HLWvDZ6yGREiXf0xNY_MZI0JdpmholkSFtYtNwQ9FjVQxR_a1lb9gXHitXsz_WGst2K9Bg",
  "id": "rs_01e1520bae42157d016ab472b1acac87d091f3b9b64a37e640",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.1,\"left_z\":0.3,\"left_pitch\":0.6,\"right_x\":0.315,\"right_y\":0.13,\"right_z\":-0.008},\"note\":\"The toy is clear of the basket rim, so I’m moving it fully over the left basket. The blue shaft is beside the right jaw; I’m shifting the right gripper onto it and lowering to table level.\"}",
  "call_id": "call_iNFhvBkdJwiuyFUiTYY84Ruy",
  "id": "fc_01e1520bae42157d016ab472b38df887d09cb3e00f721d3971",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iNFhvBkdJwiuyFUiTYY84Ruy",
  "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]: [-0.3599, 2.0502, 1.536, 0.469, -0.7338, 0.1505, 0.1372, 0.6228, 1.6524, 0.3965, 0.5514, 0.461, 0.3969, 0.9986]\nstate[eef_state]: left_x=0.5913 left_y=-0.0923 left_z=0.2692 left_yaw=0.2448 left_pitch=0.5154 left_roll=0.2311 left_gripper=0.1372 right_x=0.3268 right_y=0.1424 right_z=0.0131 right_yaw=0.018 right_pitch=-0.0492 right_roll=0.0406 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -12.1368, 9.6205, 2.0733, 0.2564, 0.5104, 0.5836, -0.7726, -3.2479, 2.9333, 0.8083, 0.1685, -0.188, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a098444fc628b6da465b3221a4ef05a381cddd8a90e9f446a0c6937cc64523a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f540fa1d70ef719e87c9322989ea2e367e6ab69a1c4bfe676593f69343bf1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730ef88db6b9af98e6572f7f94bb41159989696b8490062ad674a9889cfc3725",
      "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 24 attempt 0 · /responses · status 200 · 6.417 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.6165, 0.7376, 0.0978, -0.659, -0.3672, 0.1298, 0.8536, 1.7943, 0.5961, 0.4088, 0.6167, 0.5419, 0.011]\nstate[eef_state]: left_x=0.3884 left_y=-0.0938 left_z=0.0778 left_yaw=0.1967 left_pitch=-0.0373 left_roll=0.1608 left_gripper=0.1298 right_x=0.3204 right_y=0.2174 right_z=0.0112 right_yaw=0.0494 right_pitch=-0.0479 right_roll=0.0231 right_gripper=0.011\nstate[joint_eff]: [-0.212, -7.9385, 5.2444, 1.3358, -0.232, 0.022, 0.8376, -0.1709, -7.4188, 5.2855, 1.4188, 0.2515, 0.0171, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 1.6253, 1.1652, 0.2466, -0.7601, 0.0467, 0.1346, 0.7372, 1.5818, 0.4904, 0.2565, 0.5438, 0.4744, 0.9988]\nstate[eef_state]: left_x=0.4832 left_y=-0.0852 left_z=0.2789 left_yaw=0.2087 left_pitch=0.394 left_roll=0.2294 left_gripper=0.1346 right_x=0.3091 right_y=0.162 right_z=0.0224 right_yaw=0.0204 right_pitch=-0.1172 right_roll=-0.0237 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.2393, 11.0838, 2.1172, -0.0024, 0.3687, 0.5788, 0.2256, -5.9009, 6.9675, 1.6093, 0.6032, 0.1832, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3599, 2.0502, 1.536, 0.469, -0.7338, 0.1505, 0.1372, 0.6228, 1.6524, 0.3965, 0.5514, 0.461, 0.3969, 0.9986]\nstate[eef_state]: left_x=0.5913 left_y=-0.0923 left_z=0.2692 left_yaw=0.2448 left_pitch=0.5154 left_roll=0.2311 left_gripper=0.1372 right_x=0.3268 right_y=0.1424 right_z=0.0131 right_yaw=0.018 right_pitch=-0.0492 right_roll=0.0406 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -12.1368, 9.6205, 2.0733, 0.2564, 0.5104, 0.5836, -0.7726, -3.2479, 2.9333, 0.8083, 0.1685, -0.188, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a098444fc628b6da465b3221a4ef05a381cddd8a90e9f446a0c6937cc64523a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f540fa1d70ef719e87c9322989ea2e367e6ab69a1c4bfe676593f69343bf1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730ef88db6b9af98e6572f7f94bb41159989696b8490062ad674a9889cfc3725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK7f2IVCuhJsq_SVUHCSoJi9tou_7B6oFh6PmoCDlCAQFLQvUsKFNT5CSC_sHnQeNmRJmVmDKll2WOrAGWMI978l4zR9GEY2D6HZmibYOih0lP6Tsqkf0B0pMHPZc2Hab6RyKx8Pnqd486dY5LcSXvCbys22Xz2G42J-UaAMZUduib7emiAf7E3BvtQ_J6QM1DAIO1GiyHnd1Mpom5WyoHxgjDkYDVvpuLl0Tgl8GJR5M_Y2rFlccnLvp5P3wnFbmX9fvwgnrUpuRDoqz9oUNcZGNgArDVrbPn6Wtzsk9L_BxLCjpQYJINKNSe6nfTSDk2rGbH-xsS648sDmHfbL7tsfirsybw2HrhQ2sVAnIZgw0uB52ecRjEJVNdmGH_RCo2Wa5em5VFB0RmMIC-KZ5cswMJsxsr1Gz0vsmItn3aimyl9gmylb0y6E7deEfoOmgir5N13IFOEOe_GWGMRqtzY44UzP-xqngq03LGH-5ojzMNFOxt9gBC7ZWyT366BB8XbJ5jNWuOrRlPkMza9q_aiknPPM1EBsV3u5j0c6zrCl8plGrRrrQumDFy6hdFpS636om8hHVJu2P7oRo_nv-chalKl0GbfKLtbmuWtucrlm3vkGrteyKN3zOlnbguaMmxaSL7uMwTAKBAR2S1qJvEETjSoqiDEDg04nexFCMhWVG5QwGaK5H7khuejuBfYeilxsQuZ8D8IFujpWTaAyqr-yETITF66KiP5ld3g3DPtzlgrfLY6naS_myIL0CQRMfU3kZJTeTj9_xoYmaz_rowit048TSt5tU1gEbDVY4EZd0qQhGCY7lmdvNzfBUH4AWFBKqklHLZ401fcVZV2X4JAlX2WwYwNNjW7Y27FjVQZn0nIG2uyhfen-2ZarZiyHqnukwQ2d2xSPTK0K5KnZs3LFojf4j_x8QndRsTiUFMzdgw5YjKqFlPG_HA-VeE-czcWt-PFdFio3n800DjYgGNx8bYFH20tTd7XJruKehFdJGIy8bYdTXeCY-a8lvdzg4FGGaamk1kDB7poue1KMwEL5H_CktAIoilhsjM3jcmzRf570DiOjblWR1eSXqMSDXcGoSd9OmNQ_vzZcwapO4I4SCM17REiunokDh6SpAEHusVyvb2oC1KRO5rNF1sfUgwhPVJzJn5TGzGRAG_ptiP_8K-xSuUKnJ1CPy74qgIGKGX1o6r2DpEUsxZX3tvcrBAVL7e9-2L95escFvpbIl-m-ZPPGJI9xt7GU-Ols8wJ_5zJtNxdTq1epGgYCVF4c3ByzxzoFUj6ornJGQlfVBafbVQnrBQ8-e8n_EPInBfU6NzIrHAVXV71T8hYPA4GzqMbh2U9PCKX4IlusTW_KszP0FP5yeE479pC7ww11sKkvWAnxMczGJlszUHQyLx6xWN4amYB7kCm4klb8HZvqbZ3UYixgN8mipsSWVlWjnF3_uRnD3vU4Q3H1kw4ueigETvwIgbJDOileEA_HrHNF3U4j196kH86VyjEvSHW0KtmLMn7QfZrc7lh0SjFAJUNxww5ZTyVmnJfRLuHkDMA3EYxQYhAAfKtZ29HoQjseBl9Q49iimJUoZD6UhTA4BDiGM9zfTWzH24V5yyaqRAZoNbgQr4yklUUbVcEhMfmhoSOtwJb6Iff7C1sZ4AAhM0MxZBAGS6A73z5z2EcYW9Px8JAUrO9jJuQp8eN2co5QvEbLDkcCjmGDJBzJLbXwuZzj5BVfG2zRVwupdYKtbW5C5aCq1YVwP2n-KcVIr8Acggu6J5gprXOPSK9DwXc34tyCWiyYE34DbSM3f9U1_up18igIlB4I-g9s771mDWlDHy23SxbxYQCUnybVrkJPdQlD7tl6OV0eY7hslypW-5QUOUyjWM1Zc9SHw-OzcLvF8ZaOcVK-ybvyGq2V78gsjUizsRtLc03g0FfEDvP13egRIHOSrsCradwlXdBK9Iw-NYh7KQITywMPiFn3YQv8cJnqgmW1dbdG61HDngD_cgqR6aPRvES5sXpUNDq8d1xfdc1BMzopGdJHv499mejYueuZLZz6H5GNFMctWdk11U5nLYlZwlYlsNq4uvIaUzPcsfeLmjNdD6p8fjVarexgAsLqmm_gxXJuspi9PhWuos5Ppia4w==",
