adhoc

completed
2026-09-23T23:46:22.128119+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
251.4 s
total steps
397
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animal toys and slender pens on the table. I’ll sort the plush toys into the left basket and the pens into the right, starting with the pen on the right side.
move_to
right_x0.3000right_y0.1450right_z0.1400right_gripper1.0000left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8005, 0.6136, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0113, -0.0254, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1826 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.001 right_z=0.1829 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.6205, 9.6889, 1.7607, -0.0171, 0.188, -0.0659, -0.7179, -1.388, 9.7983, 1.7021, -0.1343, 0.0904, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.145,"right_z":0.14,"right_gripper":1,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"I see plush animal toys and slender pens on the table. I’ll sort the plush toys into the left basket and the pens into the right, starting with the pen on the right side."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe wrist view shows a blue pen to the left of the jaw column and a gray pen to the right. I’m aligning over the blue pen and lowering the open jaws to table level.
move_to
right_x0.3000right_y0.2050right_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]: [-0.0296, 0.8043, 0.6136, -0.4072, -0.0257, -0.0414, 0.9995, 0.7471, 1.1671, 0.59, -0.1886, 0.5945, 0.4274, 0.9998] state[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1759 left_yaw=-0.0026 left_pitch=-0.0308 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2925 right_y=0.141 right_z=0.1215 right_yaw=0.0215 right_pitch=-0.0501 right_roll=-0.04 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.5248, 9.4154, 1.707, -0.1294, -0.0171, -0.022, 0.1026, -3.9726, 9.2513, 1.6239, 0.4078, 0.1148, -0.0366] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.205,"right_z":0.005},"note":"The wrist view shows a blue pen to the left of the jaw column and a gray pen to the right. I’m aligning over the blue pen and lowering the open jaws to table level."})
tool
executing move_to over 8 steps (0.8s)
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 blue pen is still just right of the jaw center. I’ll shift slightly right and lower the fingertips to get underneath its narrow barrel before closing.
move_to
right_y0.1800right_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]: [-0.0296, 0.8101, 0.6113, -0.4068, -0.0254, -0.0418, 0.9995, 0.9001, 1.7477, 0.543, 0.3775, 0.7086, 0.5697, 0.9998] state[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1734 left_yaw=-0.0027 left_pitch=-0.0384 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3038 right_y=0.2038 right_z=0.0144 right_yaw=0.0146 right_pitch=-0.0312 right_roll=-0.0235 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.265, 7.4872, 1.7802, -0.0269, -0.0122, -0.0122, 0.9368, -5.0393, 4.6017, 0.862, 0.2125, 0.0269, -0.0171] 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":{"right_y":0.18,"right_z":-0.012},"note":"The blue pen is still just right of the jaw center. I’ll shift slightly right and lower the fingertips to get underneath its narrow barrel before closing."})
tool
executing move_to over 2 steps (0.2s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe blue pen now lies between the open fingertips at table level. I’ll close the jaws around its barrel.
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]: [-0.0296, 0.8108, 0.6113, -0.4068, -0.0257, -0.0422, 0.9995, 0.8429, 1.8069, 0.4538, 0.6674, 0.6868, 0.5316, 0.9998] state[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1732 left_yaw=-0.0021 left_pitch=-0.0392 left_roll=-0.0046 left_gripper=0.9995 right_x=0.316 right_y=0.1916 right_z=0.0117 right_yaw=-0.0074 right_pitch=0.0493 right_roll=0.0616 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0366, -0.0073, -0.3624, -4.5607, 2.6735, 0.8523, -0.022, -0.2418, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue pen now lies between the open fingertips at table level. I’ll close the jaws around its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper has stopped at about 1.5 cm, consistent with holding the pen rather than closing empty. I’ll lift a few centimeters to confirm the pen comes with it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8124, 0.6109, -0.4072, -0.0254, -0.0448, 0.9995, 0.8421, 1.7992, 0.4572, 0.6449, 0.6712, 0.5392, 0.1561] state[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1725 left_yaw=-0.001 left_pitch=-0.0415 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3148 right_y=0.1931 right_z=0.0105 right_yaw=-0.0001 right_pitch=0.034 right_roll=0.0663 right_gripper=0.1561 state[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.6874, -0.0415, -0.0024, -0.0122, -0.4171, -7.4188, 4.547, 1.2332, 0.2173, -0.022, 1.0623] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The gripper has stopped at about 1.5 cm, consistent with holding the pen rather than closing empty. I’ll lift a few centimeters to confirm the pen comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe blue pen lifted with the gripper. I’ll raise it above the basket rim before carrying it to the right basket.
move_to
right_z0.2300left_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]: [-0.0296, 0.8165, 0.6106, -0.4072, -0.0254, -0.0452, 0.9995, 0.8429, 1.5108, 0.5339, 0.2672, 0.6579, 0.5381, 0.1567] state[eef_state]: left_x=0.2933 left_y=-0.0006 left_z=0.1712 left_yaw=-0.0008 left_pitch=-0.0461 left_roll=-0.0071 left_gripper=0.9995 right_x=0.311 right_y=0.192 right_z=0.0694 right_yaw=0.0115 right_pitch=0.0192 right_roll=0.0617 right_gripper=0.1567 state[joint_eff]: [-0.0479, -1.6205, 7.0906, 1.7363, -0.0464, -0.0171, -0.0073, -0.294, -6.2974, 7.706, 1.2821, 0.3492, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23,"left_z":0.19},"note":"The blue pen lifted with the gripper. I’ll raise it above the basket rim before carrying it to the right basket."})
tool
executing move_to over 11 steps (1.1s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe pen is clear of the tabletop and the right basket is empty. I’ll move over its interior while maintaining clearance above the rim.
move_to
right_x0.4650right_y0.1050right_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]: [-0.0296, 0.8249, 0.6518, -0.4854, -0.0257, -0.0456, 0.9995, 0.8429, 1.2751, 1.0039, -0.4786, 0.643, 0.532, 0.1624] state[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0914 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3093 right_y=0.1932 right_z=0.2128 right_yaw=0.0259 right_pitch=-0.0151 right_roll=0.0339 right_gripper=0.1624 state[joint_eff]: [-0.0342, -1.388, 9.7846, 1.7656, -0.022, -0.0464, -0.0073, -0.3077, -6.2017, 9.0872, 1.4237, 0.3101, 0.0024, 1.0232] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.105,"right_z":0.23},"note":"The pen is clear of the tabletop and the right basket is empty. I’ll move over its interior while maintaining clearance above the rim."})
tool
executing move_to over 12 steps (1.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe pen is over the right basket but projects toward its front edge. I’ll move slightly farther into the basket and lower it for release.
move_to
right_x0.5000right_y0.1200right_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8284, 0.6514, -0.4866, -0.0257, -0.0456, 0.9995, 0.3042, 1.5681, 1.2465, -0.3321, 0.2245, 0.1719, 0.1659] state[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.1707 left_yaw=-0.0002 left_pitch=-0.0964 left_roll=-0.0057 left_gripper=0.9995 right_x=0.4526 right_y=0.1046 right_z=0.2083 right_yaw=0.0148 right_pitch=-0.0726 right_roll=0.0168 right_gripper=0.1659 state[joint_eff]: [-0.1983, -1.6342, 7.3368, 1.5946, -0.0806, -0.0611, -0.0122, -0.1846, -7.9385, 9.8256, 1.6972, -0.0024, -0.0366, 1.033] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.12,"right_z":0.105},"note":"The pen is over the right basket but projects toward its front edge. I’ll move slightly farther into the basket and lower it for release."})
tool
executing move_to over 7 steps (0.7s)
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 blue pen is now lowered inside the right basket. I’ll open the gripper to leave it there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8303, 0.6514, -0.4862, -0.0254, -0.0456, 0.9995, 0.3012, 1.8416, 1.1564, -0.0292, 0.2077, 0.1608, 0.1659] state[eef_state]: left_x=0.288 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4891 right_y=0.1175 right_z=0.0988 right_yaw=0.03 right_pitch=-0.1338 right_roll=0.0014 right_gripper=0.1659 state[joint_eff]: [-0.212, -1.5658, 7.0222, 1.5849, -0.0464, -0.0562, -0.0122, 0.4308, -9.4017, 6.5983, 1.7607, 0.2076, 0.0806, 1.0232] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1},"note":"The blue pen is now lowered inside the right basket. I’ll open the gripper to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe blue pen is resting in the right basket. I’ll lift the right hand clear while bringing the left hand above the gray plush toy.
move_to
right_x0.4500right_z0.2300left_x0.3500left_y-0.0750left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8307, 0.6514, -0.4858, -0.0254, -0.0456, 0.9995, 0.3008, 1.8664, 1.1515, -0.0177, 0.2043, 0.1566, 0.9953] state[eef_state]: left_x=0.2881 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.489 right_y=0.1179 right_z=0.0868 right_yaw=0.0341 right_pitch=-0.152 right_roll=-0.0045 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.1009, 7.2547, 1.619, -0.0659, -0.0659, -0.0122, -0.1436, -11.8085, 6.8855, 1.4823, 0.0122, -0.0366, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_z":0.23,"left_x":0.35,"left_y":-0.075,"left_z":0.14},"note":"The blue pen is resting in the right basket. I’ll lift the right hand clear while bringing the left hand above the gray plush toy."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe gray toy lies to the left of the left hand’s jaw column, so I’ll correct sideways and lower around its body. The right hand will approach the remaining gray pen on its own side of the table.
move_to
left_x0.3500left_y0.0050left_z0.0350right_x0.2600right_y0.1000right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3511, 1.2011, 0.664, -0.2535, -0.2558, -0.2443, 0.9995, 0.3283, 1.6562, 1.4002, -0.5053, 0.2092, 0.1574, 0.9964] state[eef_state]: left_x=0.3315 left_y=-0.07 left_z=0.1132 left_yaw=-0.0157 left_pitch=-0.1916 left_roll=0.0172 left_gripper=0.9995 right_x=0.4562 right_y=0.1204 right_z=0.2037 right_yaw=0.0557 right_pitch=-0.1787 right_roll=-0.015 right_gripper=0.9964 state[joint_eff]: [-0.212, -4.6291, 10.2222, 1.8486, -0.2857, 0.0171, -0.0171, 0.2256, -10.5504, 9.5932, 1.3651, 0.2711, 0.2222, 0.1001] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.005,"left_z":0.035,"right_x":0.26,"right_y":0.10,"right_z":0.14},"note":"The gray toy lies to the left of the left hand’s jaw column, so I’ll correct sideways and lower around its body. The right hand will approach the remaining gray pen on its own side of the table."})
tool
executing move_to over 16 steps (1.6s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe gray plush toy’s body is between the left jaws, and the gray pen is centered in the right wrist view. I’ll grip the toy while lowering the right fingertips around the pen.
move_to
left_gripper0.0000right_x0.2700right_y0.1030right_z-0.0100
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]: [-0.0051, 1.4002, 0.4915, 0.1818, -0.0715, -0.0288, 0.9995, 0.5896, 0.952, 0.6495, -0.5022, 0.3679, 0.326, 0.9964] state[eef_state]: left_x=0.3573 left_y=0.0144 left_z=0.0523 left_yaw=0.0544 left_pitch=-0.1586 left_roll=0.0396 left_gripper=0.9995 right_x=0.2673 right_y=0.1067 right_z=0.1422 right_yaw=0.0915 right_pitch=-0.1755 right_roll=-0.0103 right_gripper=0.9964 state[joint_eff]: [-0.0889, -2.4137, 3.3299, 0.8327, 0.2613, 0.0513, -0.0122, 0.3077, -2.3453, 6.9949, 1.619, 0.4518, 0.149, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.27,"right_y":0.103,"right_z":-0.01},"note":"The gray plush toy’s body is between the left jaws, and the gray pen is centered in the right wrist view. I’ll grip the toy while lowering the right fingertips around the pen."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe left gripper closed empty, so the toy’s body is farther forward than the fingertips. I’ll reopen and advance over its torso; I’ll also make a small sideways correction to center the gray pen.
move_to
left_gripper1.0000left_x0.3950left_y0.0100left_z0.0150right_y0.0880
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]: [-0.0021, 1.3987, 0.4843, 0.2222, -0.0891, -0.0288, 0.0104, 0.5678, 1.3819, 0.2245, 0.408, 0.355, 0.3222, 0.9965] state[eef_state]: left_x=0.3614 left_y=0.0185 left_z=0.0578 left_yaw=0.0721 left_pitch=-0.1232 left_roll=0.0488 left_gripper=0.0104 right_x=0.281 right_y=0.1107 right_z=0.0106 right_yaw=0.0863 right_pitch=-0.1309 right_roll=0.0212 right_gripper=0.9965 state[joint_eff]: [-0.253, -4.8479, 6.4205, 1.2137, 0.1197, -0.0073, 0.8034, -0.7316, -1.7436, 1.5932, -0.0366, 0.0757, -0.1538, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.395,"left_y":0.01,"left_z":0.015,"right_y":0.088},"note":"The left gripper closed empty, so the toy’s body is farther forward than the fingertips. I’ll reopen and advance over its torso; I’ll also make a small sideways correction to center the gray pen."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteBoth objects now extend between their respective fingertips. I’ll close around the gray toy’s torso and the gray pen’s barrel.
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]: [-0.036, 1.6543, 0.5411, 0.5465, -0.1459, -0.0311, 0.9953, 0.4568, 1.3342, 0.1875, 0.4309, 0.2745, 0.2535, 0.9965] state[eef_state]: left_x=0.4116 left_y=0.0144 left_z=0.0505 left_yaw=0.0866 left_pitch=0.0051 left_roll=0.068 left_gripper=0.9953 right_x=0.2842 right_y=0.0903 right_z=0.0126 right_yaw=0.0801 right_pitch=-0.1219 right_roll=0.0312 right_gripper=0.9965 state[joint_eff]: [-0.1436, -3.4256, 4.6291, 0.7985, 0.3541, -0.2369, -0.1978, -0.4444, -4.1368, 4.2462, 1.4823, 0.0317, -0.1538, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both objects now extend between their respective fingertips. I’ll close around the gray toy’s torso and the gray pen’s barrel."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe gray pen appears gripped, but the left hand has closed empty a second time. I’ll lift the pen to verify it and withdraw the left hand so I can recheck the toy’s position from above.
move_to
left_z0.1900left_x0.3000left_y0.0000left_gripper1.0000right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0349, 1.6527, 0.5457, 0.5659, -0.1577, -0.0334, 0.0095, 0.4561, 1.3334, 0.1875, 0.4305, 0.2752, 0.2474, 0.145] state[eef_state]: left_x=0.4155 left_y=0.0168 left_z=0.057 left_yaw=0.099 left_pitch=0.0313 left_roll=0.0689 left_gripper=0.0095 right_x=0.2843 right_y=0.09 right_z=0.0128 right_yaw=0.082 right_pitch=-0.1213 right_roll=0.0261 right_gripper=0.145 state[joint_eff]: [-0.4034, -6.5983, 4.8889, 1.5604, 0.0806, -0.0024, 0.7839, -0.294, -3.3162, 4.9162, 1.5946, 0.0269, 0.0269, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"left_x":0.3,"left_y":0,"left_gripper":1,"right_z":0.08},"note":"The gray pen appears gripped, but the left hand has closed empty a second time. I’ll lift the pen to verify it and withdraw the left hand so I can recheck the toy’s position from above."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe gray pen lifted successfully. The clearer view shows the gray plush toy close to the left edge, so I’ll approach its body from farther left while raising the pen for transport.
move_to
right_z0.2300left_x0.3800left_y0.0500left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1654, 0.8467, 0.5831, -0.2527, -0.252, -0.1024, 0.9953, 0.4561, 1.0378, 0.3378, -0.02, 0.2749, 0.2466, 0.1501] state[eef_state]: left_x=0.3108 left_y=-0.0036 left_z=0.185 left_yaw=0.0849 left_pitch=0.0673 left_roll=0.0508 left_gripper=0.9953 right_x=0.2821 right_y=0.089 right_z=0.0693 right_yaw=0.0825 right_pitch=-0.1257 right_roll=0.024 right_gripper=0.1501 state[joint_eff]: [-0.3624, -1.5111, 9.5932, 1.6728, -0.2027, 0.0904, -0.1392, -0.3624, -3.1111, 9.0462, 1.3455, 0.0757, -0.0562, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23,"left_x":0.38,"left_y":0.05,"left_z":0.09},"note":"The gray pen lifted successfully. The clearer view shows the gray plush toy close to the left edge, so I’ll approach its body from farther left while raising the pen for transport."})
tool
executing move_to over 11 steps (1.1s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe gray toy’s torso is now centered between the left jaws. I’ll lower around it while carrying the gray pen above the right basket.
move_to
left_x0.3800left_z0.0050right_x0.4900right_y0.1200right_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]: [0.1146, 1.3827, 0.4484, 0.358, -0.0319, 0.0143, 0.9967, 0.4568, 0.9524, 0.9031, -0.6651, 0.2752, 0.2424, 0.153] state[eef_state]: left_x=0.368 left_y=0.0516 left_z=0.0758 left_yaw=0.1169 left_pitch=-0.0099 left_roll=0.0452 left_gripper=0.9967 right_x=0.2853 right_y=0.0907 right_z=0.2179 right_yaw=0.0854 right_pitch=-0.1202 right_roll=0.0226 right_gripper=0.153 state[joint_eff]: [0.1846, -5.2718, 6.0103, 2.0733, 0.0952, 0.149, 0.1294, -0.2393, -1.5658, 9.388, 1.3797, 0.0904, 0.0122, 1.0281] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_z":0.005,"right_x":0.49,"right_y":0.12,"right_z":0.23},"note":"The gray toy’s torso is now centered between the left jaws. I’ll lower around it while carrying the gray pen above the right basket."})
tool
executing move_to over 16 steps (1.6s)
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 left fingertips have reached the soft toy and stopped descending. I’ll close around its body and lower the gray pen into the right basket.
move_to
left_gripper0.0000right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1062, 1.7409, 0.4061, 0.8837, -0.0753, 0.0193, 0.9967, 0.2924, 1.7191, 1.4918, -0.5114, 0.1444, 0.1265, 0.153] state[eef_state]: left_x=0.398 left_y=0.0594 left_z=0.0409 left_yaw=0.1428 left_pitch=0.1154 left_roll=0.0685 left_gripper=0.9967 right_x=0.4778 right_y=0.121 right_z=0.2116 right_yaw=0.0925 right_pitch=-0.1672 right_roll=0.0107 right_gripper=0.153 state[joint_eff]: [-0.5949, -3.8496, 2.441, 0.7985, 0.2613, -0.1441, -0.0073, -1.0188, -8.7726, 10.0308, 1.5946, 0.0269, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.11},"note":"The left fingertips have reached the soft toy and stopped descending. I’ll close around its body and lower the gray pen into the right basket."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe left jaws have stopped around a 4.6 cm thickness, indicating a grip on the plush toy. I’ll test-lift it while releasing the gray pen inside the right basket.
move_to
left_z0.1100right_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]: [0.0711, 1.7397, 0.4046, 0.9146, -0.128, 0.0074, 0.4892, 0.2886, 1.7798, 1.1744, -0.1726, 0.1448, 0.1265, 0.153] state[eef_state]: left_x=0.4011 left_y=0.0548 left_z=0.0481 left_yaw=0.1591 left_pitch=0.1477 left_roll=0.0782 left_gripper=0.4892 right_x=0.4711 right_y=0.117 right_z=0.1084 right_yaw=0.0868 right_pitch=-0.2057 right_roll=0.0025 right_gripper=0.153 state[joint_eff]: [-0.6222, -6.6667, 4.2051, 1.5067, 0.0952, -0.0855, 1.0281, 0.0205, -8.1983, 6.7624, 1.7509, 0.022, -0.0513, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11,"right_gripper":1},"note":"The left jaws have stopped around a 4.6 cm thickness, indicating a grip on the plush toy. I’ll test-lift it while releasing the gray pen inside the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe gray toy is moving with the left hand, and both pens are visible inside the right basket. I’ll raise the toy above the rim and park the right hand clear of the workspace.
move_to
left_z0.2500right_x0.3000right_y0.0000right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0544, 1.4853, 0.4633, 0.5426, -0.1425, -0.0006, 0.4891, 0.2882, 1.7939, 1.1675, -0.1715, 0.1452, 0.1196, 0.9956] state[eef_state]: left_x=0.3918 left_y=0.05 left_z=0.0845 left_yaw=0.1583 left_pitch=0.0903 left_roll=0.0829 left_gripper=0.4891 right_x=0.4694 right_y=0.1163 right_z=0.0993 right_yaw=0.089 right_pitch=-0.2251 right_roll=-0.0068 right_gripper=0.9956 state[joint_eff]: [-0.5812, -7.2957, 8.5402, 2.0684, -0.0904, -0.0611, 0.8181, -0.253, -10.4137, 7.0496, 1.5116, -0.0317, -0.0073, -0.1685] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"right_x":0.3,"right_y":0,"right_z":0.23},"note":"The gray toy is moving with the left hand, and both pens are visible inside the right basket. I’ll raise the toy above the rim and park the right hand clear of the workspace."})
tool
executing move_to over 14 steps (1.4s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe gray plush toy is clear of the table. I’ll carry it over the left basket, keeping its hanging body above the rim.
move_to
left_x0.4700left_y-0.1600left_z0.2500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0555, 1.2285, 0.9161, -0.2443, -0.1429, -0.017, 0.4905, -0.0593, 1.0546, 1.0149, -0.7471, -0.0727, -0.1059, 0.9964] state[eef_state]: left_x=0.3889 left_y=0.0504 left_z=0.2132 left_yaw=0.1681 left_pitch=0.0141 left_roll=0.0772 left_gripper=0.4905 right_x=0.3113 right_y=-0.002 right_z=0.2176 right_yaw=0.0536 right_pitch=-0.2222 right_roll=-0.0109 right_gripper=0.9964 state[joint_eff]: [-0.3624, -6.9538, 10.7829, 2.2051, -0.0659, 0.1245, 0.4567, -0.294, -3.3709, 9.7709, 1.5311, -0.1783, -0.0073, 0.0757] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.16,"left_z":0.25,"left_yaw":0},"note":"The gray plush toy is clear of the table. I’ll carry it over the left basket, keeping its hanging body above the rim."})
tool
executing move_to over 19 steps (1.9s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe toy is positioned over the left basket. I’ll lower it gently into the basket before opening the jaws.