  "id": "rs_01e1520bae42157d016ab472b7101487d0b66e8a0044df3a0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"right_x\":0.35,\"right_y\":0.11,\"right_z\":0.005},\"note\":\"The tan toy is over the basket, and I’m lowering it farther inside than on the first attempt. The blue shaft still sits off-center, so I’m making one final alignment correction before closing.\"}",
  "call_id": "call_iV5AaIsiv4YceS229QIqNm4K",
  "id": "fc_01e1520bae42157d016ab472b9eda487d0aac47e02b2a522df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iV5AaIsiv4YceS229QIqNm4K",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 2.167, 1.3903, 0.6426, -0.7338, 0.1486, 0.1368, 0.4648, 1.6947, 0.3889, 0.6724, 0.342, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.5903 left_y=-0.0914 left_z=0.1749 left_yaw=0.2209 left_pitch=0.4419 left_roll=0.2849 left_gripper=0.1368 right_x=0.3516 right_y=0.1141 right_z=0.0134 right_yaw=0.006 right_pitch=-0.0229 right_roll=0.0658 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.1915, 6.4342, 2.1856, -0.1099, -0.0171, 0.7253, -0.294, -4.3282, 4.5744, 1.37, 0.1148, -0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63756e19ff1945b07d0bba0a4f0abb293bc1a920770f3024e4e9984268b4a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29a5c64444bdf26a5eefa54928623a7695bf0dadf10b19592e50938bd6a5e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60faf810f917ff6cbeb6387d40cbb6cd7ac76893373874066212889c2acdb35e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 5.862 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5205, 1.5158, 0.8749, -0.2253, -0.651, -0.3756, 0.1325, -0.0612, 0.8295, 0.6849, -0.4828, -0.0513, -0.0277, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.0901 left_z=0.1169 left_yaw=0.1993 left_pitch=-0.1043 left_roll=0.2057 left_gripper=0.1325 right_x=0.2927 right_y=-0.0053 right_z=0.1863 right_yaw=-0.0109 right_pitch=-0.0565 right_roll=0.0193 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.7983, 10.4, 1.4042, -0.4371, 0.0904, 0.7888, -0.1709, -1.935, 9.7573, 1.619, -0.2613, -0.0122, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3599, 2.0502, 1.536, 0.469, -0.7338, 0.1505, 0.1372, 0.6228, 1.6524, 0.3965, 0.5514, 0.461, 0.3969, 0.9986]\nstate[eef_state]: left_x=0.5913 left_y=-0.0923 left_z=0.2692 left_yaw=0.2448 left_pitch=0.5154 left_roll=0.2311 left_gripper=0.1372 right_x=0.3268 right_y=0.1424 right_z=0.0131 right_yaw=0.018 right_pitch=-0.0492 right_roll=0.0406 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -12.1368, 9.6205, 2.0733, 0.2564, 0.5104, 0.5836, -0.7726, -3.2479, 2.9333, 0.8083, 0.1685, -0.188, -0.0269]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 2.167, 1.3903, 0.6426, -0.7338, 0.1486, 0.1368, 0.4648, 1.6947, 0.3889, 0.6724, 0.342, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.5903 left_y=-0.0914 left_z=0.1749 left_yaw=0.2209 left_pitch=0.4419 left_roll=0.2849 left_gripper=0.1368 right_x=0.3516 right_y=0.1141 right_z=0.0134 right_yaw=0.006 right_pitch=-0.0229 right_roll=0.0658 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.1915, 6.4342, 2.1856, -0.1099, -0.0171, 0.7253, -0.294, -4.3282, 4.5744, 1.37, 0.1148, -0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63756e19ff1945b07d0bba0a4f0abb293bc1a920770f3024e4e9984268b4a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29a5c64444bdf26a5eefa54928623a7695bf0dadf10b19592e50938bd6a5e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60faf810f917ff6cbeb6387d40cbb6cd7ac76893373874066212889c2acdb35e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLB5USWe7e_moxXKIDpSMOonYtOekna3WlS0ZueXmG-KvwJSzIG81M8z4U1jvhBFVc0rqTuP20cCyoo5nQyDphJmPjX6Ra5GmIghfxPCTXzZuRHElac7Ar1-bwz5njO2t66jYD22N-z1in1NjOMaA0Z6znIj-ENfj-dyD87BROhfzP8GwsDmPgwC-ZSselF7gTvDgj7EoRz4o8ZNFRN5cWLa0SsPMN0_U6shq9mr2yLS0PCMhmkNOtH1Ve4Y7tJlceViz4RJLcmw935-ywnY_KQ1Ci6vOi_z86SGZbu6uFmgGo8iDEY1E3OJ5R6xVgtWVNcHtT76SM7yxCZyXAjEy-HPqlqMlrwar-M-ohhD3f_GgaAX0xlfKJa6JmwJ9HYAqnsR_IWne1bTTADYLoWNzz-9tiIivRn13CnOnDl8rclm68GX9hafsk1oeB6ZR9U8a2VQIxp2iRmW3aU9CjUjwOKkNtrQlUZaTlNzC8oe6oVgkW5IK7xDRN0Au7CXiMOPRmNm7zIFLfY2Vx8dJyDl5AisZ544lck_sbTqWquYm3J0f_WBX7jbKchSCcFv6K2Dq-zWDML2nwGL_JFKJZRAWESNtQxo7lljk9qbWgoEelfLzoATVp7ul7LJZc5kS_Q7ob38SNl8uWm5dKbyrBrQuDCo2p03tKGdiTYzJ7XIQIVC8hCwaV1aADCX14A6LTicoOI2gOeJC_SOPESfRnIYfDIWuNanmlgcRodffjOOU5xtmiUFZD5ePjfrpALkxflISczgWSRslbsWrquvppIwJCxrXfs6jkvFd9Ogcg1PrTHxyXqtJCelMSnJLBrNvFRUvdLJRYom1iucvsN1lS9SwGYiqbOr9anxq-BCGqHKDutugbaAH3H4VHnQRaWAeMQ-4VOvBi2-NDcvXaZN6_H0DQOXCCyueDyEjfvIB6dmViQoPJH5zOoARukqbSBuAjrwukn0yPEU5lIzhE5uhNxV1ozADuZZT_biUTsAYFkURyHM0H2t4iQhriHjCvYcGBpvoaam9klzML4s-pGf4eY-1PUqiXSlFs7KMTgrJpwR5HW74fMYtCw0gn0PmOg_rwl0XF569FG4eq2xLjpX9Uau6VzNkV7ZVcMuLGNsoY8Taxx8O1tP6aGo4vvjaTxoswo_UbJ6Era66JLYNJaZGvp_Qu2OyPbqB64hAoix_ypuWe9oEbWOSLpCFUFzVFDDpNrqdTAFOIb_z35KUEAsoNZN-QHENkweSlMBi4lhAhJ33kXz2WXWNyemyFY4OLz2EbOocuiiPI7_3voOg1Tk2NjUVYDe552iDBRP88gld1NtPoGaTEQooXHi5lGEtW6kurd-wStjfgVwaUKd_gsmN7xzO7LlriqrbhbsnhOaE1X0WLludzSo4gDP7gII98rdEAwtory98ZlnDZKB7Pak1Nc3gQu6zcSVjxYckWUGKIlI9OXTkuLilu2pgm07cp0wW835uwgNoaL7N73NW1JInCSBq087k_qVmI3HsEkGkWU9WFsTNRLUy7WJbuJu7BihQizh0NbC5uP7_oVaRcFcz9P31MuqhjWVVkC-1keBHuYYdBLgz0cy2-0yAuLtaZ51Th-7qwYHN2xaJEj_jtK_gs56pbe1NiWdQuuT1oMEBRV8NULbVHZ5ImFSuPbRpU0Kyg25BIUDhsV5WreUodyqljEFW4SM7Hhb9HWLred9_SFWqj40gk7hxnE3KktoXVatmhjddrWZyABmiovikv198To_IDkHPd729dUtyIxjbPF98EB74mvDWBSAuv-hyI94llUu1xtOVpDQqtIZpD8Mi4mWLXu30w2uqUy02-mYxS2nDQxsrBnPVJNJ-FsmuinLC9Y9tKyK8uEFKmups2o_b7xxXeujuWUhtfld7Y_2L9dT7iCjd3XwlwP0ALCQCMFhOg9gAbKzaBbaGajEgIpfU0tCVGsg_HoG_wKIcJSpRXj4NAQBtiKbFgFPxvS01QCkBWDUqaH29gyALHw95KubysSnL3kY6jNYxfAs5kEPxbnmP77R9aiMl2svOnkhqG-XQaQDZ57Jvv9g4FqcYc11J_pN4utSQmkDJgyBjQmGysrkoCY8B6j9lmKkwNzmjk1pk_9whPl1yLF-chNUz3IDy9JO9UVLMBjIrffm2IMT-DACxf8lfTCzcUro10r1XxCfHuXfAI-bB9keaLb6_Qv6BWGsWMyTw==",
  "id": "rs_01e1520bae42157d016ab472bd088487d0a878533869b5b804",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.335,\"right_y\":0.175,\"right_z\":-0.012},\"note\":\"The tan toy is supported inside the left basket, so I’ll release it. Using the overhead view rather than the partly hidden wrist view, I’m centering the right fingertips over the blue shaft.\"}",
  "call_id": "call_87MwLua9kv80aL5SxTiFcyoG",
  "id": "fc_01e1520bae42157d016ab472c0a3c887d08ff743baff1c7fa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_87MwLua9kv80aL5SxTiFcyoG",
  "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]: [-0.3576, 2.1769, 1.3792, 0.6216, -0.7338, 0.1413, 0.9954, 0.6971, 1.845, 0.4706, 0.7704, 0.54, 0.4458, 0.9982]\nstate[eef_state]: left_x=0.5886 left_y=-0.0899 left_z=0.1605 left_yaw=0.2161 left_pitch=0.4079 left_roll=0.3022 left_gripper=0.9954 right_x=0.3478 right_y=0.1775 right_z=0.0118 right_yaw=0.0032 right_pitch=0.0578 right_roll=0.1041 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -13.0256, 7.1726, 1.956, -0.1343, 0.0659, -0.1343, 0.5402, -4.547, 3.8085, 0.9646, -0.188, 0.1294, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b987bc1db9abf92b91ff220b0899ae3119bf81f25a66c9cb24ddf77b573c39ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb880eb7a381da493a515454785c10ed34c6f65f5fc6d845f7516a5594cc9e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1f1d4bf83988b288fb48d37b4eb94c9a9f6f2356ce11cae2ac2f7c217d73b7",
      "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 26 attempt 0 · /responses · status 200 · 6.565 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 1.6253, 1.1652, 0.2466, -0.7601, 0.0467, 0.1346, 0.7372, 1.5818, 0.4904, 0.2565, 0.5438, 0.4744, 0.9988]\nstate[eef_state]: left_x=0.4832 left_y=-0.0852 left_z=0.2789 left_yaw=0.2087 left_pitch=0.394 left_roll=0.2294 left_gripper=0.1346 right_x=0.3091 right_y=0.162 right_z=0.0224 right_yaw=0.0204 right_pitch=-0.1172 right_roll=-0.0237 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.2393, 11.0838, 2.1172, -0.0024, 0.3687, 0.5788, 0.2256, -5.9009, 6.9675, 1.6093, 0.6032, 0.1832, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 2.167, 1.3903, 0.6426, -0.7338, 0.1486, 0.1368, 0.4648, 1.6947, 0.3889, 0.6724, 0.342, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.5903 left_y=-0.0914 left_z=0.1749 left_yaw=0.2209 left_pitch=0.4419 left_roll=0.2849 left_gripper=0.1368 right_x=0.3516 right_y=0.1141 right_z=0.0134 right_yaw=0.006 right_pitch=-0.0229 right_roll=0.0658 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.1915, 6.4342, 2.1856, -0.1099, -0.0171, 0.7253, -0.294, -4.3282, 4.5744, 1.37, 0.1148, -0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3576, 2.1769, 1.3792, 0.6216, -0.7338, 0.1413, 0.9954, 0.6971, 1.845, 0.4706, 0.7704, 0.54, 0.4458, 0.9982]\nstate[eef_state]: left_x=0.5886 left_y=-0.0899 left_z=0.1605 left_yaw=0.2161 left_pitch=0.4079 left_roll=0.3022 left_gripper=0.9954 right_x=0.3478 right_y=0.1775 right_z=0.0118 right_yaw=0.0032 right_pitch=0.0578 right_roll=0.1041 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -13.0256, 7.1726, 1.956, -0.1343, 0.0659, -0.1343, 0.5402, -4.547, 3.8085, 0.9646, -0.188, 0.1294, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b987bc1db9abf92b91ff220b0899ae3119bf81f25a66c9cb24ddf77b573c39ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb880eb7a381da493a515454785c10ed34c6f65f5fc6d845f7516a5594cc9e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1f1d4bf83988b288fb48d37b4eb94c9a9f6f2356ce11cae2ac2f7c217d73b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLI74rT7nNzIMDqACXnPE8I8jTRezlSybqF9cXnXwXU1H-_90THnfUPLVWCQJ9zAK9sLHEJm0Rdc2yqwIs9IZdOjSBOHTICstGnH27vVBiEcHSgVuzUEuUOp1K4Nk3jw5uHbGjceFI1v90oVCnCQLddtSIx12Gp0ZrPRUofsygrIBOpadnYZ4thxxgfMErkiBLU9tMJ089tE8ur3op8Osa2PfJ0Forl9mwtONuG75w7tHghFbTPnnCaN3ClnpbEzaPR_SJLqvoRpln3BMgKMIhJ9KHt65RDSYoARHwfbkNt2l5tTnwAyhr3DPZT1bhW3ZeuL5IoXftOFPE6PQ53dvCQkMCx_TZHu9d44IHQmet1VPIwASSutX-LnKtl4scT-aVqN0V4_BpVFX2TJmVyjbs4U7q7AXd9HrYO_ve6QmsdrOxa3n_57px7HtPIbkE2WbmfvjZnZE6p0lIWXK3bsp1SqfUy49CPaT59pQJfRjU9IRZ-JCgc-VUc5Tx5dw_iLBnDFJRCRuw7j-JrVQMI1jvPYc6zellBsp4oCfC4mPCuecUuij-vwddnjW4OZZP-MgsqAADWGM13Cg8ZjmQ7ceg6ou99HIUUuRLXxoH2qYEu-lyDAA_5Na97MPG-XefPMXPW2LTl_a_EUZYnpJUOBiErLpDviCaK3pHXITJ6t0zdktBr-xF_cWMzTip9Ya9Rjp8oDiT2NHbD8YAaJXyYzKMTrcnPoePShsaTewFqDsvUvYPIWXwk3qe6Cvkg7TcFwdn6DLN1u1bWruuO7wrb7UGcTQV5HcE2Z-DArJ0OjvwTKZeT7BRihKiEyQY6noB9SWNZaiNfyEmfsrY42O5Rhyj2LYa4SbIuavcP38DmDDuACEhTooI39kgCjMHjNu_3JtlKKhoCD1zqpcJkMDnGFd7lrIrJrrKEiZpWUE-qv1BrUr_5LOtgmpZTNrBbAfUI08kH4USKll0GwmtUn9jJIW9YCRYHIdC5E7GQy_vjWi_v8adBVgNl19NeviPh5a-2jZCxJBgqV3z6ONfgxeQ4vxT8ZdH7T-KBhvcjHU8KmbmuaQnGLs-qFHwcJ44AUM4v_5WBFmssElrFf_p38x4gSQ7vnUn-08aL-sAHb-m-BshuZsII1LYurnXKWaflgy0yyxSw7hxK6MAE6i6u6BRpbN4G0_XWOZrVOe6uj4RgC2D5KZP-moQhi7w_FYItzC3LWr6sTtwWY_67cePfl--0C47V1QyHmtUXzQfYe2cxy1G4SDqBzEuadl8IHcU08xGmv544ohKcwqyUq06Ba2qfa6TUoZknPZR7N-PHIgfwQd5e4Gx1zcp5XYG8F9FcO3_rzTyXLRvQlO8xBAEnHVWsaVHJ3iSlCjnuBMMi2fSurU1KM8qWJNM9trIC0yu0xmtswaEvgT0KCTXnYAR3Lr_ishv0yoNlLiiwIAgqdajRuvqcToKM0_UoKBI6ywmtfbliJUld5G9Mt9GHTOnUQd_xxFDVrw_W_AS_dtVMFvfn3xB4gvCFoVCXpJYQznH8ZunC_QwiW_1o3qvC4kMIpHFq-o4TFLYAga68vE-2vIj-FWefIDagseIXTP6NVwn09ToiwPKwBTVupHA6Elz6tWT54b2tqJTJ5Az9nGZ1O55EqKxFEThb-S58fRy7hz-xEyOdbsHlZgMA4zgyUMzUdg-K5VVQLB55nPjXMvLsPy4y4duBD0reY1vBky-T-6Ejy_vMuQAzhChygOjcYmx1SkNymGde9wXXAJyobt8F098DC22fsllHHKW5SDfXS5A4aKuswWBbwWmqfdho6wKLPypHaxrrjWelt5593XJzMEWN6OX7T3maErTNiTbkw_1mvx_8YDZeTXI90X8cUjNWaEEOK2Bgio0yZSyVvIahXaf8JPdCy50ynW5UtEiQjO68KffP8eC3GTgS_P4UBD2buSgmR8Ro4cmx_XW_t0ooZxZMrnKLd7Mw2-JDjerY38Ihs7bXRvR2ZfwlEm6JJV8sAlWn_JKW3w==",