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]: [-0.4847, 1.6859, 1.4303, -0.4538, -0.4458, -0.2604, 0.4944, -0.0647, 1.0603, 1.0126, -0.7666, -0.0795, -0.1265, 0.9965] state[eef_state]: left_x=0.459 left_y=-0.1516 left_z=0.2211 left_yaw=0.0098 left_pitch=-0.0647 left_roll=0.0912 left_gripper=0.4944 right_x=0.3081 right_y=-0.0023 right_z=0.2117 right_yaw=0.0663 right_pitch=-0.249 right_roll=-0.0172 right_gripper=0.9965 state[joint_eff]: [-0.4171, -8.7179, 10.4957, 1.8779, -0.3053, 0.2076, 0.398, 0.335, -3.1795, 6.9402, 1.6581, 0.0024, 0.1978, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The toy is positioned over the left basket. I’ll lower it gently into the basket before opening the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe gray toy is supported inside the left basket. I’ll release it there, keeping that basket reserved for plush toys.
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]: [-0.4847, 1.7374, 1.1362, -0.1356, -0.4461, -0.2626, 0.4966, -0.0658, 1.0607, 1.0122, -0.7677, -0.0803, -0.128, 0.9965] state[eef_state]: left_x=0.4529 left_y=-0.1483 left_z=0.1292 left_yaw=0.0123 left_pitch=-0.0886 left_roll=0.1027 left_gripper=0.4966 right_x=0.3079 right_y=-0.0025 right_z=0.2113 right_yaw=0.0668 right_pitch=-0.2508 right_roll=-0.0175 right_gripper=0.9965 state[joint_eff]: [-0.0615, -6.3932, 5.9692, 1.6337, -0.1832, -0.0269, 0.2125, -0.2256, -2.8923, 6.694, 1.5018, -0.0611, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray toy is supported inside the left basket. I’ll release it there, keeping that basket reserved for plush toys."})
tool
executing move_to over 6 steps (0.6s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe gray toy has been released. I’ll lift straight up to clear the basket before reaching for the tan plush toy.
move_to
left_z0.2400
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]: [-0.4847, 1.7523, 1.1221, -0.1188, -0.4488, -0.263, 0.996, -0.0658, 1.0607, 1.0122, -0.7681, -0.0803, -0.1284, 0.9965] state[eef_state]: left_x=0.4523 left_y=-0.1475 left_z=0.1198 left_yaw=0.0152 left_pitch=-0.0984 left_roll=0.1099 left_gripper=0.996 right_x=0.3078 right_y=-0.0025 right_z=0.2112 right_yaw=0.067 right_pitch=-0.2512 right_roll=-0.0177 right_gripper=0.9965 state[joint_eff]: [-0.1026, -9.9487, 7.6786, 1.4042, -0.2076, 0.0317, -0.0024, -0.3487, -2.865, 6.6667, 1.4921, -0.0952, -0.0415, -0.0171] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24},"note":"The gray toy has been released. I’ll lift straight up to clear the basket before reaching for the tan plush toy."})
tool
executing move_to over 8 steps (0.8s)
step 243
top_cam
camera top_cam step 243
assistant
agent noteThe gray toy is in the left basket. The tan toy lies in the center with the yellow pen beside it; I’ll approach the tan toy’s torso next.
move_to
left_x0.3100left_y-0.3000left_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]: [-0.4831, 1.7206, 1.4742, -0.5552, -0.4492, -0.289, 0.9967, -0.0658, 1.0607, 1.0122, -0.77, -0.0807, -0.1284, 0.9965] state[eef_state]: left_x=0.4545 left_y=-0.1478 left_z=0.2069 left_yaw=0.0341 left_pitch=-0.1426 left_roll=0.1157 left_gripper=0.9967 right_x=0.3075 right_y=-0.0024 right_z=0.2109 right_yaw=0.0674 right_pitch=-0.2531 right_roll=-0.0171 right_gripper=0.9965 state[joint_eff]: [-0.4581, -11.5761, 9.3197, 1.6825, -0.2515, 0.2466, 0.0611, -0.2393, -2.865, 6.6667, 1.4774, -0.0952, -0.0317, -0.0171] 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_x":0.31,"left_y":-0.3,"left_z":0.12},"note":"The gray toy is in the left basket. The tan toy lies in the center with the yellow pen beside it; I’ll approach the tan toy’s torso next."})
tool
executing move_to over 14 steps (1.4s)
step 257
assistant
agent noteThe tan toy’s torso is slightly right of the jaw center. I’ll make a small sideways correction and lower the jaws around its body.
move_to
left_x0.3150left_y-0.3250left_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]: [-1.0584, 1.832, 1.3071, -0.614, -0.7536, -0.831, 0.9968, -0.0658, 1.0607, 1.0122, -0.77, -0.0822, -0.1284, 0.9965] state[eef_state]: left_x=0.3112 left_y=-0.2994 left_z=0.1157 left_yaw=-0.004 left_pitch=-0.1634 left_roll=0.1247 left_gripper=0.9968 right_x=0.3075 right_y=-0.0021 right_z=0.2109 right_yaw=0.0687 right_pitch=-0.2529 right_roll=-0.016 right_gripper=0.9965 state[joint_eff]: [-0.1846, -8.8, 8.8821, 0.6862, -0.5934, -0.0855, -0.0073, -0.335, -2.7419, 6.6667, 1.4872, -0.0073, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.325,"left_z":0.025},"note":"The tan toy’s torso is slightly right of the jaw center. I’ll make a small sideways correction and lower the jaws around its body."})
tool
executing move_to over 6 steps (0.6s)
step 263
assistant
agent noteThe tan toy’s torso is between the fingertips. I’ll close gently around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0798, 2.022, 1.264, -0.3721, -0.7727, -0.8639, 0.9968, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1314, 0.9965] state[eef_state]: left_x=0.3185 left_y=-0.3265 left_z=0.0471 left_yaw=0.0005 left_pitch=-0.1418 left_roll=0.1004 left_gripper=0.9968 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0711 right_pitch=-0.2533 right_roll=-0.0175 right_gripper=0.9965 state[joint_eff]: [-0.3077, -7.7744, 4.041, 0.8767, -0.2466, -0.0122, -0.022, -0.335, -2.7009, 6.8034, 1.4628, -0.0708, 0.0073, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan toy’s torso is between the fingertips. I’ll close gently around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteThe gripper has caught a narrow part of the tan toy. I’ll lift a short distance and check that the whole toy follows before carrying 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]: [-1.0821, 2.0251, 1.2678, -0.3462, -0.8162, -0.8642, 0.1068, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1318, 0.9965] state[eef_state]: left_x=0.3239 left_y=-0.3274 left_z=0.0541 left_yaw=0.0168 left_pitch=-0.0948 left_roll=0.0945 left_gripper=0.1068 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0713 right_pitch=-0.2533 right_roll=-0.0178 right_gripper=0.9965 state[joint_eff]: [0.0889, -10.6051, 5.5043, 0.7643, -0.0024, -0.0073, 0.7009, -0.3487, -2.4547, 6.6803, 1.4872, -0.0806, -0.0659, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The gripper has caught a narrow part of the tan toy. I’ll lift a short distance and check that the whole toy follows before carrying it."})
tool
executing move_to over 5 steps (0.5s)
step 278
assistant
agent noteThe tan toy is following the hand. I’ll raise it fully clear of the table and basket rims before moving sideways.
move_to
left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0813, 1.9816, 1.3643, -0.5381, -0.8047, -0.8799, 0.1084, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1322, 0.9965] state[eef_state]: left_x=0.3213 left_y=-0.3247 left_z=0.0851 left_yaw=0.0257 left_pitch=-0.1264 left_roll=0.1241 left_gripper=0.1084 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0715 right_pitch=-0.2533 right_roll=-0.0181 right_gripper=0.9965 state[joint_eff]: [-0.2256, -14.3248, 9.1419, 0.9939, -0.5739, 0.2027, 0.1538, -0.1436, -2.5231, 6.9128, 1.4579, -0.1099, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.27},"note":"The tan toy is following the hand. I’ll raise it fully clear of the table and basket rims before moving sideways."})
tool
executing move_to over 12 steps (1.2s)
step 290
assistant
agent noteThe tan toy is clear of the table. I’ll bring it over the left basket to join the gray plush toy.
move_to
left_x0.4700left_y-0.1700left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0813, 1.9709, 2.0468, -1.2232, -0.77, -0.923, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965] state[eef_state]: left_x=0.3202 left_y=-0.3319 left_z=0.2542 left_yaw=0.0318 left_pitch=-0.1488 left_roll=0.0694 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965 state[joint_eff]: [0.0205, -9.388, 8.1709, 0.9255, -0.8034, 0.4176, 0.0464, -0.1709, -2.8786, 7.0359, 1.5116, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.17,"left_z":0.27},"note":"The tan toy is clear of the table. I’ll bring it over the left basket to join the gray plush toy."})
tool
executing move_to over 15 steps (1.5s)
step 305
assistant
agent noteThe tan toy hangs below and slightly behind the grasp point. I’ll move farther over the basket and lower it so its body lands inside rather than against the front rim.
move_to
left_x0.5200left_y-0.1500left_z0.1500
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]: [-0.5182, 1.8572, 1.84, -0.9222, -0.4393, -0.4244, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965] state[eef_state]: left_x=0.4528 left_y=-0.1676 left_z=0.2355 left_yaw=0.0799 left_pitch=-0.2556 left_roll=0.0838 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965 state[joint_eff]: [0.1436, -10.6051, 10.7282, 2.0293, -0.3639, 0.5006, -0.0122, -0.3487, -2.7282, 6.694, 1.4872, -0.0952, -0.0464, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.15,"left_z":0.15},"note":"The tan toy hangs below and slightly behind the grasp point. I’ll move farther over the basket and lower it so its body lands inside rather than against the front rim."})
tool
executing move_to over 6 steps (0.6s)
step 311
assistant
agent noteThe wrist view shows the tan toy hanging toward the basket’s right edge. I’ll shift left slightly so the toy’s body is fully over the opening.
move_to
left_y-0.0900left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4034, 2.0148, 1.7515, -0.6968, -0.3973, -0.3645, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965] state[eef_state]: left_x=0.5058 left_y=-0.1377 left_z=0.1539 left_yaw=0.132 left_pitch=-0.2947 left_roll=0.1069 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965 state[joint_eff]: [-0.5265, -10.4547, 6.188, 1.7509, -0.1001, 0.3541, -0.0122, -0.2393, -2.8376, 6.694, 1.4921, -0.1001, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.09,"left_z":0.14},"note":"The wrist view shows the tan toy hanging toward the basket’s right edge. I’ll shift left slightly so the toy’s body is fully over the opening."})
tool
executing move_to over 5 steps (0.5s)
step 316
assistant
agent noteThe tan toy’s upper body is over the left basket. I’ll release it and then check the unobstructed table for any remaining objects.
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]: [-0.3107, 1.9762, 1.6188, -0.5846, -0.3309, -0.3084, 0.1091, -0.0658, 1.0607, 1.0115, -0.7704, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.5081 left_y=-0.0991 left_z=0.1334 left_yaw=0.1374 left_pitch=-0.3076 left_roll=0.0861 left_gripper=0.1091 right_x=0.3073 right_y=-0.002 right_z=0.2105 right_yaw=0.0732 right_pitch=-0.2541 right_roll=-0.0201 right_gripper=0.9965 state[joint_eff]: [0.4718, -13.135, 5.6137, 1.2772, -0.2418, 0.1978, -0.0171, -0.1846, -2.6051, 6.9128, 1.4579, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan toy’s upper body is over the left basket. I’ll release it and then check the unobstructed table for any remaining objects."})
tool
executing move_to over 9 steps (0.9s)
step 325
assistant
agent noteThe tan plush toy has been released, but it appears to be resting partly against the rim. I’ll lift and withdraw the hand to check its placement and see what remains on the table.
move_to
left_x0.3400left_y-0.0900left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2913, 1.9747, 1.6043, -0.5671, -0.3397, -0.2874, 0.9957, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.5102 left_y=-0.0878 left_z=0.1314 left_yaw=0.1517 left_pitch=-0.3016 left_roll=0.1049 left_gripper=0.9957 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.0732 right_pitch=-0.2537 right_roll=-0.0202 right_gripper=0.9965 state[joint_eff]: [-0.6496, -13.1624, 5.9145, 1.2674, -0.1343, 0.1001, -0.188, -0.1983, -2.6872, 6.9949, 1.453, -0.1001, -0.0708, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.09,"left_z":0.25},"note":"The tan plush toy has been released, but it appears to be resting partly against the rim. I’ll lift and withdraw the hand to check its placement and see what remains on the table."})
tool
executing move_to over 14 steps (1.4s)
step 339
assistant
agent noteThe unobstructed view confirms that the large tan toy is mostly outside the left basket; a small brown toy and a yellow pen also remain on the table. I’ll first regrasp the large toy by its body to correct its placement.
move_to
left_x0.4300left_y-0.2450left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4824, 1.4425, 1.43, -0.9867, -0.4278, -0.4442, 0.9967, -0.0658, 1.0653, 1.0107, -0.77, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.3518 left_y=-0.0974 left_z=0.2368 left_yaw=0.1279 left_pitch=-0.3092 left_roll=0.0975 left_gripper=0.9967 right_x=0.3077 right_y=-0.002 right_z=0.209 right_yaw=0.0734 right_pitch=-0.259 right_roll=-0.0194 right_gripper=0.9965 state[joint_eff]: [-0.1573, -7.4598, 8.8137, 1.1941, -0.4274, -0.0757, 0.0855, -0.3761, -3.2479, 6.8991, 1.4823, -0.1148, -0.0659, -0.0122] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.245,"left_z":0.065},"note":"The unobstructed view confirms that the large tan toy is mostly outside the left basket; a small brown toy and a yellow pen also remain on the table. I’ll first regrasp the large toy by its body to correct its placement."})
tool
executing move_to over 14 steps (1.4s)
step 353
assistant
agent noteThe left jaws are now around the large tan toy’s torso rather than its thin extremity. I’ll close to obtain a more centered grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7151, 2.0262, 1.4899, -0.5419, -0.5201, -0.683, 0.9967, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.4246 left_y=-0.2477 left_z=0.0788 left_yaw=0.1118 left_pitch=-0.3051 left_roll=0.054 left_gripper=0.9967 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965 state[joint_eff]: [0.5402, -8.4308, 6.9812, 0.6716, -0.4274, 0.3443, -0.0024, -0.1846, -3.0701, 7.0359, 1.4774, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are now around the large tan toy’s torso rather than its thin extremity. I’ll close to obtain a more centered grasp."})
tool
executing move_to over 10 steps (1.0s)
step 363
assistant
agent noteThe toy is caught in the jaws. I’ll lift it clear of the basket edge before shifting it inward.
move_to
left_z0.2400
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]: [-0.7254, 2.0457, 1.4979, -0.503, -0.5167, -0.7074, 0.1056, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.4286 left_y=-0.2586 left_z=0.0764 left_yaw=0.1067 left_pitch=-0.2882 left_roll=0.0141 left_gripper=0.1056 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965 state[joint_eff]: [0.4444, -12.588, 5.6957, 0.7497, -0.3248, 0.1636, 0.8376, -0.253, -2.6872, 6.6803, 1.4872, -0.0952, -0.0562, -0.0171] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24},"note":"The toy is caught in the jaws. I’ll lift it clear of the basket edge before shifting it inward."})
tool
executing move_to over 11 steps (1.1s)
step 374
assistant
agent noteThe toy has lifted clear. I’ll shift its body left over the basket opening, accounting for how far it extends forward from the grasp.
move_to
left_x0.4300left_y-0.1150left_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]: [-0.7242, 2.0617, 2.1178, -1.1393, -0.4892, -0.7456, 0.1064, -0.0658, 1.0672, 1.0061, -0.7742, -0.083, -0.1356, 0.9965] state[eef_state]: left_x=0.4256 left_y=-0.2608 left_z=0.2189 left_yaw=0.1186 left_pitch=-0.3275 left_roll=-0.0032 left_gripper=0.1064 right_x=0.3065 right_y=-0.0019 right_z=0.2058 right_yaw=0.074 right_pitch=-0.2695 right_roll=-0.0181 right_gripper=0.9965 state[joint_eff]: [-0.4034, -10.7009, 8.841, 1.326, -0.5543, 0.3883, 0.8083, -0.2256, -2.865, 6.7214, 1.4579, -0.1001, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.115,"left_z":0.19},"note":"The toy has lifted clear. I’ll shift its body left over the basket opening, accounting for how far it extends forward from the grasp."})
tool
executing move_to over 13 steps (1.3s)
step 387
assistant
agent noteThe large tan toy is now aligned with the left basket opening. I’ll release it there; the small brown toy and yellow pen still remain unsorted on the table.
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]: [-0.4061, 1.7412, 1.5105, -0.8173, -0.3119, -0.4782, 0.1086, -0.0658, 1.0679, 1.0061, -0.7738, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.4233 left_y=-0.1191 left_z=0.1683 left_yaw=0.1424 left_pitch=-0.403 left_roll=0.0157 left_gripper=0.1086 right_x=0.3067 right_y=-0.0019 right_z=0.2057 right_yaw=0.0738 right_pitch=-0.2699 right_roll=-0.0178 right_gripper=0.9965 state[joint_eff]: [0.2393, -11.6308, 6.8855, 1.5409, -0.2515, 0.105, 0.4567, -0.0342, -2.8103, 6.8444, 1.4579, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The large tan toy is now aligned with the left basket opening. I’ll release it there; the small brown toy and yellow pen still remain unsorted on the table."})
tool
executing move_to over 9 steps (0.9s)
step 396
assistant
agent noteThe objects are plush toys and pens. I placed the blue and gray pens in the right basket and moved the gray and large tan plush toys to the left basket, but the tan toy’s final seating is obscured. A small brown plush toy and yellow pen remain on the table. The control-call budget is exhausted, so the sorting task is incomplete.
give_up
hindsightThere are three plush toys and three pens; the small brown toy was initially obscured by the large tan toy. The gray plush was successfully grasped near left_x=0.40, left_y=0.05; approaches farther right closed empty. Pen grasps succeeded near right_x=0.315,right_y=0.193 and right_x=0.284,right_y=0.09 at table contact. The large tan toy was caught by a thin extremity, so its body extended substantially beyond the grasp point and needed a placement correction. Plan basket placement around the hanging body's center, not just the fingertip position.
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]: [-0.4046, 1.7374, 1.4963, -0.8227, -0.3096, -0.487, 0.9953, -0.0658, 1.0679, 1.0061, -0.7738, -0.083, -0.1352, 0.9965] state[eef_state]: left_x=0.4195 left_y=-0.1172 left_z=0.1639 left_yaw=0.1507 left_pitch=-0.4172 left_roll=0.0174 left_gripper=0.9953 right_x=0.3067 right_y=-0.0019 right_z=0.2057 right_yaw=0.0738 right_pitch=-0.2699 right_roll=-0.0178 right_gripper=0.9965 state[joint_eff]: [-0.3077, -8.2803, 7.6103, 1.2186, -0.2222, 0.0366, 0.022, -0.3077, -2.7419, 6.6667, 1.4432, -0.0659, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The objects are plush toys and pens. I placed the blue and gray pens in the right basket and moved the gray and large tan plush toys to the left basket, but the tan toy’s final seating is obscured. A small brown plush toy and yellow pen remain on the table. The control-call budget is exhausted, so the sorting task is incomplete.","hindsight":"There are three plush toys and three pens; the small brown toy was initially obscured by the large tan toy. The gray plush was successfully grasped near left_x=0.40, left_y=0.05; approaches farther right closed empty. Pen grasps succeeded near right_x=0.315,right_y=0.193 and right_x=0.284,right_y=0.09 at table contact. The large tan toy was caught by a thin extremity, so its body extended substantially beyond the grasp point and needed a placement correction. Plan basket placement around the hanging body's center, not just the fingertip position."})
tool
give_up: The objects are plush toys and pens. I placed the blue and gray pens in the right basket and moved the gray and large tan plush toys to the left basket, but the tan toy’s final seating is obscured. A small brown plush toy and yellow pen remain on the table. The control-call budget is exhausted, so the sorting task is incomplete.
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 · 9.159 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6136, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1826 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.001 right_z=0.1829 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6205, 9.6889, 1.7607, -0.0171, 0.188, -0.0659, -0.7179, -1.388, 9.7983, 1.7021, -0.1343, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91776d233d679ba1ffd5bc551085b67f31a03ae05cab5ad6129b1ae5153cc99e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9511f6eb0bd21ab16c6c7118df77863453d6fdba8d6ce2c1c06c10445fe3ad0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fd9adcfe598ece5423e6c29339b7427f26642fa7808f60418d35ae1e13ad34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.238 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGTlz-D0b7RYVaEejfxWc94E90hhxHnY9sJqpjk9JuYLwBrxvsD-hfdnY4XgF0alSjb8Jl3nfVeOnnRylcqZOSQeujoc1WCAv3GrR3GteX-7E-CoQChYoEMmGssZ5frFrN5JoLsu9oip8wQ5v-cwxRg8eRy3bs0S-PoR5ruNelV1hV2KEvUmn2WEDQCgZc0fpA0FO5mVpdB9vGrZe_AbUoghbjKhuSAqKoMWZXKSaLQR2H2RKh6XeWVlZK1R-0LBbsFMlXnxAHfUtRLcZVGUfBX4k8OIzTyU60PP3hG79XAVS4HMLHgnNqdNi1kZIBYypojMLUIoC3aqM8rOMCBfgj_zId5eGGf-f2WCWDavhlxm2WENgqFe2ocsyf9lm1goxSwuBth5hyIlBzzgAqeJpo6lfXRyTkpNm5ix6gtDHEOnTIe8eIs0ACshlwvE4IwtuGNqqc1LmTZ3oqVM6l30LQyfqVDu12IkoMA6nSlMTTcy4Q_fM43NcPn4LqPMcI8MOfH-kLECI2UcDGJleTrP4j1GC79WtDtQ7BwdsVVUyskkTIM2pZQWo4L31vBuWvp07Z7hyfAi6v4KymYTfyBePLjvDSmQKTHqm1e5DUbAqpSu8w_-3Iq51mLtF1FlsSWFoEW-pfo7FIv-rJaglRlsP99wN3AMac8HcVHKdBrNh1W_i3LQLhVIz-Vmn8cKTPSqE0uOnUnkbz7k8TRhk_64-z_uovpT02GU_yCc3UHaUCyEnIVXhD49Rh8WdpM9X-JZnVztJSkNd5ZY4DoXu6wx4HIK-XcQ7jhesGVBLcRBhg0Lp90jauppKJ1Djnd7lrQKupV4S1ikbqlDKHNHL3zItwr2GYEoEa85Q52DKqyNc16Dm5nyFFNTDg5FzJCinTUmUmBEW8o7xFNowHb4oC7a9BiSyn1xgylI-IWUCfI3x7jqSxdDsgLvLLWsxylYReYr0x5oPZXGe7rOnsDbhy-pynB_o1KHYkdvQu41Yq-SIyvxSygNr-OKXSnopCUB4zc7BGr_dSNUGWG4OY3V3pwxZ_qAupgFM3JKwDF1EGlmbdS7VBcX3POyzhKd7UdO8U_T72NYd8awB5AG99zGrnMU9h319-t6ePY9axcs5X-7dec12tfNKHrQiZVhQ7zp3bSHNesyJ74r64nOZxL9XXod0j1w24ejHFPtBkUVJhZtsajHRdkInf2eewvGLN3L8Ymylw4k1ThM1aJ0Vd7fvN5Mq0doudYIaof_BR9qTnVJ0HMamUkKtsi8uVugzZMKqNleDl1Tnw6elKbsL07fihBgbkl5MSHlcokXSsJujOOVOqKKNO5-ErEm_LSfCIah6kUZNjzqthgh-qZ5ATzFjA1DtakwtQlAQWnqJpE_0F80DM4O8hgKv_mDwtK9fM3O3eWRjhyakJfM8Gz1bdyYjl6PiI1LGqpXH8XvyskSXLeQ-sFUrP_wmbY7GY42znmX2vJ13kLSpHuYHLE6vTYmnUmRxL45umdkNFDDuGpDQXwvtwFUjWWazDH0c7dIHg-p9RKHqNM3PGs6_S16GyCPjss0y_hXrfT30s9ShEJoq_PvgSqk9lYIv0w0Guncs384gvbEK6vOt1zVpvarCzEqtObGl2-LtdqySwgE4x-qyrPswMIh357bGv3Z7y55JVcN3JKjnPF68WgV_1yrVjKnMpUEuOrH9kInlxI-PuNyPLxu3A8S15EYh3vG2wv0RPS5eeJMH0-chndPVqcQwQRaZoSRh7uB9I9fz9zQlG9_Q1ZHtIbs3JmInFjCy1St7o6D425m9zHKIKdn47ZvWlXKgoD9d02ntb_IOg5Ea149n_tMTiiSq6iIQD2hNRUH8kzdBE3t3TeKyG7yYjkQjwesV2AjoKIkrWIBVxFxEYLDWCG6B3iqT2pmOVOL2nwXQcQDhfSh_st34cU85x_KVcm1og-16gPoZMt82OvOSjLAPdLJRv6t6xUumCow45KUnRP2q-4bdXNlqdJJ6qhwT1tq3kye_5LPr1xLVWBqJUs8I8siUcOidbUZ1yPoksEr2B5htqW3l28kZJcfP1gBVx3sQ2e0FDS04Ulf8P4YcGplTjWWJH2U1ltFfvyvKcuBjEznWukd5NmK9klKl49D57SPji4Hw8V0wD781JerUD5nCWOX6goLgFVgDfZkERSfv7oA7AbHZdKVU-fULCg_ML0HtgSYXHczxnP0upxefXPzRhX-EYvAWNqWRJm8KZc2WMOOk-eAcivr18dB4kesL8tDsiAtpLBQkenQHq2mZFsChTYOi9LOspBvpg7_7j5bpp1O2g-lZzSCh-aH7ctLOeDokMPfBxPX19Y9gqqMO_LEdd9Xp3XBmyu-bWWOSOJaXWG1I4u1v7SNMcLKNjqlZjg8rB6mU2p4f7-EixXEBmv0yRItAR5jTx0cDpD3ogbw5gt_DUXsMzUGCbT9TATnnJostvzXmIHOny5wqvzrOxDsFdRB8qUKqcCyDH5IpS3WknWPgZIC9JxZGzikyEuP9ChmA-QYJ9NJdNOdrZFfy5XwSMHRkZVkxNUBUBYAtBfHRjme77v6WQk_aqSUtf3I9IIe7LguGCYD03Je-ZnLpqTfEyzktQuoZUGadJxXtXFectAQVfJqq5KEQk8vTp0rNYtoCuvvNPpAHUbHCCOXcb-7pl2RnMh6M5ue81AxxY_ULoZrB8QcAkDzsTEFka_Xbsr8_aCnl2ly7iPJeialSnxjir2s_kCDfteS2eqcBtJOb1K5-VGSivyiWlMoaI_FmasJGOIPNQKRPXG1tSxKx72Wlsk9Ur4IBGa0TR3XkNao41OCqxi74_sb3k_lqG_RDDonOWxx4JSvjaIN5RaPW0GCMopqMHb6ZWvh8dcLZ5w413JARb0Y9tVu615Nf8mivDjRolj40connM9iWtWG4x_r1wMsN6Bt9x-8fDkRyUJ3FHQYRWA3bOT93qOjqdwg2VeOZZXblZBsywVgZX2Xtp2C88DdE8DEIElOz9wD80jyjH9PfMzPfd0veyLuCavIFmfyHQdcuBQliAQQmuPyH1ufmb1uNQ7wnOM=",
  "id": "rs_0847a71d2d32b4f3016ab464dd251487d08484ef01e34363ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.145,\"right_z\":0.14,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"I see plush animal toys and slender pens on the table. I’ll sort the plush toys into the left basket and the pens into the right, starting with the pen on the right side.\"}",
  "call_id": "call_6uJXOai9JOEWo4IyuDX1Q7P4",
  "id": "fc_0847a71d2d32b4f3016ab464e3fbf887d0a521c15a4237fa4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6uJXOai9JOEWo4IyuDX1Q7P4",
  "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]: [-0.0296, 0.8043, 0.6136, -0.4072, -0.0257, -0.0414, 0.9995, 0.7471, 1.1671, 0.59, -0.1886, 0.5945, 0.4274, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1759 left_yaw=-0.0026 left_pitch=-0.0308 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2925 right_y=0.141 right_z=0.1215 right_yaw=0.0215 right_pitch=-0.0501 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5248, 9.4154, 1.707, -0.1294, -0.0171, -0.022, 0.1026, -3.9726, 9.2513, 1.6239, 0.4078, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cbf34f71731a59618a3adf1d1b47b6ccbc6a27d3acdb95a6d15eee6089a10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb39784f2769bc8a1bf815f202eb692e42b820d9e17f0cd523deb5a644c34549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e08fd23009460d9c2aba46c91c57895a89da31c54189c2e407e49021d6e9f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.302 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6136, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1826 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.001 right_z=0.1829 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6205, 9.6889, 1.7607, -0.0171, 0.188, -0.0659, -0.7179, -1.388, 9.7983, 1.7021, -0.1343, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8043, 0.6136, -0.4072, -0.0257, -0.0414, 0.9995, 0.7471, 1.1671, 0.59, -0.1886, 0.5945, 0.4274, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1759 left_yaw=-0.0026 left_pitch=-0.0308 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2925 right_y=0.141 right_z=0.1215 right_yaw=0.0215 right_pitch=-0.0501 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5248, 9.4154, 1.707, -0.1294, -0.0171, -0.022, 0.1026, -3.9726, 9.2513, 1.6239, 0.4078, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cbf34f71731a59618a3adf1d1b47b6ccbc6a27d3acdb95a6d15eee6089a10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb39784f2769bc8a1bf815f202eb692e42b820d9e17f0cd523deb5a644c34549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e08fd23009460d9c2aba46c91c57895a89da31c54189c2e407e49021d6e9f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGTvszM7A9IzvVDuFt0F_Ct2CxuAdR18e0lykLT7NoUxshs4TW_s7VTDGVtYzDBANFQqaFI4-qijGHsOw969KBxB5tDkpMwaFKnwJkPP8VsjTkAPzfyLNahABvmtGELe9pcnGv_Ma2hnlgUMZ_srDlXEB-7PE2zC9yniEhxmKImvoaOmySSA5_GQSzideX-iRB-pYvJ4D3GXKXa1d127fJOlcGC7gHswSqSSlV6ZKVqW9vXYqOn_a8_hjfCA8fYQwzEvek03FHoLhwY-M7EEn4BoCjZEPHteRz6S3JdkojrO4vRkfKLpFeiFuyXqrGQip7x8-lZY1zkHzBlFZ2YCgEz7esGUQmgFMZ9yJJh8xgEal-K_JUIeotRC2q2s4dx8wcynwHG2aOe8w4nzQCQnzmaOSGCu2wJ22OtypnVtK0-30b9AifUIhLsfNlGHie7kbZMR6Ii0xjvFcQmvXzjM8Uuqojz2Wi9vhgBArknEqguxyw4w82NKVt5Hbz0q2hmUV38bLCaA6XFX_U8w2XMnxMwN-avOrThFuDANAi2d2Kat_BExLaRd5tfL7urJpjRy_Ok-JsqxoX2H-Bvhnkdh5dN60prAFrDdl0iyzwC1R4OggE75CMJ_zrppwVNOWqI4bIAPUmX5-A1eqe2gq60hFyjWSmvcf5W-logsSpitCxiUQooLyg0qSiszTDhWYNz1js-JS__O5cyLUtkyilggH2WQH7N25aiTFhaIOpFh6lnlQhilbyWXCjuCuk9B15_h0uYMSGYDRxi46qW8fa70C8oIxFAtfXUihfNmyYmdY3IISYFsO1kJvH0gyAZ-xoNljP5mjfF2_XGUH90k-7WZQZs487KbiUcdT-z9V9M5cRGb8ee0pAKN7NPeOZl4HLsnCnrZ_cewMRO6C6Cc27aDg1mAgRFumZ-plamCXn1xB9AEL-BB1SH_gtNySVAS9g6cUkYcGIy9TtVTANnBF_vvcrtIWCMKxoVhk0yZBDb1zVmEhFp8BNGSwY_ddKuUhj8Jx6WcEc5TwXl2haMFVAYuKc3Dx0KcGyVwWUMisGZDhLTkjJ00qeO50w3pM-x0KUyFn2_kiAJcbKHl0E_nWPBu_JaVKjbO9KtpMELw3uIN_EsDmo3jZeI9Pt97RAZpegqNFIphsGya_7t1pD75N8hlHcks2-O8bQQu5hHgJfUr107ue7cEK-N4wTBnn3J6SRIQk3XRWBL_kWS_VwvYohj6rAAyKXQCLrNodPSctakWnPvMXS1mt0_Mw4v_EXruhrrvFfyOEl-BsKnWfp7iZjdbTtL2Oa6NxEVZK-jd3zPzKZGO-xlqOKxybAS2E1bdjGkaQE64C0TDqo0cBzfNrQVfCBPJtTGrXNRqdH9bD7J10jsv18DHQD2OYqEoXaJxOecmhGHpxEiUyuL0S4ZLbO5g5HhnQSKQ920YWZjJkBkwB_IVjVaUVxP_w3pgl4MtO2AjE-3oSIu9JJvQQTlqAEweisykT4crhkmXsyAwyCFJtimSxMMrDp3M7WPFqs1cwLJ5Qn8AwhDE-2i8smKoVYPMcUTh7Ap6fhlSNrCLuMPdYuIebpTttU-JKFao2RuLz5ZZy7hkeYY8SMcKCzbBZaLSt_JLzauFpjYem69VinY24lwh0XxYjxZ-Zz-FKMgQEswq7Z0K8ejrCjYdzI43XqK7HoZCTJwA7-YizeEFAJIAf8N6C1h2lO_-rMgto0o6zAaiHFV6TGvm1C_a6mvnRSIxMyZhoLT5VnjdRAC0l7CbCF0ZMWuD8zMaxeRN9CzozDV7m9AmMGQkYiggGbHP9G1GzEZn7g2sFMG7BrA2tewI9PtMkqybUuRkpgIJNgkt6krMGcIwXlYv-18xPaW7m2WS82nJ4S8u_rWxs1MqZBjHe2toI4pYfVUPbVaeHAId1ubCEBW7",
  "id": "rs_0847a71d2d32b4f3016ab464eb163887d0ba389c6725a5082b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.205,\"right_z\":0.005},\"note\":\"The wrist view shows a blue pen to the left of the jaw column and a gray pen to the right. I’m aligning over the blue pen and lowering the open jaws to table level.\"}",
  "call_id": "call_VH7crvM54WY2XuGRMtWa5txG",
  "id": "fc_0847a71d2d32b4f3016ab464ee090c87d09a716cc81e37b293",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VH7crvM54WY2XuGRMtWa5txG",
  "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]: [-0.0296, 0.8101, 0.6113, -0.4068, -0.0254, -0.0418, 0.9995, 0.9001, 1.7477, 0.543, 0.3775, 0.7086, 0.5697, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1734 left_yaw=-0.0027 left_pitch=-0.0384 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3038 right_y=0.2038 right_z=0.0144 right_yaw=0.0146 right_pitch=-0.0312 right_roll=-0.0235 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.265, 7.4872, 1.7802, -0.0269, -0.0122, -0.0122, 0.9368, -5.0393, 4.6017, 0.862, 0.2125, 0.0269, -0.0171]\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:19ca07052fb564cb20d4c7013c03687bb44fe313846c38a2cf9dcd7a46eb481b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f492dfc33bc615222968f522004e6077c4e85cb5512f912997c98a930c4e37af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5898eda4bd9ac7bcab00f4cbbbdd46e90a4d8238a780769b5f1d3646a6f9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.078 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]: [-0.0296, 0.8043, 0.6136, -0.4072, -0.0257, -0.0414, 0.9995, 0.7471, 1.1671, 0.59, -0.1886, 0.5945, 0.4274, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1759 left_yaw=-0.0026 left_pitch=-0.0308 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2925 right_y=0.141 right_z=0.1215 right_yaw=0.0215 right_pitch=-0.0501 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5248, 9.4154, 1.707, -0.1294, -0.0171, -0.022, 0.1026, -3.9726, 9.2513, 1.6239, 0.4078, 0.1148, -0.0366]",
      "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]: [-0.0296, 0.8101, 0.6113, -0.4068, -0.0254, -0.0418, 0.9995, 0.9001, 1.7477, 0.543, 0.3775, 0.7086, 0.5697, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1734 left_yaw=-0.0027 left_pitch=-0.0384 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3038 right_y=0.2038 right_z=0.0144 right_yaw=0.0146 right_pitch=-0.0312 right_roll=-0.0235 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.265, 7.4872, 1.7802, -0.0269, -0.0122, -0.0122, 0.9368, -5.0393, 4.6017, 0.862, 0.2125, 0.0269, -0.0171]\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,$blob:19ca07052fb564cb20d4c7013c03687bb44fe313846c38a2cf9dcd7a46eb481b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f492dfc33bc615222968f522004e6077c4e85cb5512f912997c98a930c4e37af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5898eda4bd9ac7bcab00f4cbbbdd46e90a4d8238a780769b5f1d3646a6f9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGT2gOPdgqhpus4Zw9Ux7GGGjOgv3NM4ywtGG_59fug9HkrNCQ673H0pOOU-ywAD8RcadG91V2pXxlaMe1-Hf-uHNWgtBURw6CkW5nl5cWeaO1UXzjRXE8U4s-aylR0yGPm2Q9bvttGdOCYrnebCrugEhfbCnPpO_kADE61Mjp9sq-MJgoy77jh11U4G1TTk04DO5_ahZTXBQBFl8wDRC-4mieC4qHV2xEXT1hwprCZhDGmVYxJQQKj1DpQaI4BxvFQyHd-rBFcZ4Zf5DdEmRWNnVpUj9BlyLC13AgzzJakFQxKeMKl9-2verkwy9uTcTkOjog1zJ-4DXEnMzt6y1X1X9ApIQZdOLpN_GW30w2BULhNYCSqmtehLPfXsi8pdbm6CvpttOAAdjj4VN659a0DYz9IY8COHHgk29b18M8kuHB29CIZOK8o5CHf9cWxLxsn_lJb5Bb1jQv48hqzFqRK9qW3_Ecabc6fz4yQrPq0oqB2daLOLewP39BpVS-xuGlUqOdpLQcbSaBOACEjyna1c1lmcT275A0nx5PuCPTtEgTMKP4UQUVi4EYMicafA4p9wbupnakJGrJZsoiBAqpq_qIgDI1UOcGEfl5piGQpkwlLPXWS1Qxl-ipEoxYwtuQkIh8csVIGpmga7cUfiWVyL5zxKGXMPuZy6vaOooKxGv9IWh5HzLg3vsDPwWUW0FbMQgnNBcAP6y1uxjH2Yj3QLMvJEVJoFIhgs3KkLNYbr_7W1Mn6PrF6HAvuJNVt_niULhMpZ84Fev9RoAX4AN-hJqD7qdPM_Tn20IIbvCP0CKrZcXUzYQfV4ZH3BLwk_km8tHZTVbjWRc7uSecgMegJrB17I02nSE0RUeEza1f7TkzF3iPFEMZOKFTOk1AS0akYNk7zAT5Z7Pp2_t4MnXKi0fE1vQ4Z-IKuRSPeqz9xDiVVeJHqbq9zUvwOqSooJsbx3GuafMYMQqr2F9_tV91LjMp0KQode1_uiZlDT7kKZmr38CktEfFrK3eC85r4rEQFy5M73teZ2l-2Wi56oT1snastHQk1FQOmppeIsyWJrKZytV8AXm1oWRUC4WR84qco2Vvy-DXBFD5tXXL7zrHK39BPc8dnvUHKQ4LO7ZMpv6Pg8mtWERTVdHFBoWDgxCJXOc9DhgVnXW0PZarwiKgyn3_OVULaxKlZlAVZi0YU4NO2HLdlS0T2grThdrSwP0ZWmwT1Co_A5mIs97iC7mag6xqdRg0ce-tY_aZY017AHkbbyg7yjcCyik3kCYg3nxufAgLdGSaEoGtBjz7STZyHapmdd4rDk_0L-Xt4_UjXwO06vN97L5zhEXmecYASJC1vi1B3WNY132-BgsmyLrimCmdTzWIfmXOMY4p8h8MVJGd0EKvifyqi2fakSzu9oih6_m5q4FqSprR8pBBlJEPNlYfahEI_RumkUMJBwnUgfP_3edRdYdbwz4R4_z1nVXlp9_SUWV_mgN4rsYLYOFvUN46P776gUC0gdMzdc_cDD8a1GP1AMgHYyjwqqTpbaMkB0f9JpF7bsldv4uESLnRJhI2MzftAKgXvgO8-9x0IqXPAtm_AkcWzilpKDTkCchnqq7F5xKe0l9jN7gkVXreffI_9ElRA7XHfnkRcSY9kgPNFB2HqDeikj2kbknluZOyr4UBmR4O-_5zrgWqmuDjOHObfxiTg-V-wTvX4jPYlqfp0afkFws7THP8D0jUouuWg3ijVsm-JoCT2dFgWuL3XZsYrTnGtW2RxMfUzR5r4mAes=",
  "id": "rs_0847a71d2d32b4f3016ab464f2ddd487d0a3b0aa191602949a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.18,\"right_z\":-0.012},\"note\":\"The blue pen is still just right of the jaw center. I’ll shift slightly right and lower the fingertips to get underneath its narrow barrel before closing.\"}",
  "call_id": "call_Q1eHJxEFnHbOqzk7my1Y9IEp",