  "id": "rs_01e1520bae42157d016ab472c47bf087d090995267fcddf8f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_z\":0.31,\"left_x\":0.53},\"note\":\"The tan toy is visibly sitting in the left basket after release. I’ll lift the left fingers clear and close the right gripper around the blue shaft.\"}",
  "call_id": "call_uDzcjolulJClGjC237oUO8xI",
  "id": "fc_01e1520bae42157d016ab472c7bed487d0bee5ab44ec5d61aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uDzcjolulJClGjC237oUO8xI",
  "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]: [-0.4026, 1.8481, 1.4086, 0.2005, -0.7902, 0.1108, 0.9967, 0.6991, 1.8458, 0.474, 0.8001, 0.5404, 0.4431, 0.0108]\nstate[eef_state]: left_x=0.5369 left_y=-0.0884 left_z=0.2702 left_yaw=0.2246 left_pitch=0.3677 left_roll=0.3189 left_gripper=0.9967 right_x=0.3512 right_y=0.1812 right_z=0.0181 right_yaw=0.0048 right_pitch=0.0831 right_roll=0.1224 right_gripper=0.0108\nstate[joint_eff]: [-0.4855, -13.1487, 10.9744, 1.7802, -0.0562, 0.1148, 0.1197, -0.253, -7.1863, 3.7265, 1.4774, 0.2125, 0.0122, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9d8e206d6d9de62344b0419cf9622f48bfe385966af56f39228c10682bee18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5d308ae40860c0ac46e86224a05b0451d506abe3b52d951bd5339e6a6083c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8434c0d28be882c07e28490d2fa4065eaf00a296cbc8707cc013be98e2386294",
      "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 27 attempt 0 · /responses · status 200 · 9.716 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3599, 2.0502, 1.536, 0.469, -0.7338, 0.1505, 0.1372, 0.6228, 1.6524, 0.3965, 0.5514, 0.461, 0.3969, 0.9986]\nstate[eef_state]: left_x=0.5913 left_y=-0.0923 left_z=0.2692 left_yaw=0.2448 left_pitch=0.5154 left_roll=0.2311 left_gripper=0.1372 right_x=0.3268 right_y=0.1424 right_z=0.0131 right_yaw=0.018 right_pitch=-0.0492 right_roll=0.0406 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -12.1368, 9.6205, 2.0733, 0.2564, 0.5104, 0.5836, -0.7726, -3.2479, 2.9333, 0.8083, 0.1685, -0.188, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3576, 2.1769, 1.3792, 0.6216, -0.7338, 0.1413, 0.9954, 0.6971, 1.845, 0.4706, 0.7704, 0.54, 0.4458, 0.9982]\nstate[eef_state]: left_x=0.5886 left_y=-0.0899 left_z=0.1605 left_yaw=0.2161 left_pitch=0.4079 left_roll=0.3022 left_gripper=0.9954 right_x=0.3478 right_y=0.1775 right_z=0.0118 right_yaw=0.0032 right_pitch=0.0578 right_roll=0.1041 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -13.0256, 7.1726, 1.956, -0.1343, 0.0659, -0.1343, 0.5402, -4.547, 3.8085, 0.9646, -0.188, 0.1294, -0.0415]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8481, 1.4086, 0.2005, -0.7902, 0.1108, 0.9967, 0.6991, 1.8458, 0.474, 0.8001, 0.5404, 0.4431, 0.0108]\nstate[eef_state]: left_x=0.5369 left_y=-0.0884 left_z=0.2702 left_yaw=0.2246 left_pitch=0.3677 left_roll=0.3189 left_gripper=0.9967 right_x=0.3512 right_y=0.1812 right_z=0.0181 right_yaw=0.0048 right_pitch=0.0831 right_roll=0.1224 right_gripper=0.0108\nstate[joint_eff]: [-0.4855, -13.1487, 10.9744, 1.7802, -0.0562, 0.1148, 0.1197, -0.253, -7.1863, 3.7265, 1.4774, 0.2125, 0.0122, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9d8e206d6d9de62344b0419cf9622f48bfe385966af56f39228c10682bee18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5d308ae40860c0ac46e86224a05b0451d506abe3b52d951bd5339e6a6083c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8434c0d28be882c07e28490d2fa4065eaf00a296cbc8707cc013be98e2386294",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLQ-DzoMPoGI-QL48e88gQFSi6WQjhXMTA6rny17Lh0BABKYSsSYZ-kBtruG365jE6A1iVqe9G4gk8zZkPrLjVC6PmX9fhI21822WAevcNxG4suUA8wTclbjmiCTWFwJmYRLQb6Hg2RReje_t2utqCdaiFFEZBc1vza9fKeLQpR0NnM_ERx9NyOihvhsjHBLJ0o1GQBuL5A6DdsdS3FfsCVG3cAQDvUZ7RLEHRzK5qtNqO2WJEW_ufOAqv9NFQPdgoblHPaSFpvNTXdrnKD4ANG1ISZS2YtYGK_LlDG2QFt8HCKFSjn8Yw3E4gQMpK5oUpWGu1URr9Y53AqRtVuebebkT7FSSJq1HKO-SP8LN8Nq_CnRsoEFZYVmtRah7_KNGlzoKu0PIVvRgHvjQc_iobJseizn-Fen16TW7t72UO6qWC7J8c6ne9A8AEkQnBmPVgfZWpP7Yr6vbz9vt-yvelfAXSanbS-nOA8-HAd9BqdLBvjqyMqFGXMqtf6SDLRWTv2BW-ph0-8A526QNWprmBvoZ6uON7xVo0vj6JVOvBrG4OAlNSJmec3iVmuSpqld6qeQya5ZWk26a6W0H7-DlIzhhJtrItkZKSBzIwk8yGBWBcRZ8CSK-aEPnYKiDtyO0z4Fpeu-9dhCyFOBvVtAGp2N_OLEkFUsd8XkiW9lcZt0fUF4s4Vcg8jGpckFmnL6KKluVgH2iTd_RbCOla2wM0CrbSd1teorGeDD-VJhGluvdNxCQb3hu2ZHT-1_YeUjhkguN8Q29CCGSb7WdsteGWJsAni0wN08FMvH6OKjoh8ANVUiMxo4XbJt7yhOHl4AZ-oQPhUs41hUrAOi59Iiw6oPJTWvDDzmgKdDUaS5A9l96kfUAkx2BsaozvTkApBlQupbYSXp3PUx6K5tjyV9CaBZ7LqKV-zn14OfX4ziqKjK6T6zV7KDYcpVh5HNZRMmifOCi0cNDkYlQLJRSJzk5fpGfkmi6_7qXCnzHXomsPSkq_cZ8Y6j6k_Xrw8wJGhxzHv-qcOJINrORtys78S86vdE7ua57AsxQ_cPw3S3vWo1ul7UTiBmJ0yHvnyONOCH8ynLfNOMhbyL4kgPS__tyWompxcTJMQs5T7tJ1e9F9KZJZUlOfWcap5fQbkouDTXAaAfbWbk2nxciIpNGykGcfsRJkHWZioQ7qwJC109_rR4c73EgXso3F1UAbdrM5U0vUTlgJcciff7q9BN3a7YWBkg8VZkSQkR_xgLbaPZYDfsECwJL3373aBUfB_aV5Fk2Jb3-1vsW1Rkw4PhizAg1W9gtRVIzsL8QyWyML2ytrYYQE9iUjFiQXIUCLVdcGlOYy2QSTlc-sB8npcb94Dwiec2xH6zPtJcj_qY9kAF2GQwdDGKwEpaCAYT95njSqK2CXcrBMcqe83mM9ewLBjlnLzKjB-vOzJS2gg5dC21_bh5FMmJiTJ182EDWnlh6DftwXZVtDZuttY1QEl0_FEXUkXYv67maVmu4ZAb2JPt940pS7ZpF8NnRhlCZ5BirD3IC9Bp74nmJA2r1T1QcAACzbwXu5IRh63QQXvmlUcJH1EElpjMq_f92fuRtce3YuxXAHjFDqnqPSZK9aoMdUjb7e0iU9H3SKRH8IugTMyAY1MnxSwodiYWxQIgHxEoWDX0Lq_WydxOPApYHPPCKvQ_orUAgcCZWha-fTESICPOw7wKWBJ7XJB5BSTKRlFaDQBdwEECGZXWF0OEEMMDjrawr4A3enU1WjIZBs-KWJRwcx-oSuG-RWImFuLJETqrkj7QMhic6KuIljRprOI9FYQBVsT5SweyZftcisdFIMqR2lFGO0pjPtP4rOCWq5U4ioKhdFQbsNGBfFJzzfIiHIfnduCaPj6JZW9xUu63PXTPEfQaAwCBwoAdFQ3nI_CaHq8ID3PbbbMSnQrV8w-VWuJUU6sYduy0BtfPUjFDmQ_wHz4csdAccKXm0xPOIU0Bnua_urg9QDidUO4yIrEfN4BYlNqqMRKlkr5rYdz531L3U5pGKEv-6JgMIOiyjQWpSpgwfAf0g9-KmJgv6hwJmqPHQf3RNiBkBhLio98KiIH7pxzohkNg0Sr9Z9qzwo6TUk20abDUa0RnZfAbQHylBQVrHvCEFJRfN0SDelFB4p7zkKBm6y-rYwEOBPpLFEgHjWFQVW4bTZ_cE4VeYahvAPZwv5vTOtf5sSVzJdYTXPV7vg45KueUthW2esHJPXrwUdQDT0r",