  "id": "fc_0847a71d2d32b4f3016ab464f53f9887d0b34b375adb40fd33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q1eHJxEFnHbOqzk7my1Y9IEp",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.0296, 0.8108, 0.6113, -0.4068, -0.0257, -0.0422, 0.9995, 0.8429, 1.8069, 0.4538, 0.6674, 0.6868, 0.5316, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1732 left_yaw=-0.0021 left_pitch=-0.0392 left_roll=-0.0046 left_gripper=0.9995 right_x=0.316 right_y=0.1916 right_z=0.0117 right_yaw=-0.0074 right_pitch=0.0493 right_roll=0.0616 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0366, -0.0073, -0.3624, -4.5607, 2.6735, 0.8523, -0.022, -0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7c517932748a6e25b706a50c4ae7b43ba2633c01bcb60876463d01c988a466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c802fcec249a6c59c5b9c650a4a59c36507ec741d527d43a79d62d689d088916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3130954ed2da1d386b00a4ffe389fee406790e6d73294e2e58f2e984d26caa14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.683 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6136, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1826 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.001 right_z=0.1829 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6205, 9.6889, 1.7607, -0.0171, 0.188, -0.0659, -0.7179, -1.388, 9.7983, 1.7021, -0.1343, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8101, 0.6113, -0.4068, -0.0254, -0.0418, 0.9995, 0.9001, 1.7477, 0.543, 0.3775, 0.7086, 0.5697, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1734 left_yaw=-0.0027 left_pitch=-0.0384 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3038 right_y=0.2038 right_z=0.0144 right_yaw=0.0146 right_pitch=-0.0312 right_roll=-0.0235 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.265, 7.4872, 1.7802, -0.0269, -0.0122, -0.0122, 0.9368, -5.0393, 4.6017, 0.862, 0.2125, 0.0269, -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 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]: [-0.0296, 0.8108, 0.6113, -0.4068, -0.0257, -0.0422, 0.9995, 0.8429, 1.8069, 0.4538, 0.6674, 0.6868, 0.5316, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1732 left_yaw=-0.0021 left_pitch=-0.0392 left_roll=-0.0046 left_gripper=0.9995 right_x=0.316 right_y=0.1916 right_z=0.0117 right_yaw=-0.0074 right_pitch=0.0493 right_roll=0.0616 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0366, -0.0073, -0.3624, -4.5607, 2.6735, 0.8523, -0.022, -0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7c517932748a6e25b706a50c4ae7b43ba2633c01bcb60876463d01c988a466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c802fcec249a6c59c5b9c650a4a59c36507ec741d527d43a79d62d689d088916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3130954ed2da1d386b00a4ffe389fee406790e6d73294e2e58f2e984d26caa14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGT5Yfx7OvEBE4aNVNhDQisp5FiQOzjHV8EuTshmdK_r6FD9FBZaSoxb53_MzeNcza1FAc5Ayj-lWdyTR9e6Q8cgrWsDOJorqxa7vbM8Niiah_FwTN-4f4qFTqnDWaEalvG2dVT92mJBGJYsE9sWrL3IaxBxVUrLBZ2rb9ZWwLQMhYo2KNPrrLTeWvHLujFvjnTYBDctsHdrW0_alDSFSIf3GuwkkMMOiXwadGfBL5VaqEjYx4hmPGRFhwZAjp5Dynjsrc3hTYeOW2Rp96i-4CuQBzoY55ey1pxZhakMXH8BE1TCy23T4B9zFsQz98_LgyyaMHF7D4WbAOA2eVUrZIekxIaGsV1a0WN7h-37tvPnqM5gzbqM_v55KkhSGgRDSg7HNNlXxOFF7QeQ418T5Jg7lSfYWFOG8embPK3V1-0KQt4OuejN6mY0V44kpBUIr2lTDBtQIYV9YwPy4Lga9rss3XOeTDtfjhm2mBblT_RgyA-E_rS-G2qQIyZH0jbIcOqFXolN_vrXa4Up1rw465A14xK2txD-3MuxYcfwRzDpQYdv1zo2UQ8NdKww2R3I-_U6ovVkBlQLC4nu1nVv18UDeAeboirY-Ce3o9o-kPlFxdzpjL6Omi_J6LSQTDXdOWVPM0GrfRgjSqMDSxnBuXJGOkrpZG8DbWrt1oBdFTiiXGAOt7RvdUuAhYS_6Z4Hrho8Me6wyl2q56j0pU0SUUOlcIe483TaCrM3dWSRUW72zifvlLGAait1BptExOltJKVz2srdwiTfNDTjYEhaVgtZGgFA2l4_rjhHlatfUilYY644Mj--HcMenCkwD4Z70U9PzDRysYpOUnjNTplWldWMnwI7SD-oqZQSK44pj76G1SjPCLc8T6e_rZnbiL3ygH3wIzloxqs1eDUmi6bJB7Aud99gEs6TM5WjWvERf5AWoQz4RsqlAcwV1Jp2OJwWmsmFN0Dld43OS39MthYMVehN7CEHF2dWiOXL2LwNiQblwxSPfAmNsGb94IouJtK_aZo-1BStPFUFWpF-JGpL3WX_cBikA4rYGsDEKYL-gHAjNpts9Ufv3VrjxNzl4KbVpfdVBWka04vXtqP_N48yvgl0QDD5HM4BMrDTMoiRjjHBtGTD8yfOUUBvXriHrSXzRLGZv2JHa-3ZoBWOLLQiW4u71Jw4klGsi3zpYLV20nAtnMz4jpLxB05emfXuJpBzSU7GLBtnHlM4-DKtaiRdotIRltDw5nghkrpaWQuVDSEMOzI=",
  "id": "rs_0847a71d2d32b4f3016ab464f8713887d08ddba8b8fbb85608",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue pen now lies between the open fingertips at table level. I’ll close the jaws around its barrel.\"}",
  "call_id": "call_QNYENUGyk3JPreDfIt8w4WDj",
  "id": "fc_0847a71d2d32b4f3016ab464f8ad8487d08974d49d6402547b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QNYENUGyk3JPreDfIt8w4WDj",
  "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]: [-0.0296, 0.8124, 0.6109, -0.4072, -0.0254, -0.0448, 0.9995, 0.8421, 1.7992, 0.4572, 0.6449, 0.6712, 0.5392, 0.1561]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1725 left_yaw=-0.001 left_pitch=-0.0415 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3148 right_y=0.1931 right_z=0.0105 right_yaw=-0.0001 right_pitch=0.034 right_roll=0.0663 right_gripper=0.1561\nstate[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.6874, -0.0415, -0.0024, -0.0122, -0.4171, -7.4188, 4.547, 1.2332, 0.2173, -0.022, 1.0623]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddf611febc045ecf767c12255c715bf9debd3fd006396444f9b559e090c3406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0806b3ade463e90a5b042d9a88e836764822d8770fe761eb990b7dd68802e95d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2e3b5c7dc9ba840522c56ec772aadff186f93eae57701d00078a84fd46b1cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 6.849 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]: [-0.0296, 0.8043, 0.6136, -0.4072, -0.0257, -0.0414, 0.9995, 0.7471, 1.1671, 0.59, -0.1886, 0.5945, 0.4274, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.0005 left_z=0.1759 left_yaw=-0.0026 left_pitch=-0.0308 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2925 right_y=0.141 right_z=0.1215 right_yaw=0.0215 right_pitch=-0.0501 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5248, 9.4154, 1.707, -0.1294, -0.0171, -0.022, 0.1026, -3.9726, 9.2513, 1.6239, 0.4078, 0.1148, -0.0366]",
      "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]: [-0.0296, 0.8108, 0.6113, -0.4068, -0.0257, -0.0422, 0.9995, 0.8429, 1.8069, 0.4538, 0.6674, 0.6868, 0.5316, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1732 left_yaw=-0.0021 left_pitch=-0.0392 left_roll=-0.0046 left_gripper=0.9995 right_x=0.316 right_y=0.1916 right_z=0.0117 right_yaw=-0.0074 right_pitch=0.0493 right_roll=0.0616 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0366, -0.0073, -0.3624, -4.5607, 2.6735, 0.8523, -0.022, -0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8124, 0.6109, -0.4072, -0.0254, -0.0448, 0.9995, 0.8421, 1.7992, 0.4572, 0.6449, 0.6712, 0.5392, 0.1561]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1725 left_yaw=-0.001 left_pitch=-0.0415 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3148 right_y=0.1931 right_z=0.0105 right_yaw=-0.0001 right_pitch=0.034 right_roll=0.0663 right_gripper=0.1561\nstate[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.6874, -0.0415, -0.0024, -0.0122, -0.4171, -7.4188, 4.547, 1.2332, 0.2173, -0.022, 1.0623]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddf611febc045ecf767c12255c715bf9debd3fd006396444f9b559e090c3406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0806b3ade463e90a5b042d9a88e836764822d8770fe761eb990b7dd68802e95d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2e3b5c7dc9ba840522c56ec772aadff186f93eae57701d00078a84fd46b1cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper has stopped at about 1.5 cm, consistent with holding the pen rather than closing empty. I’ll lift a few centimeters to confirm the pen comes with it.\"}",
  "call_id": "call_1lQdaFaYu98hYkP3A8JQF3wp",
  "id": "fc_0847a71d2d32b4f3016ab464ff98d087d09671a0ec423b22a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1lQdaFaYu98hYkP3A8JQF3wp",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8165, 0.6106, -0.4072, -0.0254, -0.0452, 0.9995, 0.8429, 1.5108, 0.5339, 0.2672, 0.6579, 0.5381, 0.1567]\nstate[eef_state]: left_x=0.2933 left_y=-0.0006 left_z=0.1712 left_yaw=-0.0008 left_pitch=-0.0461 left_roll=-0.0071 left_gripper=0.9995 right_x=0.311 right_y=0.192 right_z=0.0694 right_yaw=0.0115 right_pitch=0.0192 right_roll=0.0617 right_gripper=0.1567\nstate[joint_eff]: [-0.0479, -1.6205, 7.0906, 1.7363, -0.0464, -0.0171, -0.0073, -0.294, -6.2974, 7.706, 1.2821, 0.3492, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c54106ebd3b660e5fcae5e7b8fc1515a1804db055fc661b16e67afcb414f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86553a001b9633cbccf0843cae29f4950543776af4367033fbcaecd0076179cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386de4d24b430146de2721e107e9d30c90b0d1dfa3f63e686b0c34f8db0337ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.678 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 21 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]: [-0.0296, 0.8101, 0.6113, -0.4068, -0.0254, -0.0418, 0.9995, 0.9001, 1.7477, 0.543, 0.3775, 0.7086, 0.5697, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1734 left_yaw=-0.0027 left_pitch=-0.0384 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3038 right_y=0.2038 right_z=0.0144 right_yaw=0.0146 right_pitch=-0.0312 right_roll=-0.0235 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.265, 7.4872, 1.7802, -0.0269, -0.0122, -0.0122, 0.9368, -5.0393, 4.6017, 0.862, 0.2125, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8124, 0.6109, -0.4072, -0.0254, -0.0448, 0.9995, 0.8421, 1.7992, 0.4572, 0.6449, 0.6712, 0.5392, 0.1561]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1725 left_yaw=-0.001 left_pitch=-0.0415 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3148 right_y=0.1931 right_z=0.0105 right_yaw=-0.0001 right_pitch=0.034 right_roll=0.0663 right_gripper=0.1561\nstate[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.6874, -0.0415, -0.0024, -0.0122, -0.4171, -7.4188, 4.547, 1.2332, 0.2173, -0.022, 1.0623]\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 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8165, 0.6106, -0.4072, -0.0254, -0.0452, 0.9995, 0.8429, 1.5108, 0.5339, 0.2672, 0.6579, 0.5381, 0.1567]\nstate[eef_state]: left_x=0.2933 left_y=-0.0006 left_z=0.1712 left_yaw=-0.0008 left_pitch=-0.0461 left_roll=-0.0071 left_gripper=0.9995 right_x=0.311 right_y=0.192 right_z=0.0694 right_yaw=0.0115 right_pitch=0.0192 right_roll=0.0617 right_gripper=0.1567\nstate[joint_eff]: [-0.0479, -1.6205, 7.0906, 1.7363, -0.0464, -0.0171, -0.0073, -0.294, -6.2974, 7.706, 1.2821, 0.3492, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c54106ebd3b660e5fcae5e7b8fc1515a1804db055fc661b16e67afcb414f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86553a001b9633cbccf0843cae29f4950543776af4367033fbcaecd0076179cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386de4d24b430146de2721e107e9d30c90b0d1dfa3f63e686b0c34f8db0337ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUIzjmPRqB2IDqj5aF7ZizOR5ahDqBDZrOZZcBDHP__m5Ec76VKwFgk36bsvcVMUSuuFoiV1JTcMNq7d3Xmg_tq8YWrQv3jPGb9J-hOn1HU8TRHJdbG3HFhc5Q6vBkVuBeUPk-7bEeCm6eXawXPyxGr9Q-T8lNfPeiXPg0KZlNsVz9RVsobvBfq6sTUqHVMO3V3sh8asmPXmLdqIjvX5b_LSs1TxQ7LGzi0Vn6sXvwoW-9pF6bthrQ1Z6GzvKqEKfAkKyiJrVQFE__3a8IDTv1tGwaj43HlgGo-2bXb0ABnkahuC_LMx0STNP1Rn-rxG-mUo71HOprAfcQCUayoAqaTaNXnG49WCw5sN7FqNWcgSEumPHCaDVhQQ3xviHsHIEYwQGWEGJ4HoHA3h5rkwM9BNP-7XczNwEZaYx5at78q1Q3WFOpUmJeOEGczMC2c69zf6KiHXuqjpNANBy8dYY99IbpGq8E9e624jLdNkaGDJOuu4c94uM2AZTh7_uZBrQFCnlvyAYNPfFWd9kc32XDrXObF9X_KFqD2q650bX5a1vw4eouIrrmSbfOvcsEQSF008LNAKeoYspmJp6BYNHFxZUncLKqaRR9ig1Qm45pqepCveh5SVsc4abuESJrCmHQeeGXWKwcR0Q3ug0cS3typVVF-ZMys6YNN25nsvkJYavoKtfaGnDrVq8LKz9vIP04vAko8acY5o9es10CMca1y-3zeh6lIWZCtdsA6rQgSkU7KT_OOHggZ4aBZ9GHllh_2vnOM4FdpyDVo4MMxhKqiOgMuITVc3ZNNi2oKdVRZAUb2PYN3b7gwKwFiKmzhtSatCBnzM3B5_MZPsVrmx8eaB9EkcDCGJXesMoMDP42sUv8rAAJ8HzU8zQNnm8N3QfOTwuCJiym1WJ8M9khDXbLJePo760GpeDme3AxBYK7evyx6LjcoUw3cuOcssmcgL2hcXea7txX56i2K3piIXOGQ1vH7ZG9du3NTxmyAPYTCJcm9dZ6A29W-bWQ6xGTytgSN_Aa2lqvG7BDxio5KaIIFc3fApfKgs_99mKYn_S_J91zMFYt-_bGWmqSKNCmZWxlJZefuJDrFIFZxmEU1QR6s1wA8KBY5g_Nk9XZ7M4yVerhK-R1Iu3BGHPksX0Y5P9_sn-qNW2BqgNq12SY80NXNAHtQxUGezf8sP73j_l-35wBw2H_AcH0LFHkZVdsZp9xxe_QFMnmgpDsKJ_Y_JCDKyuQbLBlDpP8D9--UnFZVFjo6Bm9-_VnE_OxYfN87AtV240dWQdQtizWY4j1Ia4VkmjLPadj2YRYQLJzfoPIv5-13ZSt9wc4EsjJidKULxPtcBdZLesCmoXKsZz8U33CzhuB_Ycu2f8R4jlZxcr5Mu6NRCIoT2CepPkiMBxt1KPGEMXGnIc_dfbnvlYb9wklBjGniqaGVqYf4aJWTH-tf7uzH_kCsPliwrFD2nLBzCDs7NQVjsphAdk6Fp2ldPGRPX3ignppylKyucwU1AtM-tQgHOs_ELSemdD6zlvfqNAw_eYwCtN5sGzJBnzWAY0BfjMV_5lKag1-O1hIsi73qV7sEVppuJ6lt_9nKTFW1OgJV7UgzPDVTkTAUGx7IVG5KX6aIG29RsTvYL8STIFVQq6JkAN4ULvAr9PzBz_OFb8RvfAaKAm1pc_gBWkmoqbq1V3HV-07_J4Op8bKh-tZx1DFYfQ7dr5F3HwI1tcTGQBMAGBAa1Lb6HNQOh6WdqwxvAPkGAFYdNF50pMcgAeneBzUQ0ZhW7oHilQtl829PUxYafMogovOoCPnAi3Tb2JV037EgGh9N827HZQAX7Y9wlk-pGvGEPM7nOxmOyKLCpyDwrFcG4IbqhYQLY05mlV8PGK-IRk1XWbwh6k8PFROAajzY3ssrkcgHbeESWDLGszTcIqQeyx83vYT4-7NN_q-mDU7UnpnNxRRNyO0j5U1IchfDv_G_LY6aZ1iconHNXULLFq75OXVJtxv254PwFw2FyllXejKNwUPheFOKKlchqtZ8GZzLCOlCndR78zpLT2f3KiDZBw5TIiar4JxF7bmUjHs2kzm1vkYIyL2IzkHzKWnrKL_78joaqL-EIhHimAcGWTMvIkjFM6sawjjIzaHwAXYVTNS5aVOyUHeOzSrZCuaKknE0uudql9-XviXU0OMEVpp0OnwDBXtX__aXmywR6aRB0SBH33Eb0WozSDYKqOE-kk9Q7gh8gSCUZyrjHyyOJpaA-0PCslxh6cMd8LF5L9NzLMgerjl3oiZzF7XrMVNAP5MfFQeX9LnVsNlydPdJOTEWm-TSNU2wQ0aNLG1OFzP08ioj6Xr-pKdRl48qA1vYvaEe7rVlFBhtpxavwNeuNOTP1wgi9zX9BH9xvt96fSGTHQ8CrzsR3MnIFX4vRNhCcQHyEWnrF-_mncCw3t8orhLL-5wOVudU27nf5A7lQ39zFzBkImGZcBe7V9a70H-j2_vq8EJX_o9kZx8aFyVwnyPD-605UB-eb2lH2iS4aw==",
  "id": "rs_0847a71d2d32b4f3016ab4650322b087d0af73b7abcfcbf7c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"left_z\":0.19},\"note\":\"The blue pen lifted with the gripper. I’ll raise it above the basket rim before carrying it to the right basket.\"}",
  "call_id": "call_QbWsbrEmh8HerSh2aQzfLx6r",
  "id": "fc_0847a71d2d32b4f3016ab46507e93487d092c7700bf55cdd94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QbWsbrEmh8HerSh2aQzfLx6r",
  "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]: [-0.0296, 0.8249, 0.6518, -0.4854, -0.0257, -0.0456, 0.9995, 0.8429, 1.2751, 1.0039, -0.4786, 0.643, 0.532, 0.1624]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0914 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3093 right_y=0.1932 right_z=0.2128 right_yaw=0.0259 right_pitch=-0.0151 right_roll=0.0339 right_gripper=0.1624\nstate[joint_eff]: [-0.0342, -1.388, 9.7846, 1.7656, -0.022, -0.0464, -0.0073, -0.3077, -6.2017, 9.0872, 1.4237, 0.3101, 0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e90ad95889abea38db5592be86381570847445a65086d97d11c9d47a6ca76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a284aaf74df3bc25b2075645b983bcb64e83129ea8171a28779ab8c62d5589b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647f1abbe419e7f8e479b7e7e411ca1d6a686db658d41e728779ea50107dc9d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 8.375 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 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]: [-0.0296, 0.8108, 0.6113, -0.4068, -0.0257, -0.0422, 0.9995, 0.8429, 1.8069, 0.4538, 0.6674, 0.6868, 0.5316, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.0005 left_z=0.1732 left_yaw=-0.0021 left_pitch=-0.0392 left_roll=-0.0046 left_gripper=0.9995 right_x=0.316 right_y=0.1916 right_z=0.0117 right_yaw=-0.0074 right_pitch=0.0493 right_roll=0.0616 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0366, -0.0073, -0.3624, -4.5607, 2.6735, 0.8523, -0.022, -0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8165, 0.6106, -0.4072, -0.0254, -0.0452, 0.9995, 0.8429, 1.5108, 0.5339, 0.2672, 0.6579, 0.5381, 0.1567]\nstate[eef_state]: left_x=0.2933 left_y=-0.0006 left_z=0.1712 left_yaw=-0.0008 left_pitch=-0.0461 left_roll=-0.0071 left_gripper=0.9995 right_x=0.311 right_y=0.192 right_z=0.0694 right_yaw=0.0115 right_pitch=0.0192 right_roll=0.0617 right_gripper=0.1567\nstate[joint_eff]: [-0.0479, -1.6205, 7.0906, 1.7363, -0.0464, -0.0171, -0.0073, -0.294, -6.2974, 7.706, 1.2821, 0.3492, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8249, 0.6518, -0.4854, -0.0257, -0.0456, 0.9995, 0.8429, 1.2751, 1.0039, -0.4786, 0.643, 0.532, 0.1624]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0914 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3093 right_y=0.1932 right_z=0.2128 right_yaw=0.0259 right_pitch=-0.0151 right_roll=0.0339 right_gripper=0.1624\nstate[joint_eff]: [-0.0342, -1.388, 9.7846, 1.7656, -0.022, -0.0464, -0.0073, -0.3077, -6.2017, 9.0872, 1.4237, 0.3101, 0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e90ad95889abea38db5592be86381570847445a65086d97d11c9d47a6ca76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a284aaf74df3bc25b2075645b983bcb64e83129ea8171a28779ab8c62d5589b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647f1abbe419e7f8e479b7e7e411ca1d6a686db658d41e728779ea50107dc9d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.105,\"right_z\":0.23},\"note\":\"The pen is clear of the tabletop and the right basket is empty. I’ll move over its interior while maintaining clearance above the rim.\"}",
  "call_id": "call_bnT1vdPkjmElsZXPhVneLGSX",
  "id": "fc_0847a71d2d32b4f3016ab465118c6487d099d0ce979d4fc032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bnT1vdPkjmElsZXPhVneLGSX",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8284, 0.6514, -0.4866, -0.0257, -0.0456, 0.9995, 0.3042, 1.5681, 1.2465, -0.3321, 0.2245, 0.1719, 0.1659]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.1707 left_yaw=-0.0002 left_pitch=-0.0964 left_roll=-0.0057 left_gripper=0.9995 right_x=0.4526 right_y=0.1046 right_z=0.2083 right_yaw=0.0148 right_pitch=-0.0726 right_roll=0.0168 right_gripper=0.1659\nstate[joint_eff]: [-0.1983, -1.6342, 7.3368, 1.5946, -0.0806, -0.0611, -0.0122, -0.1846, -7.9385, 9.8256, 1.6972, -0.0024, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e815bec73240dc58c697d6d03aef7ffd72d357af26591c390afda1a19366f0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ceda7006b82e8e40fb8937db0c5eb1d920c6925e03200273f763f1c0df4c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2720757a68873d5eac50ce4e62ad0028c2743da0c53ab62f06773daac05522",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.158 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 28 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]: [-0.0296, 0.8124, 0.6109, -0.4072, -0.0254, -0.0448, 0.9995, 0.8421, 1.7992, 0.4572, 0.6449, 0.6712, 0.5392, 0.1561]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1725 left_yaw=-0.001 left_pitch=-0.0415 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3148 right_y=0.1931 right_z=0.0105 right_yaw=-0.0001 right_pitch=0.034 right_roll=0.0663 right_gripper=0.1561\nstate[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.6874, -0.0415, -0.0024, -0.0122, -0.4171, -7.4188, 4.547, 1.2332, 0.2173, -0.022, 1.0623]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8249, 0.6518, -0.4854, -0.0257, -0.0456, 0.9995, 0.8429, 1.2751, 1.0039, -0.4786, 0.643, 0.532, 0.1624]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0914 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3093 right_y=0.1932 right_z=0.2128 right_yaw=0.0259 right_pitch=-0.0151 right_roll=0.0339 right_gripper=0.1624\nstate[joint_eff]: [-0.0342, -1.388, 9.7846, 1.7656, -0.022, -0.0464, -0.0073, -0.3077, -6.2017, 9.0872, 1.4237, 0.3101, 0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8284, 0.6514, -0.4866, -0.0257, -0.0456, 0.9995, 0.3042, 1.5681, 1.2465, -0.3321, 0.2245, 0.1719, 0.1659]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.1707 left_yaw=-0.0002 left_pitch=-0.0964 left_roll=-0.0057 left_gripper=0.9995 right_x=0.4526 right_y=0.1046 right_z=0.2083 right_yaw=0.0148 right_pitch=-0.0726 right_roll=0.0168 right_gripper=0.1659\nstate[joint_eff]: [-0.1983, -1.6342, 7.3368, 1.5946, -0.0806, -0.0611, -0.0122, -0.1846, -7.9385, 9.8256, 1.6972, -0.0024, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e815bec73240dc58c697d6d03aef7ffd72d357af26591c390afda1a19366f0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ceda7006b82e8e40fb8937db0c5eb1d920c6925e03200273f763f1c0df4c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2720757a68873d5eac50ce4e62ad0028c2743da0c53ab62f06773daac05522",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUhaTq9Wb0DkEfF4ADH2szfGpFfLjlILB-ENix55D1I6quqdn9onGHvTr6wuvWjFM-0pMUCESr6CUR8-P02OBsOmjdFheeLS_u4JOQ4hPnHTLZVsiiddAUv_r9kN8JCjENDlASxDngz3M4-i2n4Xk0gKNsAqakEN2txzfrqflfXKqGBzZnQ8xpHOva96ORY_3UI5jLkHzsxVVj_vcTPdU7JNvZbeejmJ_Iy1oLyvLFKbC2De9XP_CXCnmOcAFZ26bk3Q3yjV6vx1DCv9o-Ttxmh7x6psc9-SB9GiU1WY6oUpcScwN_N3BbNPEZCy7Bg11Bv8YByq3qaRntJkPvVcAq56i-QO7KLf_ZBQZl5r9VAa62HebgrtcBZTOVclBGSP0JkROhFRKbLzOAlUe-0YApyzGtdoFEOtoL4mIHLkJ7jI_yUG96tgu_nOdJMvmkkxamjgDhpFXA0Y2lD-GuB3TNXGzxzzHYA14BfhV_GdhYsMk0AgyQgiHd6I-J_cSIIrQ5611RT2hH3hqV01RsboRvEqaTPodSc5mw0P9OGsfKRP8zUNUSFwb6xfuDUbC-A9fnJkpNkR39aFsVN0Y4FeVdT1kQpF1d-UPIU9mA2aPEBD-E-QcmLrjCX67WbiLHYYSgBDpz33f1F-dx7xn5ahINxOabd2WP1w_tFdlKSktpWjUrzq5QV9tZuCAkkiEgE9lyPwrb00RvTiZYMQrVYPq_1PXLqkFgi2dDwR078yhG1KD93bpTHp50yN39W7tgvYZEuuQpVMzptal3KdlTtPMYJAdyUhfPRGzszeX9YPEoPkXbOKYaRQa_k5975jSLzOiDLBJx27gHyMzdYK1uF27Wq14nW-rD3ijtW80JD8ntPN_Vktmik8uYeaytu0Iq7eScf3ALHial7WfEe3A5PybNUB5SfkV0eydU4dyTBa99_5QxmRIq1ttMQ4NSh61qna7-ndV212umOazkxKHOW7qNqe_e3KowROSZfcVOqyn9-LR9wmU7VpVQpP3f0_yvjrzFwCE3efkw4R_jCMjnfZ2bcL4AcF54XWXkxUVyGYI1e92Y63a2Gp8gcpoCGoaRpSoh0IPqJQVoLuIfe0enTc2ht0UH1w11Msi5lIOcO-d-DHa1hrE5VB9V0GxSt_aW0DSAuqVZRSudepEzmaKA898wKJcvb60sFNxdGf2DxCj_3afz2nZg9_E-3bq5cDEH1qzEL2TJ6GMZT2OeacW1zin0QDo-j6eGkUC5YRyGi2im_wSqUAnyF3xwoXZlCJPrt2182yYkFy5I6uSh2Zb80Kms-NZmNWTK8JAgBid6qtD6_Rr3HMQgCsq9bJez6rjPSUeoOhMS6-HWEV39xU69h3xCxs82e6DgkAPGFaUWFU_9ESkCbG0DpZ_GzmviDLvM0OB7xGmIxplrLU2qc0ov3pB-k_Lo8PjWz3Ma2VfhSpSQcH1K5jENMOZKZ_A6Cf7EulZitZ0yjCJjVjhO6DTrdhjKXvC_cEQ4MBGic_Ag8YqWQpbAnJ2mqx8oGtNUyuPpC8xabgl8s1ZCsIO6G4ECRGJHpyhPi5gAylZW6dlDvSvuBFqpumIODvTuuJuM0yFqVh0nTsbnUypBua7Xs7QoCsEtWC5xrCqg5PMPWx0zVdlY0GYSYOAsIm-whMVfpPaZO8w9yaR4w6wNd9XAXtG266A2V8E9F4AFpWJFkC44W0g-syYkG_rVtZMMnZLDco0p4BHXmvhe9mu-F-ktwc3UR7C_iXAN44w-r8M0zgXNoH0EKyrxtF_NS0HV_FJoFRxZ9NnZZfpiP-niM2nbojslm9f5cNH0K1n944x_N1yO9lJYfT1elVrV0N6p8aIm2rcTf4L64daWF5uoWIgx7iWI0fvTMWkSwifKl-ieQpVSbSHQAEcr-KKzFA8C7m0WqbSrq8eXHp0cOhYFQP6Nq9lfbHx5ikLL2Jl3FctT89tJ0wJAPciWXQY3tJB1L1NY6aZ20elAk9paASmq4WuhwAlbSiVaOOF-jYihahSX2hjZDaCbFY3v30sH2Jx4Ik7lr0T9Nd3m0aHEnsEGClHibY5zVmAa2L560NHgtqQcwMoZ6jvE05Mg=",
  "id": "rs_0847a71d2d32b4f3016ab4651d6e0887d0aa41a65a0d0ebfeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.12,\"right_z\":0.105},\"note\":\"The pen is over the right basket but projects toward its front edge. I’ll move slightly farther into the basket and lower it for release.\"}",
  "call_id": "call_UqYMKeNt8uKSAn1g74XXL7VZ",
  "id": "fc_0847a71d2d32b4f3016ab46520ce0087d08029941e2c2ed35d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UqYMKeNt8uKSAn1g74XXL7VZ",
  "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]: [-0.0296, 0.8303, 0.6514, -0.4862, -0.0254, -0.0456, 0.9995, 0.3012, 1.8416, 1.1564, -0.0292, 0.2077, 0.1608, 0.1659]\nstate[eef_state]: left_x=0.288 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4891 right_y=0.1175 right_z=0.0988 right_yaw=0.03 right_pitch=-0.1338 right_roll=0.0014 right_gripper=0.1659\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.5849, -0.0464, -0.0562, -0.0122, 0.4308, -9.4017, 6.5983, 1.7607, 0.2076, 0.0806, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d2c362a4f01a1cb4c418bc8b485afb16297cc5758eb1a3ce7fad8d77008c09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7f9d396e32141c202120ce6323caf9f3026d4131be56522ad2de600f70ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a36286ba83246ca146f8b458fd291d8c43885e43bf1050ef5e936e45264d3d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8165, 0.6106, -0.4072, -0.0254, -0.0452, 0.9995, 0.8429, 1.5108, 0.5339, 0.2672, 0.6579, 0.5381, 0.1567]\nstate[eef_state]: left_x=0.2933 left_y=-0.0006 left_z=0.1712 left_yaw=-0.0008 left_pitch=-0.0461 left_roll=-0.0071 left_gripper=0.9995 right_x=0.311 right_y=0.192 right_z=0.0694 right_yaw=0.0115 right_pitch=0.0192 right_roll=0.0617 right_gripper=0.1567\nstate[joint_eff]: [-0.0479, -1.6205, 7.0906, 1.7363, -0.0464, -0.0171, -0.0073, -0.294, -6.2974, 7.706, 1.2821, 0.3492, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8284, 0.6514, -0.4866, -0.0257, -0.0456, 0.9995, 0.3042, 1.5681, 1.2465, -0.3321, 0.2245, 0.1719, 0.1659]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.1707 left_yaw=-0.0002 left_pitch=-0.0964 left_roll=-0.0057 left_gripper=0.9995 right_x=0.4526 right_y=0.1046 right_z=0.2083 right_yaw=0.0148 right_pitch=-0.0726 right_roll=0.0168 right_gripper=0.1659\nstate[joint_eff]: [-0.1983, -1.6342, 7.3368, 1.5946, -0.0806, -0.0611, -0.0122, -0.1846, -7.9385, 9.8256, 1.6972, -0.0024, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8303, 0.6514, -0.4862, -0.0254, -0.0456, 0.9995, 0.3012, 1.8416, 1.1564, -0.0292, 0.2077, 0.1608, 0.1659]\nstate[eef_state]: left_x=0.288 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4891 right_y=0.1175 right_z=0.0988 right_yaw=0.03 right_pitch=-0.1338 right_roll=0.0014 right_gripper=0.1659\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.5849, -0.0464, -0.0562, -0.0122, 0.4308, -9.4017, 6.5983, 1.7607, 0.2076, 0.0806, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d2c362a4f01a1cb4c418bc8b485afb16297cc5758eb1a3ce7fad8d77008c09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7f9d396e32141c202120ce6323caf9f3026d4131be56522ad2de600f70ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a36286ba83246ca146f8b458fd291d8c43885e43bf1050ef5e936e45264d3d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUlRcNLta8eVvbVxzinZMP0KMMuMLq1ZxA00t3hqOlywlwBh4vG6agnzgYq3P8UUd0ukYNIfq5ZriBkvmaAP1uEx3F4pigJ9T7ViHkA7tZPzOEqqxkNTtx418a6_-2G2jQycChUN-f7gSNVnXx-T0fUpAQm6O1gP1tf4YuYzJdMlc8OfGNgvnkkeb-5ONoEqjhSst_HS5D7azuHiZSwpH57dy4tAQ7loa2jYXk0qwN7wOc1T0i8n4WMrLMmHsbSqDFhbP8VZ_dHQMesmzkX8MVzUhWFVL17mfoammqEoWSQRvdSYa-PL_K40N9iTV-W3VzkIQ4lH5BfZJm0G9XOzkVDKFV1npi14zt2iU007Q7xLOV-kIcSh4KNIQW8is9zPDAwG22WE99RkyPuRzEnXVD6bhLB5Yax0TrJaaUk6MRwmn4p8bSfE-5jqLTboed3pGrjtYSp-BR8cvYxpf7mYQ5A5RpL1fWr_28jlVxMVx6jTSxQcHd8yToWxgO4T7Lwlmed7GYPBtpMe-Qc8CwGS2NcOTJDhvSpJv9eRZvm6XL2MzqQI8R7efJPPNF2K0IfRFlN-X8w58lI8aY_-OTBx8Y3rz-tJ2FcDV_zlOtbuka0bhuufySNnuTgXV8u2oWVy8-ORPXoerVCBaqgsKECjgiUsnhFEz4K5nfTa0J3BV_Cd-juJYtxHSx0q61iEBORP9-zwhGOIEACOTgLiKJBm5h-nrHbJUyWMhJe91mTqBrrS6adHyzEpFOGJl9yR2j20wnsP-dCXlGOjwB-NJmbRvIRHq77GQPbqU8YLAllVHlMS4aZ_X3Jzz07mkX9rjxgU9y_GvkWIin8ptUROf8bjyA-dkkiGTvR5yZPyuKm28YjYa4cvqNj4tBgQBi-sVuUExDKpBpKxrLMfN4uHbs8L2I4PrezSkHyyPAta8S-0h7zDuD6MMjxBwmZ8PiDfPT310RX-ICLkrm3ZPgGkrVT63AECTkWZOA6pjNPx65EDgOIGHakiA5sl9mh8I3a7Qw3gwKJK4rwrme0Mu4CLikSzS8caU4vddfw0OQ_eb3erPvT8qi9iS9banIIxWJj5lcb-59w3XY_QOcZN0igvIJLCmz642G5d5voGPDNZOt0oyEYlk0lAAsEAjVVlmQL0T-1lVKiODRbZztwe_coYOv5beUvn5ND0jKgzkNnDLkYCiabHQ7cqabc4PSewOB0keFmDTrnopWKvApCZAvGmlT6qLkXgSdEl5zjF1cWsCQSsx-MUO_7J3uTMVlLHrViPYkAzCfRfPoFqiBjsZ26YZl5G-AeVE6T96CZGERSQKRtRvbKA2kmTW-wZNquCNCbyZ4Cy_dG-k3pCnJqmOPXJbszRwRlrFln8f5PKhllQLaFvUB1T48iaB9aFs53I8DWWPoUGjz_UFIxsd4UXSS7TNtYKl1M_yKRBR4V7El3Z9MLftILWpQivgUNdr88RArPz7K_8Ea5r-6y_YP62kr85yCasfF9fi6wyrZIqDH4Ys22O_H0zyX_J96bggp7cj1IiHQEN1XG",
  "id": "rs_0847a71d2d32b4f3016ab4652394e887d0b33367f913917290",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue pen is now lowered inside the right basket. I’ll open the gripper to leave it there.\"}",
  "call_id": "call_eLCTN5LqA6GfCanFkxfYizda",
  "id": "fc_0847a71d2d32b4f3016ab46524f3a087d0b8afec7397fb54b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eLCTN5LqA6GfCanFkxfYizda",
  "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]: [-0.0296, 0.8307, 0.6514, -0.4858, -0.0254, -0.0456, 0.9995, 0.3008, 1.8664, 1.1515, -0.0177, 0.2043, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.2881 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.489 right_y=0.1179 right_z=0.0868 right_yaw=0.0341 right_pitch=-0.152 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.1009, 7.2547, 1.619, -0.0659, -0.0659, -0.0122, -0.1436, -11.8085, 6.8855, 1.4823, 0.0122, -0.0366, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84699735d1901ba17353309969d8eb12d400bf384b9832c9d7f60a3b751cbad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce29d68ccad9c0e88ea18ddf85f5316aaf8896a3ada12b0e9305c2f6858e14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17443d785a6ce9d7bf95562244358e7ed87eeef1514e4b74876e11f6ae549b60",