  "id": "rs_01e1520bae42157d016ab472cafa7487d08cebd14f9b35d811",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.09,\"left_z\":0.23,\"left_roll\":-0.6,\"left_pitch\":0.4,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The blue shaft slipped sideways during closing, and the toy still appears caught against the fully open left fingers. I’ll park the right arm and gently tilt the left gripper over the basket to free the toy.\"}",
  "call_id": "call_U6tDY4mGX3b7IuUlJsFa22QM",
  "id": "fc_01e1520bae42157d016ab472ce3ddc87d08db633be554d9356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U6tDY4mGX3b7IuUlJsFa22QM",
  "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]: [-0.1955, 1.9575, 1.3014, 0.5266, -0.1707, -0.5312, 0.9967, -0.0914, 0.7334, 0.5472, -0.2962, -0.0937, 0.0696, 0.9969]\nstate[eef_state]: left_x=0.5879 left_y=-0.0822 left_z=0.2233 left_yaw=0.2428 left_pitch=0.3708 left_roll=-0.5244 left_gripper=0.9967 right_x=0.2944 right_y=-0.0068 right_z=0.1884 right_yaw=-0.0577 right_pitch=0.0857 right_roll=0.1182 right_gripper=0.9969\nstate[joint_eff]: [0.1709, -9.9624, 6.6256, 2.2686, 0.1245, -0.0269, -0.0024, -0.1846, -1.3333, 9.7983, 1.8535, -0.2808, 0.0024, -0.1441]\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:6c2d2aefbdb56ffbd191e281934d050c6c315ed627cd21503f2ea29fba0ef6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16253ddabc971d6d72733c9200bc876c0ba7c31cb071a91080596b723bde98d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7105c2e7c918ffa7f5b8fdc7af0d32865ef39cdaffb345b7d3005204aec173",
      "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 28 attempt 0 · /responses · status 200 · 5.699 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 2.167, 1.3903, 0.6426, -0.7338, 0.1486, 0.1368, 0.4648, 1.6947, 0.3889, 0.6724, 0.342, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.5903 left_y=-0.0914 left_z=0.1749 left_yaw=0.2209 left_pitch=0.4419 left_roll=0.2849 left_gripper=0.1368 right_x=0.3516 right_y=0.1141 right_z=0.0134 right_yaw=0.006 right_pitch=-0.0229 right_roll=0.0658 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.1915, 6.4342, 2.1856, -0.1099, -0.0171, 0.7253, -0.294, -4.3282, 4.5744, 1.37, 0.1148, -0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8481, 1.4086, 0.2005, -0.7902, 0.1108, 0.9967, 0.6991, 1.8458, 0.474, 0.8001, 0.5404, 0.4431, 0.0108]\nstate[eef_state]: left_x=0.5369 left_y=-0.0884 left_z=0.2702 left_yaw=0.2246 left_pitch=0.3677 left_roll=0.3189 left_gripper=0.9967 right_x=0.3512 right_y=0.1812 right_z=0.0181 right_yaw=0.0048 right_pitch=0.0831 right_roll=0.1224 right_gripper=0.0108\nstate[joint_eff]: [-0.4855, -13.1487, 10.9744, 1.7802, -0.0562, 0.1148, 0.1197, -0.253, -7.1863, 3.7265, 1.4774, 0.2125, 0.0122, 0.9353]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.9575, 1.3014, 0.5266, -0.1707, -0.5312, 0.9967, -0.0914, 0.7334, 0.5472, -0.2962, -0.0937, 0.0696, 0.9969]\nstate[eef_state]: left_x=0.5879 left_y=-0.0822 left_z=0.2233 left_yaw=0.2428 left_pitch=0.3708 left_roll=-0.5244 left_gripper=0.9967 right_x=0.2944 right_y=-0.0068 right_z=0.1884 right_yaw=-0.0577 right_pitch=0.0857 right_roll=0.1182 right_gripper=0.9969\nstate[joint_eff]: [0.1709, -9.9624, 6.6256, 2.2686, 0.1245, -0.0269, -0.0024, -0.1846, -1.3333, 9.7983, 1.8535, -0.2808, 0.0024, -0.1441]\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,$blob:6c2d2aefbdb56ffbd191e281934d050c6c315ed627cd21503f2ea29fba0ef6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16253ddabc971d6d72733c9200bc876c0ba7c31cb071a91080596b723bde98d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7105c2e7c918ffa7f5b8fdc7af0d32865ef39cdaffb345b7d3005204aec173",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLb3pmFXbGbjzH_7gDkFl8W-UmL5Qvwh4pvDGt81USKxAVh6qsSgjchkaWJF8qFctYBjz0Xg5EMc5cGgR3N4FbZdOmW5DZVT5CTZhQLRvcTTQtqU-rb_UUI_g87oBn_C7tBFBgkLRy_TlI2STvvEkOZJR4jxlNj49i3JsWWSGjiqvbQo26lfb3ASPjF1bjCwvwHpLYF1e83nXP-Twp4WKvfW-ZNIodE72Jb8chvM1hfSRHCYqE7q2d1HvWtrL_spJ0U5mx8Pq31zup49cMQ1vId9_03UK6bLQRXKNHgGurSkjXMTYnrSZc477KYWSXyUs1Vpfuxx5d8hTcdaPMXFxCHC99fLSlru-qTNJ8vw26Q9-mmqSoz4-PRZCjYBkAQg9DnLLsmlF5gzYfKqKcTG6C_HjQN2GBTeNOCvd1RHVr5Y4PAP2cP0n8sKiMHzOx8ezfZXdOhDIauzj336yvLrEjoDAMAStqUy_fMRFq99-U3Z3hfGGhiPfIQ8B9cHrwIyn-I7mC9wffilP0a1ViBh1EWgxy1pKGLAAf4t0zpzVsdWfGCYJ7vJbmwt5IemygWQbjuJ2vT93kYLbrf-uf-JPRZT_LrrD2tekOVHC881gMNZ9wU_hXYrcyFUQB9z_qSg8TIZfJUwB8-nzJ3Cz0Y_iqVDAjNIW7KDHEGUr8JV-iUsT8Bb3PkoZRGq1FSaMpY-mvLGUQrwGLOSeYyBh8CQyBGJLpbO4zBIXYKq6Ye84If4QJ9ZbKUE-BeNP9uvZ6o-LN5ZSoX-_s5tnGuD2BLQDcqskT6g2-wbebrJe88k2kfEM6GuCDLGOVPcll4Mj0qnLFy2OSuIoPkh-RBCZJfgE-qy3H8wlR0s_Bj9mX9_JE5q5cmNqz9V8LRIrS6zGGibk2h0REgQ6b74ZDrpB9P1w0HdjWOxHB01eVmU7dV1-sHOoukBg-P_29wrk_NntdwkzhxZdGCiPs13uN3f2hNOwd8GelL4uWEhrnBk4V8DwP2XuL9MOhDBal8QR1cEqf7X3o-cXEWb-LPvU2VBIcpwGYa4tj23aAa8OCXyzDwJ77Kxmy2B4kS9lY2AXV_WVVme0Q_flM2MmgEA_2MCs54aYx3_YOknEOEj-VtMMUdjPZF-6IkWqTcuYIH644b2SgzoY1oLph8iXkCNbag_UN3YuzEIcHaBLh_nBnbDNiCPLRXo4Tajin8aRIlTdLX7st49qsFNp-OvEj4l9VgCkcB3d-OxYsqSkD1JdjTUM5GX0iiOLqQZ90-Vku39-70oMK3amf_7RGojcUHS-2ZhmDI-btH-F4e1Mg-713mxSD-J1RCw1I0xSl9T0i5eJq3fQExjMPY4fBMSVRMbxNLFQ-PFQnE5473utHaLgy6837lXLPNDTW7BSCloo1kDT1RIYq_gYmK8lSL3Z8IVYT808U0VCNvI0oGR1e35o5DGXALrTpmQeybJGAUKTpOmaVWDlchfWcHQmuODQGiOCA3ncLD1cAPSYCzXk3-aVuzlr9dYKsMXpTtjy9tjAyKrPwmFArGtc1cNWlJHCiSGRHw31WIL9PnQW0E3wsLt7-Mmpn4mofht6MJUbbehCjqpnzBCxbtn389s6rGvSgJ5_2PKr8hQR4mOeHXwvp8VenNtpwSlvB02WAA-XsglEFz-PtpswVREXCcnSOmpaT7WS5r2On085HUjggW1nPzFwoM_ZMM8vsItlYQKHaS8qkCNnRNl69Gyf7fzGpnw-t3Wq_hLxoYuHC2iEB483ZcFITdGVm2O6cs0EA3CvYxLZVUVmzmQIa8dEDqKg3xKDKRSZl4tDCMy2H3mgbpkLN2GgtJdrllhcv8Qfa7uv0URVae1AKbKZGh4W2f7299dR7W1UtqJ3CuBD9iOaoysb19b41G9gZhwIXbloQ25TmKCxfzQZ9zQr-ub2MTLX_X7ESyU-j679l2DwWmawBbvkP12mdK_QaXqdEvRfTawjZClR-8b_yPClQzSjN5LNBcjjveKI_FQ1IayShoUrlOrInYWCxv8f0B6p3LYoQjsito8e1jlYQYNZ_Ui1-YVMoX4Ml4iQneX88sarPq9ecb0snKz7L3C44vKc01Z0W1NUDzwm9TRIlbDqdYTU05-uNr-ols9haaOUf7JrBbGWoExpsNDhWFuOY2ujXGsCyQR3GSAnRAA92OYmDzcjEBDkiYMN58PimEp8VvD6uth4HrT6UcZlqQr4H_5KxEXGY=",