      "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 · 4.994 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8249, 0.6518, -0.4854, -0.0257, -0.0456, 0.9995, 0.8429, 1.2751, 1.0039, -0.4786, 0.643, 0.532, 0.1624]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0914 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3093 right_y=0.1932 right_z=0.2128 right_yaw=0.0259 right_pitch=-0.0151 right_roll=0.0339 right_gripper=0.1624\nstate[joint_eff]: [-0.0342, -1.388, 9.7846, 1.7656, -0.022, -0.0464, -0.0073, -0.3077, -6.2017, 9.0872, 1.4237, 0.3101, 0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8303, 0.6514, -0.4862, -0.0254, -0.0456, 0.9995, 0.3012, 1.8416, 1.1564, -0.0292, 0.2077, 0.1608, 0.1659]\nstate[eef_state]: left_x=0.288 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4891 right_y=0.1175 right_z=0.0988 right_yaw=0.03 right_pitch=-0.1338 right_roll=0.0014 right_gripper=0.1659\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.5849, -0.0464, -0.0562, -0.0122, 0.4308, -9.4017, 6.5983, 1.7607, 0.2076, 0.0806, 1.0232]\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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8307, 0.6514, -0.4858, -0.0254, -0.0456, 0.9995, 0.3008, 1.8664, 1.1515, -0.0177, 0.2043, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.2881 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.489 right_y=0.1179 right_z=0.0868 right_yaw=0.0341 right_pitch=-0.152 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.1009, 7.2547, 1.619, -0.0659, -0.0659, -0.0122, -0.1436, -11.8085, 6.8855, 1.4823, 0.0122, -0.0366, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84699735d1901ba17353309969d8eb12d400bf384b9832c9d7f60a3b751cbad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce29d68ccad9c0e88ea18ddf85f5316aaf8896a3ada12b0e9305c2f6858e14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17443d785a6ce9d7bf95562244358e7ed87eeef1514e4b74876e11f6ae549b60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUreaFQTwWMacGi5s9A3jrnQG7JsHH6mSIdcRcX_e8errFSjaEg9Cqo2vFms-c6vs7Um8fo-ScL6tH92Dw4o-po5vzOz_jJE4AAcWcQ-f6F5JmGn9FhyJ19cN-rFG4_Tw0ZsYaZ7q9F9rIh4ufuwyo_0U0FGqV8emDsCSxpfvLRG5dL-mpv07Qj-tjbwCn7tbnim4N7blje62xRNHbVOROlEfJCa5pNiDHN8GewQJGuRmTM56l6p63oesURIZOHGoSOEvo6u09jZo0wAn6GoxhWVtu26F4Gi3cqUF-4DXGSmEK9gzGfT8GLG7U0PQknRknhtpzU_J5D_cq2Vb_ptAG3d9xfnX9Qq9zLMMi5Ro4WZCHh6zR_nCFFK3t2pVqBoD25QznfnOq0RXnt8t_v3tY91deTsiTqw2iqkGU9zr5cFTrnl3ddt5mvHlXgyX3vp7AvWilXuabtMorK9cXv7sxDIr-gkF534H__clrOdP_n1OiCWLhjtLCZ7JTEl-cNERGnVTg79sVwwwIhYj0OCYl8A0vgeN0lEdorvfuS3RrHMC7tThNAy8ikV4bVDjD9oN0AGA8e4BegjSdp9cVh39_EJyadm7wMAvljA1hk8hV0uL4xNEOkebAwXJe0uVrp8qs3WoPwzThHKtOLowSY4C2cEok6WD2IKrMprWExE8b1TWR3vSG0z6t_M6BNgAx0gEAnX3yjuBvrmXVorS4kvuyP4fjbJar6h_1RjpuEb2OK3ZNapsukAT-N_X0WX6XEzuyRdtgGCGQuvspdYZKf5aH9ziyYkrwIiIWeWDi1lqbQ2byfrEwXS8uHlyfkdWImz4YyYa0CYI572ZgKHPav-eKV_iTzolcamJh_bjx4O7dms814tpVuu-irPeAL5UO3cQRKGl6Fsq5Fbs9PfhTSxIYOxua0KHNBBE1bHAewrnNJnAC8NtBtxwjam0EDhusXG_fBj-B8LyaYN_8w4aAfn8_flziO46p1iJe2jFRDIwLRX0-wYSS1ph5QvApiVCcpwpiFWI299GVOdIQBeTZuIs06nFQkf6Jkr-K9KyQgY-ORsLQClP6I-gxrLkc0a3Lj5RD3AOEdChyajSM9ySdMfgud0WSuWCFcK6PF5Xu1Et8EwVwbHbp9U_xyeR0xmA4W-wgHAJpkuRIfPKNG3SnZ1WugcO6D00-TeJoQ-ddOqoTdMabOZX-zYf8X8CGnYchhLO8R4ZfNlAXWAPAFQkFXj1hQNOK7ovq9Jcz3MuP5eRfLbWOUFpJE0r74vXdDZnk4lzFkFaEHs7niDhZg3Brg9gmceezWm5zN1JgkKzobJTdK2sCxuO1VojhcwBxs_Y3CWLR4UgW1gSSo2C4lLLrgP6j0TSComr3CbdTuV34dUfOVdlNxw0dcxC3mZp3UD-vfVRdJ4Y-kq8J5uJeQAu66qzqbFGKROWNPbFXkH0GLS3pcZnZJzMj0_eQ4knScWuBbtXK3jJCPF2s-SN2MWA1eltKi6bhqYZcXnh7X3_YKbF1v8y0_70bAjFapuEmkE_AgAtBCm25spZAiRdvnbyDB8UVsd_oEp2X8auMniRezChjrAuSPeuIeA5bO170fu5cqZpPRu-6UbZgytNgaIoxuJwetQCUjQCvkC8q7cByx79o7DIjUZt4VnshKMi5cwtboyxiwczaiWAogpJPYHiJCcRAHDDDFtT5EwLqDDzBKq5vO9s9-jAYAIUo-yycNznmJT9a4MLW3xQn9bObigrA8wxK3y6z951gDggeEgfwlWnlfpj86OspVqy29Xxd5hswA-aDbHflSiEkcvEYdK9yo0d_ws1Xq2FhsDyOrEP5UzWrIlOIwYKVJmof6Dhjs4PVZLlJ8vS3obpwyelL3l4OiVBWMBg==",
  "id": "rs_0847a71d2d32b4f3016ab46527af8887d086691c340b459fee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.23,\"left_x\":0.35,\"left_y\":-0.075,\"left_z\":0.14},\"note\":\"The blue pen is resting in the right basket. I’ll lift the right hand clear while bringing the left hand above the gray plush toy.\"}",
  "call_id": "call_eRLxLe4denG6I8v7BQvtzGoj",
  "id": "fc_0847a71d2d32b4f3016ab4652a274c87d0b7ba614085fb7562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eRLxLe4denG6I8v7BQvtzGoj",
  "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]: [-0.3511, 1.2011, 0.664, -0.2535, -0.2558, -0.2443, 0.9995, 0.3283, 1.6562, 1.4002, -0.5053, 0.2092, 0.1574, 0.9964]\nstate[eef_state]: left_x=0.3315 left_y=-0.07 left_z=0.1132 left_yaw=-0.0157 left_pitch=-0.1916 left_roll=0.0172 left_gripper=0.9995 right_x=0.4562 right_y=0.1204 right_z=0.2037 right_yaw=0.0557 right_pitch=-0.1787 right_roll=-0.015 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -4.6291, 10.2222, 1.8486, -0.2857, 0.0171, -0.0171, 0.2256, -10.5504, 9.5932, 1.3651, 0.2711, 0.2222, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba0050f31a7d14c7d2f9e8832e2de8854dad15dfa98bde6dc402d0560ec216b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a74d3d96e2dfd691d897a2a28d14893adbaedd7de18ef60b2e7a0e4b79f061d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7a388d50a5eed87e1e32512b559eeb75a5c76300fca5a5a55368b2b3e8eba4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.427 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8284, 0.6514, -0.4866, -0.0257, -0.0456, 0.9995, 0.3042, 1.5681, 1.2465, -0.3321, 0.2245, 0.1719, 0.1659]\nstate[eef_state]: left_x=0.2878 left_y=-0.0004 left_z=0.1707 left_yaw=-0.0002 left_pitch=-0.0964 left_roll=-0.0057 left_gripper=0.9995 right_x=0.4526 right_y=0.1046 right_z=0.2083 right_yaw=0.0148 right_pitch=-0.0726 right_roll=0.0168 right_gripper=0.1659\nstate[joint_eff]: [-0.1983, -1.6342, 7.3368, 1.5946, -0.0806, -0.0611, -0.0122, -0.1846, -7.9385, 9.8256, 1.6972, -0.0024, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8307, 0.6514, -0.4858, -0.0254, -0.0456, 0.9995, 0.3008, 1.8664, 1.1515, -0.0177, 0.2043, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.2881 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.489 right_y=0.1179 right_z=0.0868 right_yaw=0.0341 right_pitch=-0.152 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.1009, 7.2547, 1.619, -0.0659, -0.0659, -0.0122, -0.1436, -11.8085, 6.8855, 1.4823, 0.0122, -0.0366, -0.188]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3511, 1.2011, 0.664, -0.2535, -0.2558, -0.2443, 0.9995, 0.3283, 1.6562, 1.4002, -0.5053, 0.2092, 0.1574, 0.9964]\nstate[eef_state]: left_x=0.3315 left_y=-0.07 left_z=0.1132 left_yaw=-0.0157 left_pitch=-0.1916 left_roll=0.0172 left_gripper=0.9995 right_x=0.4562 right_y=0.1204 right_z=0.2037 right_yaw=0.0557 right_pitch=-0.1787 right_roll=-0.015 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -4.6291, 10.2222, 1.8486, -0.2857, 0.0171, -0.0171, 0.2256, -10.5504, 9.5932, 1.3651, 0.2711, 0.2222, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba0050f31a7d14c7d2f9e8832e2de8854dad15dfa98bde6dc402d0560ec216b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a74d3d96e2dfd691d897a2a28d14893adbaedd7de18ef60b2e7a0e4b79f061d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7a388d50a5eed87e1e32512b559eeb75a5c76300fca5a5a55368b2b3e8eba4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUxB7ujRLKfoxsAEG7c19IX8DK1BSO6XSI1NLu1POXikvFJY8TESpWXmCkX_qR7md2oUGyoS-bGqU0O2VvioFKvidFyBOTdaV2a_Qh7GDeoh8ccIPNJsP7jBPEtiAFEja3kynuNVnzO_XbZOicBJX56jcLqpn70mSoRm7CI2gjZZz3Jl-cw7ztMzWcIgzxUzvmV4CCYN8iTpDiRnJtwilpQQhibpn1tBK0XkwB4fV2yQbEpgJ_PuICk0X14NWkFtQyO-PJ6CWmkEiPaBbX4CY6M0WDPsjgGnS0UCDd4WnbMuUf17oSk3CClSH8HL0_z6aA57eHkgT25zbTEX1VHz2hzbd23LKm2cv_v85wtW9PLKEeCPcljUC_AXquu3da6L8_SO67cscpKy4N0WzkCalNv8bq9r2cKjFsdu-NuQsEBpzMT-WpCY4zVQk0N-y8hhhI9mzDIeD00BzauQjeltvut2y4EXgQ9My4y1oAXCgA4h8nl4aTAHl26_zT7TYHEceMdmIaAn3UyeAm3-KJrKdMS5gqRylsxBAITr1gURWa8OdPUh7ms1z9dkelW7HfHCT5dWMiSS2Ef_QYpxZ2RQqNyNXNAEwYA66ULoh31aCWhUUlcEjeBJroaOfe8pK9KEoqYAMwaoq4bUtDbpCTEpN8b54SlxAXwGtwfqGevmuD1Mb2i4EkwUADc8MNGZyjT3BxxqkIsHm4anlJpRcPbPSkKHx19aNKisvu-jbP8TJRee9rXPGEvKxtjHb56GlVGPoGg-7dk29tbsOOycWS503e5sBG92ATj9YPto9eOz0Nw_hUeu0eg1LqJn8nZn-E7xeKuMZkBNC8S7OK0KFLuDZ7bqxTZ206M-aN9J3xIje13J3SsvvZKXvcwzTxA6cwmvMvh60OMR9y4RGBwHPlUSmt9Fo-v85ZlHeKFpDSs5pCIEFJHkTR4v6bsqAuDysOwcpPaEFRmjfCNjUGp4KTCtqEviOZcIGgcadHYTuczmwB-z7sPJzUw6-D4tLqOSPN6CXD5tOhsFJBovwp4PvFOp1KYwypgBqNp7iXLWg0Fo039hHnJw4Qb8dvOLxq--jhOH6c_YdtwL3AUdOcZ8QOIxLCG4l1JbJTBQVgyBFioPI6gmeM8ZtdIJmDUZH_XaaCSnv0T9riS0Coykir7ImFLVCUiFyJGNk2KbsgKNL2jlEf4ixOpr1A3Z70nYa-VkqYfShqkg55K4bczD9vB2DyXmfrOX8pps2QgpNpp7gljHlkBtb1ZG12NYMhebFbKS01-ENz7DWz_kUwgQOueQBmrEzzE-PUWUwG9cB8zd8eAH69NjIl17Qj9rXAt8RL7vwcMdjk4YzHu7iDYSpNis5ZEHYdVsl80HIPbT0NG3OqoPwVVZGiJ8UjjRNbioJh_ytj40b7v_fjZGnw8-M_GBtNFNcP6ZgluZ4Uzhsl-2kP2Hr2uXtbEcQIWi81ECetpoc26uAgx_pnO5Glnl6UZSgmcH3WOFXFJ7YZ2YXzxu36boZfZzUQNg1awEJaMN0KbzlpACbnsunfI_Lj-q2C9ezke5k-T_3dqd4nDAp3wL7LWcw9Wc6bGIutYvEJujMgDbP4QWtkIP3Yc2g3J_8BvZhegq0PuvlqEETd-EjVJ6DMBDyppoMWUFn7ENy_LFrTd-Jt5I0D6022wkU1TLhmsAlzbbm0gH1BCuykQ6xs1Vlm39wDB2HYzCMXMl_UdJRsAWkqREuM1MUkzWLdKLij-zDfWPKCIXD6Huwy-vmi7S2nwTuhfCgF5QnpQ0gywQkkiV64iSiQh5HsXBOzPuMs-nOcO_0lGd5LYSE4a2CxZkgtXAQ9AGDP9qdQ-tmkqhOtqKcEqC1QmtABuATU7YI-1-cJHeAJVLA==",
  "id": "rs_0847a71d2d32b4f3016ab4652d6ab887d0a69d7e571b5169a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.005,\"left_z\":0.035,\"right_x\":0.26,\"right_y\":0.10,\"right_z\":0.14},\"note\":\"The gray toy lies to the left of the left hand’s jaw column, so I’ll correct sideways and lower around its body. The right hand will approach the remaining gray pen on its own side of the table.\"}",
  "call_id": "call_ORX1iDHKQBCgK3HZpodV2XxL",
  "id": "fc_0847a71d2d32b4f3016ab4652fef0887d0b0026ec6043b73c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ORX1iDHKQBCgK3HZpodV2XxL",
  "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]: [-0.0051, 1.4002, 0.4915, 0.1818, -0.0715, -0.0288, 0.9995, 0.5896, 0.952, 0.6495, -0.5022, 0.3679, 0.326, 0.9964]\nstate[eef_state]: left_x=0.3573 left_y=0.0144 left_z=0.0523 left_yaw=0.0544 left_pitch=-0.1586 left_roll=0.0396 left_gripper=0.9995 right_x=0.2673 right_y=0.1067 right_z=0.1422 right_yaw=0.0915 right_pitch=-0.1755 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -2.4137, 3.3299, 0.8327, 0.2613, 0.0513, -0.0122, 0.3077, -2.3453, 6.9949, 1.619, 0.4518, 0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1baa33091c0b50fde2ba0b2539a58aaddee72300521b9126b58e1b71c3aa4b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9ffbfe77b40499035373b0b73383686e3e5a5bb72ed7159f8bec8bfa3e50e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5195547dde99a2ef3bdf273288835a078c5de8abee4e028523c6c97201a414",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 6.116 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8303, 0.6514, -0.4862, -0.0254, -0.0456, 0.9995, 0.3012, 1.8416, 1.1564, -0.0292, 0.2077, 0.1608, 0.1659]\nstate[eef_state]: left_x=0.288 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4891 right_y=0.1175 right_z=0.0988 right_yaw=0.03 right_pitch=-0.1338 right_roll=0.0014 right_gripper=0.1659\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.5849, -0.0464, -0.0562, -0.0122, 0.4308, -9.4017, 6.5983, 1.7607, 0.2076, 0.0806, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3511, 1.2011, 0.664, -0.2535, -0.2558, -0.2443, 0.9995, 0.3283, 1.6562, 1.4002, -0.5053, 0.2092, 0.1574, 0.9964]\nstate[eef_state]: left_x=0.3315 left_y=-0.07 left_z=0.1132 left_yaw=-0.0157 left_pitch=-0.1916 left_roll=0.0172 left_gripper=0.9995 right_x=0.4562 right_y=0.1204 right_z=0.2037 right_yaw=0.0557 right_pitch=-0.1787 right_roll=-0.015 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -4.6291, 10.2222, 1.8486, -0.2857, 0.0171, -0.0171, 0.2256, -10.5504, 9.5932, 1.3651, 0.2711, 0.2222, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0051, 1.4002, 0.4915, 0.1818, -0.0715, -0.0288, 0.9995, 0.5896, 0.952, 0.6495, -0.5022, 0.3679, 0.326, 0.9964]\nstate[eef_state]: left_x=0.3573 left_y=0.0144 left_z=0.0523 left_yaw=0.0544 left_pitch=-0.1586 left_roll=0.0396 left_gripper=0.9995 right_x=0.2673 right_y=0.1067 right_z=0.1422 right_yaw=0.0915 right_pitch=-0.1755 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -2.4137, 3.3299, 0.8327, 0.2613, 0.0513, -0.0122, 0.3077, -2.3453, 6.9949, 1.619, 0.4518, 0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1baa33091c0b50fde2ba0b2539a58aaddee72300521b9126b58e1b71c3aa4b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9ffbfe77b40499035373b0b73383686e3e5a5bb72ed7159f8bec8bfa3e50e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5195547dde99a2ef3bdf273288835a078c5de8abee4e028523c6c97201a414",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGU274Ggdw7R7MxkcxKMgONz7BkNP87e3twL_6YWfjr51_UXvtNcBP0Uf0fa38HBWkRFLHi8z_EF9kaYtC1S5Yif7yJ2BhXCALDvBgiQwvYK9aCaSDA4KaP8vod6XXVCk8m5XJwNLGMB06FB57sjNLX-269QeRaloRalIRZnT0QRfrc2v7Lp6g7dsyP3mQmZja8TTv4KZ3h3fe3siTPiS1Zk8lZnsf7H3kOMpGUjC4sqdkOtc0L_5rwqYJ-nW6oO539KU-U_F_h9sCNP8OTeVqq5fxCfXgmbIadAOqUEntDNxNoeqz3HLPNWD-qpLGr-YhPke974Fb7wmSvdFnncvCd-8ZtU5F0Ym_ipi2nlPTf7jdok6QL_mdXeSSLvZTJoUqTKBE_RTJJz2PjYsC-vblyOygvKd58MGQgIWfDdTz0oeR44qF1XGPY__KOg8HT89TgocU3_NIt3HJLRJz7RAaV-QoUEex8w7G8G8SVXRYMkGVVbJHsjoYfXujp0yGfZqv8QRZOJRCr0WnkqHlV0k1e9C1-ZIGuL56R6KRuX6xYctUWs6TJ6OHhpGDJG-Dqm1lnylN_YofdlVLjXeumrT79ZS31SxhHNnxiRyj-6nI11xgTKcpLdqVk6SgtS3tx9JP6tngOa7BUOPOJuDi02ZpDlfPUfFKWKJIFiz2VRMrBPUPo-1pa3XebueNAzSMfsnr55jKaOc4WzOQSIm2BWSl0rqtsXcpUle_e5pHtHwqRhtPExqydz5RoHNboOXiZkX-dhPMpcusB2n18jlZZEuZcGD7BNKUHm0P9NlQtVP_2fKL_SIh0fg_7ovQdX78IZAe2stBwop78YH0n9cOzJ1BR_aUj0uLi1Sf9S8d-2U-Q2Is04k2AsIbkRRgUaUsj1cRM3jNGKp3AK_Ws0L3Lng0Mq-j1SR0PUg44jDTpmJb41cHHCjjfGiF0Ncmtmiph6Scu61vewiw87v5WotBAbKNTQRTO4LDGtBuUFL-iqalYbb92xeeNe0Vzc-sGRR3ABTi9uC4DZSrSMghS4ibF7HgHCxSQ_6yHQT3ek8ANoU-jmYpqP6sdvhetpt4rb6czvuFxmsq41TLvQPaImzhO1NHUxRb063tdfzj10S1kw6oTlGiXRVIdNAa1iQ3ooGZrmyA4ChWbU_ch-mv4mL2HXHoOZWHEFq6bfg5VTsop7h5dJ67AEm8JaMl3zrTbpoYWlTedSLIlNXUrMi8mOzf0Nlcd5uztK6uNzdheTNGM58dYCyj6a2myftBMGoxhQgtd_3RFP9VTsEotXS6U8ODSHlbg1JwOfkan85dQpTq4kH0YkWw2bsiH1I_-n5XOm-3DypJJhW0TlHKRSAvBmgvRC60AXz2eIgNn_KINFX0UADV34MVBXnBkAFuX5aSIVENKFtiWdOmm6Gci4gYNWjWaflEL8GHfxB8y-wgATVCgZPEIQ8b-k0aI9cklb9uKhDGGL6ZBc-S_cmWTdwabA_HvedGi26NuW7HcqUGcXCIkWHfhCdCk=",
  "id": "rs_0847a71d2d32b4f3016ab46533eaa487d0bab301b451649256",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.27,\"right_y\":0.103,\"right_z\":-0.01},\"note\":\"The gray plush toy’s body is between the left jaws, and the gray pen is centered in the right wrist view. I’ll grip the toy while lowering the right fingertips around the pen.\"}",
  "call_id": "call_zmjxxhE0q27mwjmgSKxG5vEj",
  "id": "fc_0847a71d2d32b4f3016ab465351fbc87d0806093da856b196e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zmjxxhE0q27mwjmgSKxG5vEj",