  "id": "rs_01e1520bae42157d016ab472d7075887d0a92b458e3716719a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.38,\"right_y\":0.135,\"right_z\":0.035,\"right_pitch\":-0.1,\"right_roll\":-0.1},\"note\":\"The tilt has left the tan toy inside the left basket. I’ll clear the left arm and try the thicker black-capped object, which should be easier to grasp than the thin blue shaft.\"}",
  "call_id": "call_1sh9MBN6YRNXNYl2eVsJhr7e",
  "id": "fc_01e1520bae42157d016ab472d9fb8487d0a316d507ecbdb05e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1sh9MBN6YRNXNYl2eVsJhr7e",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.2535, 0.9176, 0.8501, -0.4961, -0.4015, -0.3248, 0.9968, 0.5411, 1.7058, 0.6586, 0.2173, 0.4805, 0.2962, 0.9975]\nstate[eef_state]: left_x=0.3134 left_y=-0.0062 left_z=0.2409 left_yaw=0.2393 left_pitch=0.048 left_roll=-0.0579 left_gripper=0.9968 right_x=0.3686 right_y=0.1304 right_z=0.0243 right_yaw=-0.031 right_pitch=-0.1483 right_roll=-0.1202 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -2.2632, 6.3111, 1.8046, -0.2515, 0.1099, -0.0122, 0.294, -7.3368, 7.159, 1.5897, 0.4518, 0.1294, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b431527885f75640d06e75320615f988a0ab65f10b1660dd6c7be7089859a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ebcefb68f14204bd59e79362c56e41158845f940fd7701b8c162276624de5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211b71a188c226659acb44882576a93fa4ca09c383637f651a51dda3a8bc385e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.671 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3576, 2.1769, 1.3792, 0.6216, -0.7338, 0.1413, 0.9954, 0.6971, 1.845, 0.4706, 0.7704, 0.54, 0.4458, 0.9982]\nstate[eef_state]: left_x=0.5886 left_y=-0.0899 left_z=0.1605 left_yaw=0.2161 left_pitch=0.4079 left_roll=0.3022 left_gripper=0.9954 right_x=0.3478 right_y=0.1775 right_z=0.0118 right_yaw=0.0032 right_pitch=0.0578 right_roll=0.1041 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -13.0256, 7.1726, 1.956, -0.1343, 0.0659, -0.1343, 0.5402, -4.547, 3.8085, 0.9646, -0.188, 0.1294, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.9575, 1.3014, 0.5266, -0.1707, -0.5312, 0.9967, -0.0914, 0.7334, 0.5472, -0.2962, -0.0937, 0.0696, 0.9969]\nstate[eef_state]: left_x=0.5879 left_y=-0.0822 left_z=0.2233 left_yaw=0.2428 left_pitch=0.3708 left_roll=-0.5244 left_gripper=0.9967 right_x=0.2944 right_y=-0.0068 right_z=0.1884 right_yaw=-0.0577 right_pitch=0.0857 right_roll=0.1182 right_gripper=0.9969\nstate[joint_eff]: [0.1709, -9.9624, 6.6256, 2.2686, 0.1245, -0.0269, -0.0024, -0.1846, -1.3333, 9.7983, 1.8535, -0.2808, 0.0024, -0.1441]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2535, 0.9176, 0.8501, -0.4961, -0.4015, -0.3248, 0.9968, 0.5411, 1.7058, 0.6586, 0.2173, 0.4805, 0.2962, 0.9975]\nstate[eef_state]: left_x=0.3134 left_y=-0.0062 left_z=0.2409 left_yaw=0.2393 left_pitch=0.048 left_roll=-0.0579 left_gripper=0.9968 right_x=0.3686 right_y=0.1304 right_z=0.0243 right_yaw=-0.031 right_pitch=-0.1483 right_roll=-0.1202 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -2.2632, 6.3111, 1.8046, -0.2515, 0.1099, -0.0122, 0.294, -7.3368, 7.159, 1.5897, 0.4518, 0.1294, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b431527885f75640d06e75320615f988a0ab65f10b1660dd6c7be7089859a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ebcefb68f14204bd59e79362c56e41158845f940fd7701b8c162276624de5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211b71a188c226659acb44882576a93fa4ca09c383637f651a51dda3a8bc385e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLjaQIFENdO3OD_3QgNvQvohrCoe2xJO9EHTZmYJ8rnhJ984T_LioUb3_7MWZnBSGEjDNONta-cK7X9A6ObfQGFmCElZbEjytcLw0LDRwtOutQUOUQJsiByhFaadixOPusBpmBvBRVSOYKeLtUy7YA5I64Y09NNyHPYNJy5OhWW7nraH9TUhsv9XYKegni1M3k8LoLl1zjaDMjhezL_U0usVdJ5T5N5CrDw3YIp1wdWg8JOGHinY3q6_KsWIcL_Rd0M-D6y75osNPYSUk8pXrHt2oEm9OE3iIDWiOQSanaIoRZFSKyLNMggxxEJxTRerR_XywSYUpGSFTlk6PDnW-sGCUp117ajdCQWGp63rdB7kz_DN6kq1AL7CgXOkDud9ex1AILn_hKjuw6BtcxWTVlNEaSUKOWpZoqEmCDp6HlbrUaF3sL5W30Xe9VBXJ4M1G8PBFRXKwbM8Yacm9wAU5sb36nl2eaq_U78IZUzqHuhvgicGsKIfk3e3u5QoxWb7xGHG1VG1YlSVPz2OlPfOWFA2hEm-jK-BAXACTi_S2Y5fPS14sGZ4qob1vd0Om7zRqz52IupOgYj-3YTVWcdUWmg6I0aFGgEelXtMCY-2txg_bnpj9pyrbiR4hCb6vYM3zU-GRos4Uy8-abs0f9uP3DYndUiUnFCp5rePVoigJP9D7_n362VeN9E3Dz_Wo2gwZ7URqHJqA9hs0tq9TyZuQBdJvLdFzfoB5Ms3_qv76Pz5astd_GUl4CJ7fZzDgwoBiTW1y7CA5yyBaqIghJA1VXtML9uPeXtYK7Jq0gFEoxql8MnZn2dHpt-afZv9lIwt-IKd8Di1uWPC5Ax3GzuIN3eKva1iQT0jfRWgVQI8B6IcNfxRt9xgpwbE3ezHHlgU0s6zncp-4beSfV73_Lf1_lhPhjkWnygz5RjRum4m1FvPgfu35beYGvkYfHoo3s3GowMnuCbEkO7Bz4T07sOpr96U8rb9pXDTyq4Ewqye1bca_DgoR-mVa19_Z6358wnAgM_DrJVewffwkLTdkhEyiXpbYb0crNSM_-pqAMEfMVOzJru6Bgd5Pw8HagnEMBov8AY18P2Epj6UAcwG2mtohTqQEwMKDx9NzXL7p1trBivL1CnQusFHPO5kKubsNZ2WUQiDv7upxeidQcVawBdCv5q8LBC5Q-hCLl6FyvwHR0Spki0YaY6ib_ZRDFCqQSyMAAuSssk7tfQJgHAt509hO6hF15l-ieHTYDknpVAECulydgyIgUQogeGztxQvEBgnOCralr5jWA5cTyKU62ylew-KcEwuWbfanY8ZPSsoZbJ3UjDhOb9FhOhbKrt1qBt3I8dWcFPAYBAcfN41sEwohiaPZVGoMcmN0Vn5TRGyLN16XMOB1aYkmfoVZ7Ht1wM_dg_svKEQoc_udu9JHDlJjPmCP121gXNAy6olS60o7HIpYt1Z-qBR1mFu2AUUEPrSM-EsTwJw8TKcKkmgVFZk70yPG1XjqE0g_96wuRwZS-oEF0FEsuJQV2xYgTaWL1VbNrYAcn-bs0jZkxte1KhmN_mGyDVaaJQ0_ORnXKXjF1ZSwxeb1dvkLGGELcL6xpMc_vXMznSRDxFVxFcmjudSJ2DXpAu4mTuW9FJxgTRdN7FnsuVOPtDZyIWguF2D4-4lG0dAoeUXJMRSRoaZquB6KoWHTBfRCQD_oypEqS0MVBWH7MztEODoGY7uOj3Z8ssqnTNfUE9Vuu7aEgpryGB432AznCzbXZwvH0jg3vgKSX88AAkNiefKQP-0AFl2bdCcdabBxlxUaVrwU8__8Dm6IuixQgsyCCotBlQP1pEJJlIdITbinrlQoPcie9L6nIj8N7VH0PS2hqHUvV9FFBOzBeIL0wnCSVt1PtjMNIJvpzO9XKQcGbeDiTAP9JGyJdF7qrAbOFv4dE_xLGJRcDzqRYKqIVQ9RSt6tc1hOUkivf3vdzj_EZBmQtCtp8OxVMh75rSuL_5OqwtzXRM7hdTOLOZTUqabFxDV5uIiCHD1TJKu7c=",
  "id": "rs_01e1520bae42157d016ab472def28087d0900fcd43eaa49e3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.135,\"right_z\":-0.018,\"right_pitch\":0.05,\"right_roll\":0.025},\"note\":\"The black-capped object lies between the right fingers in the overhead view. I’m leveling the jaws and lowering them fully to the shaft before closing.\"}",
  "call_id": "call_8iQe2VJ2QOsLavBPm1fyZD0B",
  "id": "fc_01e1520bae42157d016ab472e22dd087d0a34e4080636f3aed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8iQe2VJ2QOsLavBPm1fyZD0B",
  "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]: [-0.2543, 0.923, 0.8497, -0.5079, -0.4042, -0.3294, 0.9968, 0.543, 1.9507, 0.511, 0.9337, 0.4885, 0.3313, 0.9975]\nstate[eef_state]: left_x=0.3125 left_y=-0.0057 left_z=0.2369 left_yaw=0.2428 left_pitch=0.0332 left_roll=-0.0523 left_gripper=0.9968 right_x=0.3897 right_y=0.1426 right_z=0.0127 right_yaw=-0.0527 right_pitch=0.1257 right_roll=0.083 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -2.4274, 6.9128, 1.7753, -0.1734, -0.0024, -0.0171, -0.335, -4.5333, 1.6205, 0.1734, -0.0513, -0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0215685259a706c3a5fa789e96d44a0b8c6c60dc12a10d580388ced9aee5069d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b756db3ef24ce8e343d33b5d34077fd9ae694ead95e8ff6b0ad51d65461b1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91942fcbb5e0e513c8a0e5c8227270c1dffd449c91d7ac23274bda50f906a0e",
      "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 30 attempt 0 · /responses · status 200 · 4.646 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8481, 1.4086, 0.2005, -0.7902, 0.1108, 0.9967, 0.6991, 1.8458, 0.474, 0.8001, 0.5404, 0.4431, 0.0108]\nstate[eef_state]: left_x=0.5369 left_y=-0.0884 left_z=0.2702 left_yaw=0.2246 left_pitch=0.3677 left_roll=0.3189 left_gripper=0.9967 right_x=0.3512 right_y=0.1812 right_z=0.0181 right_yaw=0.0048 right_pitch=0.0831 right_roll=0.1224 right_gripper=0.0108\nstate[joint_eff]: [-0.4855, -13.1487, 10.9744, 1.7802, -0.0562, 0.1148, 0.1197, -0.253, -7.1863, 3.7265, 1.4774, 0.2125, 0.0122, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2535, 0.9176, 0.8501, -0.4961, -0.4015, -0.3248, 0.9968, 0.5411, 1.7058, 0.6586, 0.2173, 0.4805, 0.2962, 0.9975]\nstate[eef_state]: left_x=0.3134 left_y=-0.0062 left_z=0.2409 left_yaw=0.2393 left_pitch=0.048 left_roll=-0.0579 left_gripper=0.9968 right_x=0.3686 right_y=0.1304 right_z=0.0243 right_yaw=-0.031 right_pitch=-0.1483 right_roll=-0.1202 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -2.2632, 6.3111, 1.8046, -0.2515, 0.1099, -0.0122, 0.294, -7.3368, 7.159, 1.5897, 0.4518, 0.1294, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2543, 0.923, 0.8497, -0.5079, -0.4042, -0.3294, 0.9968, 0.543, 1.9507, 0.511, 0.9337, 0.4885, 0.3313, 0.9975]\nstate[eef_state]: left_x=0.3125 left_y=-0.0057 left_z=0.2369 left_yaw=0.2428 left_pitch=0.0332 left_roll=-0.0523 left_gripper=0.9968 right_x=0.3897 right_y=0.1426 right_z=0.0127 right_yaw=-0.0527 right_pitch=0.1257 right_roll=0.083 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -2.4274, 6.9128, 1.7753, -0.1734, -0.0024, -0.0171, -0.335, -4.5333, 1.6205, 0.1734, -0.0513, -0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0215685259a706c3a5fa789e96d44a0b8c6c60dc12a10d580388ced9aee5069d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b756db3ef24ce8e343d33b5d34077fd9ae694ead95e8ff6b0ad51d65461b1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91942fcbb5e0e513c8a0e5c8227270c1dffd449c91d7ac23274bda50f906a0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLmxxf3_fX75Qb5g7eSk56cf_VTopHq8m4jBx1vqnLXlFrImn4CMYUlxOPigqO0Gr5rOS8JhUqHiL4-CFkKJATQMx2YtwBxl-XfokXKHR5m5_s0FRRwdgkmNKLgOXEt2vF-DLS__mS9lMBXipBx47gK4TeT6mIwZyVHpfWpnbEtLv21I9-n7rO9ZWjJOO9UlrTWK0GfPmrc4k3HG7L4o5ZRdZcyYmpwLaBeCMQpUACuq_HkoTTQuyo1owkQiq3I2FdyjqgC28r_f8_mPJjB9NSuBmjt_k9f_3yxuyDF2VCMh-0W9XIYRR5-egeLkX_7OnDa0leCkqysTnTi8BcDtqCL1fGPY5Of0ujFUHbVJi-GA_BM0smsLhqKJdv2rQ_e_6hA--fjs5hxfYc8-yWPRTuo-NODOl6NH1jJ22jxcr_bSDvKLurzDXJUq0ubfA3Hqb1OSxxdlVmRwnILG5l4l9egrUGHV72PpiL8VwZXdyUYYDYKhTGMqGVi6htrWWjvXKywsra35uNq5Ohm0ftxhTRNYgHB4ammoybAFA0i52o1WdOjh9AYkyNU8Pl79ScjZOYqvFquioBhZw_NzBg3qW9dCmdmf_4JDXgLA7BuWHhYgSWOt_wI-aNu2g7Qlp_dpebKinL0m1yX2tUwE4DnivSvhyjvw9MtwFFtodDp83pN7usaS1GwkLEDbhoobGnrX4Y2-FOlfK07-y77RusNIaSONimPyDWo0PIekWArF-tffqZ3Xe8XGSbhPs7hrVRxx8oihKy93hNhQ0Wqy5_rZrWGVlhTJhj-hrh0OUYJPMWYCUdzpTaqyo9tQskGs3Qtxz1VEAxd4f0kGcybzcC4NX7qWFpSMZ7mw6-Rei8SgyWoEe7Hx5hSsuoNkw45FPotMZrfrvILLxG5HCaYTFeMjXYzDHFA76KGE-uxgIAO0v--4G1RoUaJVy59Gxo5dinynER7M-FXW2DZLcuSHR8YmjkFbt-ODmN7onV4XGgP3EF_Ep7IUmyXB5AYAuEapAeGCtyCGyHEFVayxxaBv8ZTB21EwCus1UniIbXWPVWMtHf32zdmK61LAh8HqhmVJ5IpL1rBXDp2gnvvPWAlUqgDsvzASDIUXQySsJIyeYsG319xWEUt7hCPBHE7bcBiDf3HJvJoTfgSNa6HAIRhtzPRvUjl5pplwHWvqbigKOTbXfwjjrzvQfO5HRRKjnaw7bShXldr",
  "id": "rs_01e1520bae42157d016ab472e5b5e887d0949970bfafae892a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers have reached the tabletop around the black-capped object. I’ll close now and check whether the shaft is retained.\"}",
  "call_id": "call_CvQQ7o7R0RKFG3QN1wU4P6cy",
  "id": "fc_01e1520bae42157d016ab472e5d49087d0ab61785925cdf152",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CvQQ7o7R0RKFG3QN1wU4P6cy",
  "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]: [-0.2539, 0.923, 0.8497, -0.5083, -0.4042, -0.3325, 0.9968, 0.543, 1.9617, 0.5037, 0.9768, 0.487, 0.3271, 0.0114]\nstate[eef_state]: left_x=0.3125 left_y=-0.0056 left_z=0.2369 left_yaw=0.2448 left_pitch=0.0328 left_roll=-0.0547 left_gripper=0.9968 right_x=0.3906 right_y=0.1434 right_z=0.0149 right_yaw=-0.051 right_pitch=0.146 right_roll=0.0938 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, -1.812, 6.8855, 1.6923, -0.1734, -0.0171, -0.0171, -0.0479, -8.6359, 4.0957, 1.326, 0.1294, 0.0415, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5eda55ee35e2bcee5c7a7266c402b2bd4a5c859fc00917a9ee39121a874e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2773015b42064686b1f67072b144d095d707941b2177552bfb180d071bad03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39cd2d99dd0133ca1943b17e7860a531d148078e49226dd97b93102f6af1a007",