  "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]: [-0.0021, 1.3987, 0.4843, 0.2222, -0.0891, -0.0288, 0.0104, 0.5678, 1.3819, 0.2245, 0.408, 0.355, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=0.0185 left_z=0.0578 left_yaw=0.0721 left_pitch=-0.1232 left_roll=0.0488 left_gripper=0.0104 right_x=0.281 right_y=0.1107 right_z=0.0106 right_yaw=0.0863 right_pitch=-0.1309 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -4.8479, 6.4205, 1.2137, 0.1197, -0.0073, 0.8034, -0.7316, -1.7436, 1.5932, -0.0366, 0.0757, -0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7b92f30b65f629b42450a0199c378f238c9e9308ee35b781c369fc688a3208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53153823a762bde1e5b0a5f206402982b829ec54c9209912fecaf6c95a894220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060f0cc7d6c8b746d6e25c1a803287ef7d40bb1300f6a2edcd4df7fe51e8a3e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.261 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8307, 0.6514, -0.4858, -0.0254, -0.0456, 0.9995, 0.3008, 1.8664, 1.1515, -0.0177, 0.2043, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.2881 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0005 left_pitch=-0.0979 left_roll=-0.0059 left_gripper=0.9995 right_x=0.489 right_y=0.1179 right_z=0.0868 right_yaw=0.0341 right_pitch=-0.152 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.1009, 7.2547, 1.619, -0.0659, -0.0659, -0.0122, -0.1436, -11.8085, 6.8855, 1.4823, 0.0122, -0.0366, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0051, 1.4002, 0.4915, 0.1818, -0.0715, -0.0288, 0.9995, 0.5896, 0.952, 0.6495, -0.5022, 0.3679, 0.326, 0.9964]\nstate[eef_state]: left_x=0.3573 left_y=0.0144 left_z=0.0523 left_yaw=0.0544 left_pitch=-0.1586 left_roll=0.0396 left_gripper=0.9995 right_x=0.2673 right_y=0.1067 right_z=0.1422 right_yaw=0.0915 right_pitch=-0.1755 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -2.4137, 3.3299, 0.8327, 0.2613, 0.0513, -0.0122, 0.3077, -2.3453, 6.9949, 1.619, 0.4518, 0.149, -0.0024]\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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0021, 1.3987, 0.4843, 0.2222, -0.0891, -0.0288, 0.0104, 0.5678, 1.3819, 0.2245, 0.408, 0.355, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=0.0185 left_z=0.0578 left_yaw=0.0721 left_pitch=-0.1232 left_roll=0.0488 left_gripper=0.0104 right_x=0.281 right_y=0.1107 right_z=0.0106 right_yaw=0.0863 right_pitch=-0.1309 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -4.8479, 6.4205, 1.2137, 0.1197, -0.0073, 0.8034, -0.7316, -1.7436, 1.5932, -0.0366, 0.0757, -0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7b92f30b65f629b42450a0199c378f238c9e9308ee35b781c369fc688a3208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53153823a762bde1e5b0a5f206402982b829ec54c9209912fecaf6c95a894220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060f0cc7d6c8b746d6e25c1a803287ef7d40bb1300f6a2edcd4df7fe51e8a3e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGU9YpYV3LueIzmKZHnmQiBB0d36DK3JwXz0t5rluZtScTAgpVi6_SBv6PmO8Mu15hGhWcFpgv2ggOcOl8Hp5Xw2YPqxQSkKRuX1g3PLf2P6I9_n9LVq9FawsBBrEKo2HeOyO-7TixaoMb_EvLqZrNTOOIE72F5DJrsrEARfp7vYJAhdBVSCudS7A2xNLB4TPvt721GhTksx30MlW9eEQP9fjw31XF0zWDQ16Y9BUN7T7lr3I-aFi-UOUVk2X5kLOnBVwCAj6Fz4rmuwLoZJRSOje0OiGDrjP9Skyt4i33gryGw6kWqMWYEh2J-hvwJbLIgtBYZahOXC1CAklVkwETgOKV_nQWJVNxQwq4ZZ4sVzjssTG3acEfliKmZWera7zOgOshT4gb0wwtD8QK6yjhHi7Pf3FoOqMV3Iw65rQxUGq0Pr2GiM7ZTQYktyVv9A2YEhNMC_PjRrmOHpsa3jCDwe0sqCJsi7yFQj4DSpx29M0V2DLMh6D2B62QkgP-FRhfX4XImGBoqNjbFC2EBNbtATwJE6GyNZOErLcVJ8y5wjOtBRQMnRCQbowg3CH0-ogq-NbZ_6s5FvAxGLXBF9slnw8x1OzR7SykT7aeGRlcv0ICN6ZfafhoAxfM5uQb4Jx6Bs1UdiJnzBSmVhP7o_6fbSnzcSfHZEny9HyLFIHb5TDU_Zkg2NYRTrUW0ieWNoJXXT82qQ9PL5Spo-belImgwy_lcSIQm2MKlzqudxwlQA5kKO7QxTdROcZ8E6L7vbE4l4VIcKP9ne7dfIrFI4xA4MMs44S-9_gSFpwQzPXWSkDt32XnRNKpTQfx1TWWsmDw94cgRhRWq_YkYxoJKIvPZum_oYWzsWfJQCswDhDeZXAkso0ZaYkaG071SIMZ7cEBpjQtDAnPWGdmtb_qpzJEicrmUdcwROpEZ9iWYhuAXGdJn5K2cfKOJWzg3ueucX_0wb15rObQOfLrd-H1zSLhDMpjqiYJ-qXR4UUvQZevKy-3jhWv0sy4LRf4eguKfpgcaffaUPDoCo-V0UFTfA2jaZUeWW1TfnA5idUPZr7xXxLfXXzU4mUjD-1dq4UNlhzC3fSrkQh7Mp6EEDil3b6ZR1Rju1Qlzx5KTWXMernlWTHMCIUS2nn6oTXCnNtmu79i37us9hss_tfFS0umeAv5Z0w-Pqo6OlLLoPYWA8ecjtfXFXwQSppJvH_LSSj_7xAyDfs6DPdheni67KnbN0MuRd6baq5M8uS9qawOrNKCurm9UxHYj4dU0aw_Z0brkIL7tSNCV_5Zqri4Ot-EQvBH-VmumFPOhTnYOE4truytgVX-km08z9oJZzfcaMYuQgTcunlBVovy2aV1_L3tuQ2Knu3WPQ4KY4EYyrlM3JEEZXBmED5EWxsfx8TyDmh1eHb1i4-zrRqihK2vR9wRl-SjIUQTwuU3YjWFu9CSJybe6ZzNfTxarLcpc06bKA3CwdywfOk54D1jLNDwTalDA8ZFL4Vl1Tbg09o28Z1K3Es-bzSkAyXYQDALrlwq4VrrAseW9qnxjczwQLRH2C7NLOf2UN9TQf691ByDpXAS3VKQ13xRdONSkYzusOenERSE_NhMYHYHDgSHxVDvks5UDTrHSA65EYIQ-lXht9-vw0bRG69UmfmOlFLbuKVKP-5lsumwlGhp6O3ZogpliZOAD1ck2q74IiMd0KWwUFM_qLsSm6nbK6yMXAQT_491--jC8D2CyzyoipnoXGwiveW-cU4RTpOTv8jk3Ex_44_zo0pNaoh4oh-WwzJDGiHf_lwDinQzm6T1kwUJ-yqdE7lLVRW8TSqcFTjjFjpoKyIEZv_RQk0f8H75Ehn-DAnWPrarb_UuUCqimL_G-QUPU99iA7iXreGA==",
  "id": "rs_0847a71d2d32b4f3016ab46538552c87d09120e3f0ad712159",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_y\":0.01,\"left_z\":0.015,\"right_y\":0.088},\"note\":\"The left gripper closed empty, so the toy’s body is farther forward than the fingertips. I’ll reopen and advance over its torso; I’ll also make a small sideways correction to center the gray pen.\"}",
  "call_id": "call_9rKOzaAcVK5cL0Fiz4MlKJSl",
  "id": "fc_0847a71d2d32b4f3016ab4653b34ec87d0be0b77d17e9c3085",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9rKOzaAcVK5cL0Fiz4MlKJSl",
  "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]: [-0.036, 1.6543, 0.5411, 0.5465, -0.1459, -0.0311, 0.9953, 0.4568, 1.3342, 0.1875, 0.4309, 0.2745, 0.2535, 0.9965]\nstate[eef_state]: left_x=0.4116 left_y=0.0144 left_z=0.0505 left_yaw=0.0866 left_pitch=0.0051 left_roll=0.068 left_gripper=0.9953 right_x=0.2842 right_y=0.0903 right_z=0.0126 right_yaw=0.0801 right_pitch=-0.1219 right_roll=0.0312 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.4256, 4.6291, 0.7985, 0.3541, -0.2369, -0.1978, -0.4444, -4.1368, 4.2462, 1.4823, 0.0317, -0.1538, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01e337c150a7d32e91d247a413e653ea98e309aeb20460f62b0f4f68ba48fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47509d2cf546ce8edafb134e49014d82909720f55a80c0a9e5ae800280ca3825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a204d7b0c773f9b906d6fcecc9d367c0a3b75e750c7533be60b9c252706204",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.987 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3511, 1.2011, 0.664, -0.2535, -0.2558, -0.2443, 0.9995, 0.3283, 1.6562, 1.4002, -0.5053, 0.2092, 0.1574, 0.9964]\nstate[eef_state]: left_x=0.3315 left_y=-0.07 left_z=0.1132 left_yaw=-0.0157 left_pitch=-0.1916 left_roll=0.0172 left_gripper=0.9995 right_x=0.4562 right_y=0.1204 right_z=0.2037 right_yaw=0.0557 right_pitch=-0.1787 right_roll=-0.015 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -4.6291, 10.2222, 1.8486, -0.2857, 0.0171, -0.0171, 0.2256, -10.5504, 9.5932, 1.3651, 0.2711, 0.2222, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0021, 1.3987, 0.4843, 0.2222, -0.0891, -0.0288, 0.0104, 0.5678, 1.3819, 0.2245, 0.408, 0.355, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=0.0185 left_z=0.0578 left_yaw=0.0721 left_pitch=-0.1232 left_roll=0.0488 left_gripper=0.0104 right_x=0.281 right_y=0.1107 right_z=0.0106 right_yaw=0.0863 right_pitch=-0.1309 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -4.8479, 6.4205, 1.2137, 0.1197, -0.0073, 0.8034, -0.7316, -1.7436, 1.5932, -0.0366, 0.0757, -0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.036, 1.6543, 0.5411, 0.5465, -0.1459, -0.0311, 0.9953, 0.4568, 1.3342, 0.1875, 0.4309, 0.2745, 0.2535, 0.9965]\nstate[eef_state]: left_x=0.4116 left_y=0.0144 left_z=0.0505 left_yaw=0.0866 left_pitch=0.0051 left_roll=0.068 left_gripper=0.9953 right_x=0.2842 right_y=0.0903 right_z=0.0126 right_yaw=0.0801 right_pitch=-0.1219 right_roll=0.0312 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.4256, 4.6291, 0.7985, 0.3541, -0.2369, -0.1978, -0.4444, -4.1368, 4.2462, 1.4823, 0.0317, -0.1538, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01e337c150a7d32e91d247a413e653ea98e309aeb20460f62b0f4f68ba48fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47509d2cf546ce8edafb134e49014d82909720f55a80c0a9e5ae800280ca3825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a204d7b0c773f9b906d6fcecc9d367c0a3b75e750c7533be60b9c252706204",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVA5ZQkb8iykw01fNo47edBph4d4GOzkKnIR6wabXVOot40_bxVAbbtw_QEwHS_GSz557zLsuEhWPRX76HLjEQ-zGbicaIvfV-kGw6VBXNJQ0p5dHAhKFHut6GiEhwaCC2v89t3nDtJl9AoFQbLr1HwlpNmU8qKPtHimKL1sz5uIArdWNUsAc7843Ukw6QBeDyz2AMGJWJt56_0cQqnI1sFBZ_UtHJ1ba4nnJlstJTYumSg7JFF8JY-DBwlaQcYdpk131vP_3Weg21TCWjWwtTwtH74T56BCxjso4nC9QXU0_BSqLTlBEzsxU9ozNU_Igk0uQvXGVD1vVYfO7QbOh6bzyhFGESkDtxoLTwBQzBYCO-436UjTGkBbAwppKQX52U45Vnu5F18xUKvTswXnS50G91fIiEUN3kjwbuaAx_XJ1tHfhvgCjGlqeYBDxt-drshqbrQtaYQKKOIyryuMZg4p83h0DgC7M_A5xOZFPA5MwmqV7nL37fIN5IfBbrwUzCdINDbzWZdjjQ0CV0lkDcfpa2ktCjqZh1M2lpjXOXqBjR3i07iXuOrfXw4hwD1V7xTQ-rprEA7kTzzlqAUzSWlUHcIZfp1-M7oOdQDkGY3OwccH2lMJKFodmMbfJ3HNNnC3BGSMeCLK13d3S-oRKNRBvpYba7SpNR7iCxUZSp9VgxyhZncB8QYzbxM8BP5PHKJfnknc6mfGU05Sj8lVDpIEcWFdIbJeG_VHxxHWq8Qrs27vicwxjvsFwioEgdW1sB0RcQCMJC6GFbB68OM1Z7KiQyu3K5f0rfk9nFT-swea3HzAbO-tj-vm94GwoQluSwph3jO0adbp_5dSi7R0VRezC_vTCFwAAZKMv1eF-fJ2xtT25zzVTv-IkPjmFVaevxD_xeBeKJ-9oC7ROIXzK2LUgWV2IrUimWAD7TbUUDBL-nbPsfIAeFYJnOVCMJr4bGtubWs08blBXHUrMGP2HHZRz5WDxMCXIHIOYBdgBCUfHCFK2VyV5sHQgHj2sDSB48t3nifT-oCrQctUi3yNmRJsQuw2uS6p8Uyc99mAU_p89xqKzI6HwwBUrb4itg6TBJTAIiatnOebOp42ezdlrN6i4IJuPRfvogk2YTUjThM9kiiQTQUh-Zriklc6EyKMKSFx7POwUzL47NM3z7zFzQwAYi65NOsBa5K2Vv4rPErCyp_npMavV_V6yDXhYS47ZePsZwn8ymS7hHm35vuJID5q2bFJ5541FkV8wzNww2U5Po=",
  "id": "rs_0847a71d2d32b4f3016ab4653f4dfc87d089942a8e2a857beb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both objects now extend between their respective fingertips. I’ll close around the gray toy’s torso and the gray pen’s barrel.\"}",
  "call_id": "call_0ppYUgFZEvAM4R6gjardx8PG",
  "id": "fc_0847a71d2d32b4f3016ab4653f790087d0acfe427b80b699da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0ppYUgFZEvAM4R6gjardx8PG",
  "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]: [-0.0349, 1.6527, 0.5457, 0.5659, -0.1577, -0.0334, 0.0095, 0.4561, 1.3334, 0.1875, 0.4305, 0.2752, 0.2474, 0.145]\nstate[eef_state]: left_x=0.4155 left_y=0.0168 left_z=0.057 left_yaw=0.099 left_pitch=0.0313 left_roll=0.0689 left_gripper=0.0095 right_x=0.2843 right_y=0.09 right_z=0.0128 right_yaw=0.082 right_pitch=-0.1213 right_roll=0.0261 right_gripper=0.145\nstate[joint_eff]: [-0.4034, -6.5983, 4.8889, 1.5604, 0.0806, -0.0024, 0.7839, -0.294, -3.3162, 4.9162, 1.5946, 0.0269, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62afd12db3b04ef249a3cb87f4e56be04ca66a912649cf6bc8198b6754287168",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2235d7fd07935fccf5afa632738d8fbc9cc0988bd708d35a3573334edda730ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b62232602323c837a65b453ab32b7fc46f5764696b7af8afb947413f521d609",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 8.647 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0051, 1.4002, 0.4915, 0.1818, -0.0715, -0.0288, 0.9995, 0.5896, 0.952, 0.6495, -0.5022, 0.3679, 0.326, 0.9964]\nstate[eef_state]: left_x=0.3573 left_y=0.0144 left_z=0.0523 left_yaw=0.0544 left_pitch=-0.1586 left_roll=0.0396 left_gripper=0.9995 right_x=0.2673 right_y=0.1067 right_z=0.1422 right_yaw=0.0915 right_pitch=-0.1755 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -2.4137, 3.3299, 0.8327, 0.2613, 0.0513, -0.0122, 0.3077, -2.3453, 6.9949, 1.619, 0.4518, 0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.036, 1.6543, 0.5411, 0.5465, -0.1459, -0.0311, 0.9953, 0.4568, 1.3342, 0.1875, 0.4309, 0.2745, 0.2535, 0.9965]\nstate[eef_state]: left_x=0.4116 left_y=0.0144 left_z=0.0505 left_yaw=0.0866 left_pitch=0.0051 left_roll=0.068 left_gripper=0.9953 right_x=0.2842 right_y=0.0903 right_z=0.0126 right_yaw=0.0801 right_pitch=-0.1219 right_roll=0.0312 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.4256, 4.6291, 0.7985, 0.3541, -0.2369, -0.1978, -0.4444, -4.1368, 4.2462, 1.4823, 0.0317, -0.1538, -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 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]: [-0.0349, 1.6527, 0.5457, 0.5659, -0.1577, -0.0334, 0.0095, 0.4561, 1.3334, 0.1875, 0.4305, 0.2752, 0.2474, 0.145]\nstate[eef_state]: left_x=0.4155 left_y=0.0168 left_z=0.057 left_yaw=0.099 left_pitch=0.0313 left_roll=0.0689 left_gripper=0.0095 right_x=0.2843 right_y=0.09 right_z=0.0128 right_yaw=0.082 right_pitch=-0.1213 right_roll=0.0261 right_gripper=0.145\nstate[joint_eff]: [-0.4034, -6.5983, 4.8889, 1.5604, 0.0806, -0.0024, 0.7839, -0.294, -3.3162, 4.9162, 1.5946, 0.0269, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62afd12db3b04ef249a3cb87f4e56be04ca66a912649cf6bc8198b6754287168",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2235d7fd07935fccf5afa632738d8fbc9cc0988bd708d35a3573334edda730ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b62232602323c837a65b453ab32b7fc46f5764696b7af8afb947413f521d609",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVEQv2VXcPytYVT_OihtRXbHl642K7J28Y6h7ZOBrBWb2g-ka522AmmA7FI26BY4Kw6RjZXpptTgpY_3A_Td6p6TrNT9ee49n43bhRXg7tnZHgQNEQg1gHxANTZA2NjB-GouqukB-hItlTRkHy4Vgt79urrwvofCOd0C9D89DuvzZELkAatF7kaLCk1fGyQcvfWM82dd2858mn42kntRXriu27mjB3UktuSx2ol_4gDP4rBMzrt3StThqfROHv1YCabHIMFEdkXlQVn8qJd8cu1MKTW_FpmQb_HoeSRXczC1Sy3sdjOjCuIkDFTC5jv5n8XrRDx3nI0TV7wUXqG9RabhYOeO9EWUYt5hyvmu34MXUdQfQkyTGEhMHvHY_6jU-4pTHrIvJIT0LF2XwNuqQMLVDpKyGlpaGYAP-cI_pa4Obw3bS1EeYqjwcEwLjdmmaHHmbZx2e05JB6mLR-sDGnXjbywoglLgplPsOD_rBYe1ixpwO3ZVFFSfCb0pdAadTnLqYeJ5FkbgqyfW1kDhxVLjEFnLqJz8IFL0ichgOlnDM5R6e-YnkuAbmadJPZsUNzWBrlO4u-DvBYXj_JCTVmv7oSLGOFhGF-SKYrsEA8My-raJ9il-cdWLgbTKI5lJMCOhVqPySWCRYVnszZu4B8xeubbcNo8X9u2JMGZZuMWvIuU9S86lCvOxvrHtrwWnQfowRcPozv_fGc1IQhcHz4p2NaXvkERZqkAqn_z6_2i2ZRVErrqELjJrLIZtyk34hR5s78X_tJjPpF0xZH-9toueEubTZe2IbSP_tBUAbK504oFM6x-n3QhglrNc8umxZoGgKAgYMTMXTbkmHW8uzhWDnPWy_h74VLV-gLF7T9lfwUxHIFklvh7wiMt36gg55GbenFHZeZr6hvYeAjaksA9LVBnbyb0_6IMD1-Qgv5kvR-R1J7iohlUj5vLRih-wE9bqPxVPxLijGjPP2WaV00xqSCUg3uOHqIUult3opWgfZzXcXY6FpND39G0CJfuk3Vy6RHCE4vzBiANT1nlaUwbF9-G-4pGsX-R5C-c7thqWWmFvkR73Fd8KuSZB2H3DdIY735X9TtM5S7NzfP9YcvHtdpjbMjQTiTj2oXvbbp-CC3xcpC2ZPGEFXJDGHg7J_1FyCHbXnHPz6OAax-cyu8OlXZuRB9rPzOPvuUmpICPR1COxbkoeIvcFj75jRCS6e-yyg-y9Kol5d3CaOas1zNse3v2m3dvu-EHJBKkrwnMCVhACoUi6djq7FyfDDY43vrCBus2vHF310QLWcG6p09EfA==",
  "id": "rs_0847a71d2d32b4f3016ab46542932087d0af5cc282ec67dcaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_x\":0.3,\"left_y\":0,\"left_gripper\":1,\"right_z\":0.08},\"note\":\"The gray pen appears gripped, but the left hand has closed empty a second time. I’ll lift the pen to verify it and withdraw the left hand so I can recheck the toy’s position from above.\"}",
  "call_id": "call_nGP39KAULTX1LUOII8aIx1pm",
  "id": "fc_0847a71d2d32b4f3016ab46542ed9c87d09683a4b8ff8e1c76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGP39KAULTX1LUOII8aIx1pm",