      "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 31 attempt 0 · /responses · status 200 · 4.845 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.9575, 1.3014, 0.5266, -0.1707, -0.5312, 0.9967, -0.0914, 0.7334, 0.5472, -0.2962, -0.0937, 0.0696, 0.9969]\nstate[eef_state]: left_x=0.5879 left_y=-0.0822 left_z=0.2233 left_yaw=0.2428 left_pitch=0.3708 left_roll=-0.5244 left_gripper=0.9967 right_x=0.2944 right_y=-0.0068 right_z=0.1884 right_yaw=-0.0577 right_pitch=0.0857 right_roll=0.1182 right_gripper=0.9969\nstate[joint_eff]: [0.1709, -9.9624, 6.6256, 2.2686, 0.1245, -0.0269, -0.0024, -0.1846, -1.3333, 9.7983, 1.8535, -0.2808, 0.0024, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2543, 0.923, 0.8497, -0.5079, -0.4042, -0.3294, 0.9968, 0.543, 1.9507, 0.511, 0.9337, 0.4885, 0.3313, 0.9975]\nstate[eef_state]: left_x=0.3125 left_y=-0.0057 left_z=0.2369 left_yaw=0.2428 left_pitch=0.0332 left_roll=-0.0523 left_gripper=0.9968 right_x=0.3897 right_y=0.1426 right_z=0.0127 right_yaw=-0.0527 right_pitch=0.1257 right_roll=0.083 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -2.4274, 6.9128, 1.7753, -0.1734, -0.0024, -0.0171, -0.335, -4.5333, 1.6205, 0.1734, -0.0513, -0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2539, 0.923, 0.8497, -0.5083, -0.4042, -0.3325, 0.9968, 0.543, 1.9617, 0.5037, 0.9768, 0.487, 0.3271, 0.0114]\nstate[eef_state]: left_x=0.3125 left_y=-0.0056 left_z=0.2369 left_yaw=0.2448 left_pitch=0.0328 left_roll=-0.0547 left_gripper=0.9968 right_x=0.3906 right_y=0.1434 right_z=0.0149 right_yaw=-0.051 right_pitch=0.146 right_roll=0.0938 right_gripper=0.0114\nstate[joint_eff]: [-0.0752, -1.812, 6.8855, 1.6923, -0.1734, -0.0171, -0.0171, -0.0479, -8.6359, 4.0957, 1.326, 0.1294, 0.0415, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5eda55ee35e2bcee5c7a7266c402b2bd4a5c859fc00917a9ee39121a874e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2773015b42064686b1f67072b144d095d707941b2177552bfb180d071bad03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39cd2d99dd0133ca1943b17e7860a531d148078e49226dd97b93102f6af1a007",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLsKRgOwrGIimHbyeBP4WvrROgaQR4Y9S7k3Mi4NcsiaWR81thmCminpi-ae7dBJ0djyS3zH2c5x3ajkjuUfpnMYL_Qbe7LmgwwEK-4lXRQjiWmApaPqsd5hhXftykfOoJaIDTUv9NTqIscsJraAeBzZ3IO55o5Z16uEGGEE18iwUzN6GDifZmYX2kRA40foDE-dXFPZGdI-0uYLA7B7uxh3gX3M5Z1kifGJyW0lgWx1e7uwseYT9WFBAbMo1lb_4Ryh2IXV4-fdNkyI8XsvTQa8lSH9k5kLH3XtKaJQ7l57sEdOMD4M5mltD3qjtDcr1-1mwYGvbttJd5VUYPBqUMrMZ8Nc2-ZEoFvXiqjTpMOgyOXWogVKZDEOGhzenB1wQl5L1ZEPQUZak3TQf8rH2h-8vs92TxNZNVG3o9s5LdZevaTx54vkuklmEAcgy4yc-kJz0vm5h3zIARqeyNFbb0XqxPlA8hLz9c2j4pSGH9mJ5NR2BqgfEZQEvf6EdyCXPvvjblxoQiaSwDy-ZsnBWIrBR2D-GA6ZGI5EudGoD7azT_7irchxGWIz9HuLxfwUMJQ8KPZyLt2xrgoVYtO_4SdvA_2Ggvz1MwiLFG3LHADsofPF8Y2Ai1PYscoTqBMC0wXxq3UVT2D28WtDclYQPDhq2shqnwhqvqPaWz_b_oXxUPMs2rF7PlakYR_Jg6KFdZXMGFlg1X9so3At--4wov2YGIYeB_yoJfhPzOa69n27yzZBgTUxlOjDI2cJ-CN8JI_CXnI2HSwvL1YXAvYnL7RmzHPkf0W5uwYNKXRiT2HrcbfhtXswM1zspB34J7nJo1_10ysruOFOQIkvnyhEf9UZPrfeKZkRBesNQ6gBCgU_Cf9CHcx37qqTE4eeLuX9evUA9cNF7aU3u8JtyldELQrNAKvo9e1A4zwR76R-qjTRwMdKsSk5umTJpbk1fsy86xueFNtuE8iYT5qYlfdzZjp6VDrVA0-hP04yKxyBqJlm_aUtFpUvYOg-XqvK0p6PFHcEE863ZWg2j_JFCHgfcZNjDXqNCSiWYUKGRBj_oTE2EMt7Q3BCjaiUeurjp68ENctWRweBP9fMAE33pP2Nn-x6tWMjALSWhLTq6zDQkAywA_pxSTh_tNDXiZFgH4sSDMkbngn_lwOmWlW0CfK87tMldHqW2txCzrVMYsfVt_SDQkawiaEr2gc13T5DyagNMaysbQi4SO81scwyVWv7VVuaIeeS7ePPCX4DHat1QiB-_CF5uClvWvbyAVjuiuWOaTiqWTL1HqgTiD43vEcDbaX3cUTRy05Wh0PMMXSrXREo-HXlAeHrjCs-bOC8ku6HjkOvXHrydbo9xvA6u3R55H__25RsmXrxz1qeJAOpbaHffCwhmUOAb6JLq8hyUXi_GRPTTx_afL6y3PXjHamQXkxe0TtWNpr9PJNpi1f2WFDEWJqn6_6c_MWe0mW5XUwEwgUQnRXhDQth4tr0GA1dU1u4FUS_gSPzZ2WSJlO-yYao-HIcI6F2gexVISK6iSAXUjQ3ba1bbvCMHmMlcnY7iVoRjDCnl10jVJfstl0M193p86WadLyKNABBjehGjkzm55pkpIApKb8PMcbywC1xUuXDQqjx9tkSTzF0B_zXj87Gamb00Mf2LhsGyMVNsWKa2XKAbOupO1n1M3948rcxvyGpg==",
  "id": "rs_01e1520bae42157d016ab472e908cc87d0bda59eb5504f9b9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23},\"note\":\"The black-capped object also remained ungrasped. One tan toy is in the left basket, but the other toys and the thin objects remain unsorted; I’m parking both arms rather than continuing unsuccessful table-level grasps.\"}",
  "call_id": "call_K9Zv9L5NC9rDJzUll3USNebR",
  "id": "fc_01e1520bae42157d016ab472eaaf1c87d0913754a5a5d4b4f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K9Zv9L5NC9rDJzUll3USNebR",
  "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]: [-0.2455, 0.8749, 0.815, -0.511, -0.3965, -0.3321, 0.9968, 0.0555, 0.8257, 0.6312, -0.3279, 0.1253, 0.0685, 0.9955]\nstate[eef_state]: left_x=0.3037 left_y=-0.0021 left_z=0.2341 left_yaw=0.2469 left_pitch=0.0402 left_roll=-0.0631 left_gripper=0.9968 right_x=0.3063 right_y=-0.0015 right_z=0.1953 right_yaw=-0.0949 right_pitch=0.0521 right_roll=0.0095 right_gripper=0.9955\nstate[joint_eff]: [0.4171, -2.7145, 5.9829, 1.6484, -0.1441, 0.0073, -0.0171, -0.294, -2.0308, 9.7026, 1.6728, -0.0171, 0.1197, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2b964ac4318f43765390c68c37e02758f40a499f7b819c50841e944acf5cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8e6e5775d8f98a19e0ceff926cdbaed47d78f24198938e345fee81afceb56f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b736e7948a69190db6455b9fbec8b8995e1fdd4b6c5d49d005a79f2ba89fd2d",
      "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]