  "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]: [-0.1654, 0.8467, 0.5831, -0.2527, -0.252, -0.1024, 0.9953, 0.4561, 1.0378, 0.3378, -0.02, 0.2749, 0.2466, 0.1501]\nstate[eef_state]: left_x=0.3108 left_y=-0.0036 left_z=0.185 left_yaw=0.0849 left_pitch=0.0673 left_roll=0.0508 left_gripper=0.9953 right_x=0.2821 right_y=0.089 right_z=0.0693 right_yaw=0.0825 right_pitch=-0.1257 right_roll=0.024 right_gripper=0.1501\nstate[joint_eff]: [-0.3624, -1.5111, 9.5932, 1.6728, -0.2027, 0.0904, -0.1392, -0.3624, -3.1111, 9.0462, 1.3455, 0.0757, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4042054c22ce564653284bf99eb30835289d8446ff82f93ba44df2f99d4b11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24664c51d74324acf8ee0780bfe575f4960017c447c146462019c369fefca79f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488440474b91efb099d013bf256f2852f196212240042110763b5b2c8bdb3615",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.326 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0021, 1.3987, 0.4843, 0.2222, -0.0891, -0.0288, 0.0104, 0.5678, 1.3819, 0.2245, 0.408, 0.355, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=0.0185 left_z=0.0578 left_yaw=0.0721 left_pitch=-0.1232 left_roll=0.0488 left_gripper=0.0104 right_x=0.281 right_y=0.1107 right_z=0.0106 right_yaw=0.0863 right_pitch=-0.1309 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -4.8479, 6.4205, 1.2137, 0.1197, -0.0073, 0.8034, -0.7316, -1.7436, 1.5932, -0.0366, 0.0757, -0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0349, 1.6527, 0.5457, 0.5659, -0.1577, -0.0334, 0.0095, 0.4561, 1.3334, 0.1875, 0.4305, 0.2752, 0.2474, 0.145]\nstate[eef_state]: left_x=0.4155 left_y=0.0168 left_z=0.057 left_yaw=0.099 left_pitch=0.0313 left_roll=0.0689 left_gripper=0.0095 right_x=0.2843 right_y=0.09 right_z=0.0128 right_yaw=0.082 right_pitch=-0.1213 right_roll=0.0261 right_gripper=0.145\nstate[joint_eff]: [-0.4034, -6.5983, 4.8889, 1.5604, 0.0806, -0.0024, 0.7839, -0.294, -3.3162, 4.9162, 1.5946, 0.0269, 0.0269, 0.9988]\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 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]: [-0.1654, 0.8467, 0.5831, -0.2527, -0.252, -0.1024, 0.9953, 0.4561, 1.0378, 0.3378, -0.02, 0.2749, 0.2466, 0.1501]\nstate[eef_state]: left_x=0.3108 left_y=-0.0036 left_z=0.185 left_yaw=0.0849 left_pitch=0.0673 left_roll=0.0508 left_gripper=0.9953 right_x=0.2821 right_y=0.089 right_z=0.0693 right_yaw=0.0825 right_pitch=-0.1257 right_roll=0.024 right_gripper=0.1501\nstate[joint_eff]: [-0.3624, -1.5111, 9.5932, 1.6728, -0.2027, 0.0904, -0.1392, -0.3624, -3.1111, 9.0462, 1.3455, 0.0757, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4042054c22ce564653284bf99eb30835289d8446ff82f93ba44df2f99d4b11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24664c51d74324acf8ee0780bfe575f4960017c447c146462019c369fefca79f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488440474b91efb099d013bf256f2852f196212240042110763b5b2c8bdb3615",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVN7S90iSlugNTj1VCyMJ2zU28D371C7A68VOLHKVbx-CVfxDmq5yrct5fdw3q77wZzapM43x4oDPYfo1VFgUBb-jRWbbTxwu6QOE8tKWT-epu2wrh-82mht0hPriUB8picVWDJnu56_yuvj6Mfabe2MjsKPqrxBerEf-s5G35vGgVnkA-AaqKqQj94IRt0CvDV3D0KaToOBZ7qAuMRKX0esgRSwtbZDPb_iq3jz7OyKEFD0_78d8mkdWXcgb38wY9AtZoeEnCu_eFdkQYuGlRhQG5l2K3QoFzm-YIHJFkUfNf25Z-mDj_HCO9N2NOPnKYnk8xaga2WnncG-Hz4n1ZUobHl2HF41TzJSeNy3bz2RLMawJPhiB1QNxn6ySWD1-OZxCpMS_iX9zTwLHx5RoX6_8RQhGbbXh1YkQRN513kdznlqJ_m1KAVwDis5DaRKf8TueCB-5stFtXaa8DqMOjjXnh8rCe0PBr9pz3zgvxN0rMjMpelQStI3cdFbaLwS0GZTe1A7plw938vlYwQ1utlXxa7FLBxnU0oSicx7rCvK2n3pFun5h0mtWoJvOSkSivzJf8V7_hwRFfhxnZDivyBwnwu7e53SHUo3cTzOGpntT3QPSW4FeAFo0I0Xh_OMXs75Z_fK3IxpDUIPPbFgOB3Teac0-iUn6r4R2Wq3qcF9yHwoEAsKKOCGEGHOWzUkuiPXeiPUKGChZNUQQ4aT2Lj_ZrteDPjqnYkt3QxF5OWR6yYZqUQBa1wKTNRsv3OxxsVSxaJqib1BcxJ3uSK25Bs74M3HvzYzuWyr01v5fiQkaZhGMUNZvi8yYq-s1y_f_dZay_vj0_InAAiESiNa0r_qA42o9uIcO3F6oKWhe-b-ZBcvkLit9BxxHHv3hJzC5BATtvir-1ks-6BBMJhYO6eZRW6Ew2-G1K9rbQX-MCxgVRA4jE-_8MahnGSbcK_iuaGdKCOHLaLLkDULK2aLp_UUMLPZ7004G49ruNozC_G3c-A6tklq0-S1KougrOwnPnN1OK8s7aed1abnZJOex47iFd4QZLrvAWkrHVWOC1PG0euEnHKKbnjJ5X2pwvP1-Wqhd8qUcAeD1-qfZrau93NYR5k8J3KFgzqiLmyPG6K7_uTo98VbHqnTVbv571VKQZs1Ax27j1o9ywAd5uuenzWu9zcF_PM97EegMmept8OawnnDjCCnmJFOBYqFQR3ryXx83ucW_LSyFknwXZxLenqtHzDHMkuakf83KmCM__UEIr7iv_gMkvIzahyvskZZkB26vcltdPPx0Dcbr3zTgac7mp2HMngjE8WENqon3j6aHgFpvdRr9TCuyt8_EBVucmnxSO3S6Um7qBehWec-yEP2T_6ipJlmh1M5SQu3PkeQ4WWuSOPa1Hen1SKsxZGVbizLFRqwCfST79SEdzJ0gSJvjyPKYUH940jZy4vlh3ozOZnnMnePtuZXMqhzx26BW3nFds2Ya2QMz8AW9T2TcoCm-AFA2WXad-2sGDqTXpWYcTskyUj6pbm6IaG8Tm6KsSMfu0zk59naYVc_1cW9SnngDx2oZ3Bo-dox1DXdeDZUjnTepzGaPoPi6ez2NiQMwX3hl-xXg3SjgB7Q0GYbjROFk83K1jb_mUgMsnNea40AyP9lv03kyUFfJpvXRvLdsMRgOrhtwkJYmHfYvaqpy98mlD6gPr7ZZq9tHm7l1XFHcAWeSbOG2vXNCUaMgIZyn2gM_0PIrMGM-ltbbhtDhb7DpivP1CxWwK7AC9Kzt42x-NNfffWRjulrbkf0GL-b5ZgZxD6eno74Oacb871glwz4-pE_2UeRGYjjvaGdXU1aBU8GT1dKyEjZBmkxG8_K4h_MJKwzw-_GlrLDrQkXAWAH85seBrrI1fJ5PNhtVK9Yj7-_anOVg5Mj2PthCxpLpeT8ju9-Ko45PDMOHUt2GH0ploPt3htAZlWYlK9xAM4W3DV3888kuPYa0Ea6h98RGucWlT_NJaigFouOh8fSnwbUJ3_-0tl-Pa2AhzUEcrZ_IofQkqOOnFhvONvp4_YTleYNDkoTBc9mpE2krL9AhcIfO6MPaEIN6XjiQHyShu0uHt7c0jG3V9KFbm85vO_qKXJ4_z0g2VZiffDxCehvFUUW9qeCgVfWZkiIx7aF2m9YNUUo9ATfdQ7n3eCvPSyuAuO8t71QwyvRi29sbPQe-LT5r_FJTEAbqoFnEO9SlAfZFurWoA0Hg6NbmMkegUvLRarlvaCW7suBNzsVu6AGh_cXkP8abDZhufntl8ObcpRPIdon0ZcHAVglEcZ1v7aWUsa32fPEEx57l57ccfGKSeIUxsj5AG_hbA3fdnQyJz1Kz5RT-XB_vb7f0wFSbSUNh29BovVM8BRRmNVm2lqFsANxR_KDxKlVyo7lCN80Gkkdeu33ZxbuTKKwTATlvJMbHLP1VtuJHiZYv7Yp4zsdpT1K4BVvCsO8trUEg1vxm8ERoIKodORaXj4tqGszY2Q4pfPbM8DfAGt30lDXyyTmsBG3nVXdWh4Tjw4f9kKmiGYGjk07zUEs9t1bau4FXUr75AIndO9vER2dBV5OlUbcu3YiWF6Cv8C1qCoV28qPcXjQ58uBIzCnbbT7qONvq47QyiUJy0z54ZaqbrYrEqysOi7JCLCT67vfR3bEnmj-r26CmE9PSvpV7obcdo3uOf5TLsd",
  "id": "rs_0847a71d2d32b4f3016ab46546703c87d0b42b6b96e099033e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"left_x\":0.38,\"left_y\":0.05,\"left_z\":0.09},\"note\":\"The gray pen lifted successfully. The clearer view shows the gray plush toy close to the left edge, so I’ll approach its body from farther left while raising the pen for transport.\"}",
  "call_id": "call_W4oSugFuDEKD2pjgeVHixSob",
  "id": "fc_0847a71d2d32b4f3016ab4654ca28487d086c2e48f493b83c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W4oSugFuDEKD2pjgeVHixSob",
  "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]: [0.1146, 1.3827, 0.4484, 0.358, -0.0319, 0.0143, 0.9967, 0.4568, 0.9524, 0.9031, -0.6651, 0.2752, 0.2424, 0.153]\nstate[eef_state]: left_x=0.368 left_y=0.0516 left_z=0.0758 left_yaw=0.1169 left_pitch=-0.0099 left_roll=0.0452 left_gripper=0.9967 right_x=0.2853 right_y=0.0907 right_z=0.2179 right_yaw=0.0854 right_pitch=-0.1202 right_roll=0.0226 right_gripper=0.153\nstate[joint_eff]: [0.1846, -5.2718, 6.0103, 2.0733, 0.0952, 0.149, 0.1294, -0.2393, -1.5658, 9.388, 1.3797, 0.0904, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef7ca928b2665d2bd6a1c28b0797313cc42a12043e062add7d891425c12f71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb5743fbce62f0f93ccbe09a046b742b5861f3618eb55091ae7d8e7e41b6b22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2529a6524c1a14be2faa13d1af2c5013569bfaa69a84d5ff15d69a6fc6be98cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.073 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.036, 1.6543, 0.5411, 0.5465, -0.1459, -0.0311, 0.9953, 0.4568, 1.3342, 0.1875, 0.4309, 0.2745, 0.2535, 0.9965]\nstate[eef_state]: left_x=0.4116 left_y=0.0144 left_z=0.0505 left_yaw=0.0866 left_pitch=0.0051 left_roll=0.068 left_gripper=0.9953 right_x=0.2842 right_y=0.0903 right_z=0.0126 right_yaw=0.0801 right_pitch=-0.1219 right_roll=0.0312 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.4256, 4.6291, 0.7985, 0.3541, -0.2369, -0.1978, -0.4444, -4.1368, 4.2462, 1.4823, 0.0317, -0.1538, -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 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]: [-0.1654, 0.8467, 0.5831, -0.2527, -0.252, -0.1024, 0.9953, 0.4561, 1.0378, 0.3378, -0.02, 0.2749, 0.2466, 0.1501]\nstate[eef_state]: left_x=0.3108 left_y=-0.0036 left_z=0.185 left_yaw=0.0849 left_pitch=0.0673 left_roll=0.0508 left_gripper=0.9953 right_x=0.2821 right_y=0.089 right_z=0.0693 right_yaw=0.0825 right_pitch=-0.1257 right_roll=0.024 right_gripper=0.1501\nstate[joint_eff]: [-0.3624, -1.5111, 9.5932, 1.6728, -0.2027, 0.0904, -0.1392, -0.3624, -3.1111, 9.0462, 1.3455, 0.0757, -0.0562, 1.0281]\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 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]: [0.1146, 1.3827, 0.4484, 0.358, -0.0319, 0.0143, 0.9967, 0.4568, 0.9524, 0.9031, -0.6651, 0.2752, 0.2424, 0.153]\nstate[eef_state]: left_x=0.368 left_y=0.0516 left_z=0.0758 left_yaw=0.1169 left_pitch=-0.0099 left_roll=0.0452 left_gripper=0.9967 right_x=0.2853 right_y=0.0907 right_z=0.2179 right_yaw=0.0854 right_pitch=-0.1202 right_roll=0.0226 right_gripper=0.153\nstate[joint_eff]: [0.1846, -5.2718, 6.0103, 2.0733, 0.0952, 0.149, 0.1294, -0.2393, -1.5658, 9.388, 1.3797, 0.0904, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef7ca928b2665d2bd6a1c28b0797313cc42a12043e062add7d891425c12f71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb5743fbce62f0f93ccbe09a046b742b5861f3618eb55091ae7d8e7e41b6b22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2529a6524c1a14be2faa13d1af2c5013569bfaa69a84d5ff15d69a6fc6be98cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVSf0Bpx028_M5GCMKpBaALP_MxeKT0n8Dec19onLSXe7GvAz-HL_LyjMI2zH0j7SRgNTYrg_n7ofOD49pBKMUoajnABnmu8XNiz0iZcwaFzfROqML3aEGxu8wSkFekFxTRZLxjtKTJSjuL5YZTbuxRH8zSxcw-sRfN55eTkZPqjHOQw3gEVVgcB3KkqYgYvmzgXVBkBvmi1HaPyZNSx6eFg6QzQUKg6YqXTUFpxhd7AdyJUcEBa467pQtyBo5WTyMtHoiyBUs3yghFcskszDiO7crGDPDjQHOeCX4hpFjHQ74HcD-cYBaYyAvKeVJb_ERG3aHedToQ2N6lgE0P1TMjoEAHySkWBxh1d5-EeWOWS4ag7_1rDztf7qMnfcCkktn5AS1ecSjfdswkcQLpgZKPLtoQ9iyT9fpixVCKpAF-dIORil17PpLAz48bLy0CAGf0lz4AOxd7oZoLiBFrKwnT-YAxb75XSyOjjvlR1LyvLxFJ07MFKGfcsoBf8OythkrnBh3qT-M4PboIsW5pD3WPdAs2OysDrnPYLiFaotj9RZEtEcJSkgHFCx-9pzj6Wa9Zmss6uB0oAMQFLHMpv4u3Ch-LGabHP2saJ4IO3il4iY-vYKS0aUtfEz8RsOIQLIFaChdYca3ljDLtD_rP-cOzvxV9X5-C9e1OUZEEQGWE3_XVsSWAw8cIhtrrrmj5EOWF2eiazUFovOhBhljz46JUvMlQ9VUgiUgpcbFe7BCYREVhsZTCH5y5iVPKgJTZQoepl_GuM2ZjFqUTFdB_mDWTB0AvS3xQtDoB58_2jvzK4JuH_5w7Vp0U3OOxIvYbHETk7nWzWBwxZSxVVg5_pOJ0rmxv9OBuywRJuFBR9epmBW1lHcnd1yGGQpHj6cj8cLcBhXvwlupqWdQbX5oBRcDO-itSNcCDFh13gvSr6JgHOcgSg-hDr0p_i1xj7Ux3kRreqDsMDaXByrQhkhC_SFlo4AdIAKhhYJ1ZLTNAG9Z3C8xRxhI815md10HTAlnrUwjR8D8gSE8mzoa88W2gdZAOyxOc52JfYDNk2fz39d1PpQsNygtyVF9fECH353_os6AwhqUOM9RFqmcGHRzV9DgNM8wkHByiJGVWdIKVtRzLkALziklL_hzjN_YeRngi7sNdVaBSWoq9xJgRixmO1fIi87jx19CfiXQr5NJ7exjKn1PQmjiCAWHc5uostklnRevj9FoJsCHFkuiw4g27qVVbCoSIvWvoHkNXlOku03s379Mg7equ5iBz--PZ5fJGB4cHPzc-MBsYLXc031U9HoaFoWV5rApQ9w0JYS1tHhygdKvV0i-ulWq0-X9I1tHAk4iOY7nD_UqXDx6ucCcRWOnxMiSTZqU1hQq_jkGGN51mb2hViEWk0LRfR7vQ-oCnLMXNjLVlk20Gj9CLPKEnt4DbNg==",
  "id": "rs_0847a71d2d32b4f3016ab46550137087d0b6ea337ded8f92bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.005,\"right_x\":0.49,\"right_y\":0.12,\"right_z\":0.23},\"note\":\"The gray toy’s torso is now centered between the left jaws. I’ll lower around it while carrying the gray pen above the right basket.\"}",
  "call_id": "call_SU6JEpFDNBMLTQHfOgUBFtQH",
  "id": "fc_0847a71d2d32b4f3016ab46551063887d09b1cd98014640cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SU6JEpFDNBMLTQHfOgUBFtQH",
  "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]: [0.1062, 1.7409, 0.4061, 0.8837, -0.0753, 0.0193, 0.9967, 0.2924, 1.7191, 1.4918, -0.5114, 0.1444, 0.1265, 0.153]\nstate[eef_state]: left_x=0.398 left_y=0.0594 left_z=0.0409 left_yaw=0.1428 left_pitch=0.1154 left_roll=0.0685 left_gripper=0.9967 right_x=0.4778 right_y=0.121 right_z=0.2116 right_yaw=0.0925 right_pitch=-0.1672 right_roll=0.0107 right_gripper=0.153\nstate[joint_eff]: [-0.5949, -3.8496, 2.441, 0.7985, 0.2613, -0.1441, -0.0073, -1.0188, -8.7726, 10.0308, 1.5946, 0.0269, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fde492e32735c8bcdb623fb5a8b35cbb46671f1df593b1b132f9293ea4b8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c78d41268475708a5be6374974850174445e42ec5d4fbd18b2eab6140e0ab68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6a51de0b404ec5b4d49faf8af25ce9d3b6abed274d60d34c486d15eef61102",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.939 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]: [-0.0349, 1.6527, 0.5457, 0.5659, -0.1577, -0.0334, 0.0095, 0.4561, 1.3334, 0.1875, 0.4305, 0.2752, 0.2474, 0.145]\nstate[eef_state]: left_x=0.4155 left_y=0.0168 left_z=0.057 left_yaw=0.099 left_pitch=0.0313 left_roll=0.0689 left_gripper=0.0095 right_x=0.2843 right_y=0.09 right_z=0.0128 right_yaw=0.082 right_pitch=-0.1213 right_roll=0.0261 right_gripper=0.145\nstate[joint_eff]: [-0.4034, -6.5983, 4.8889, 1.5604, 0.0806, -0.0024, 0.7839, -0.294, -3.3162, 4.9162, 1.5946, 0.0269, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.1146, 1.3827, 0.4484, 0.358, -0.0319, 0.0143, 0.9967, 0.4568, 0.9524, 0.9031, -0.6651, 0.2752, 0.2424, 0.153]\nstate[eef_state]: left_x=0.368 left_y=0.0516 left_z=0.0758 left_yaw=0.1169 left_pitch=-0.0099 left_roll=0.0452 left_gripper=0.9967 right_x=0.2853 right_y=0.0907 right_z=0.2179 right_yaw=0.0854 right_pitch=-0.1202 right_roll=0.0226 right_gripper=0.153\nstate[joint_eff]: [0.1846, -5.2718, 6.0103, 2.0733, 0.0952, 0.149, 0.1294, -0.2393, -1.5658, 9.388, 1.3797, 0.0904, 0.0122, 1.0281]",
      "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]: [0.1062, 1.7409, 0.4061, 0.8837, -0.0753, 0.0193, 0.9967, 0.2924, 1.7191, 1.4918, -0.5114, 0.1444, 0.1265, 0.153]\nstate[eef_state]: left_x=0.398 left_y=0.0594 left_z=0.0409 left_yaw=0.1428 left_pitch=0.1154 left_roll=0.0685 left_gripper=0.9967 right_x=0.4778 right_y=0.121 right_z=0.2116 right_yaw=0.0925 right_pitch=-0.1672 right_roll=0.0107 right_gripper=0.153\nstate[joint_eff]: [-0.5949, -3.8496, 2.441, 0.7985, 0.2613, -0.1441, -0.0073, -1.0188, -8.7726, 10.0308, 1.5946, 0.0269, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fde492e32735c8bcdb623fb5a8b35cbb46671f1df593b1b132f9293ea4b8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c78d41268475708a5be6374974850174445e42ec5d4fbd18b2eab6140e0ab68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6a51de0b404ec5b4d49faf8af25ce9d3b6abed274d60d34c486d15eef61102",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVWeKk_MXhNlKSYYHFErDmIYvwwr2IsScM-NGx7MVMC2pmucgP_N7weBUUzebn2csmXi3-KuzWBFejYjxq5kJDTOkY7OxwAr6KZw2gxPbCqbHphbn1HjIlYG4L-NO6-WmqYMDz-Atx4TkX8C3qfXhAmf69BZ_fDE5WqHFHK21p-xEcHz7sVH91AD9jxu7uMf0T_xum375MsdtMd5IKjrUfgLbn0ZfcL-18PZ0YVRCQ-G0am0AgjDYo9G_PIxl9mZUHb1uOppCZ5QcYRYcAFtOy0Wv4rqfgtTkR3gwjvI8vmYKB7FJ5lW3QRy3z5ljmGC-YfsY7XW9HgtmYZh1I5moLl9UZYoV-fWKSuD-sP6fjQXUPsHyRkPm9Fli0CTTc_bDQlm6tCdI40TdINWG_iUtgWlu3o7Xw2uf0JjHzf7_kCIIRapyDhouCu_298aYUkWNsdGaOAo8MH74JFegkwWYttVgd_SHqv-Im6cWpCHI960l-e34_36iXbcv4Hn3FQxMPGnbdQ3o5sA-XnzM5iD7EsuMha5RbSGGmWKVoSYi30CLWEmEHDU3d5HhAYlrsvDCBsz-yaVMwyqXBjao6BSyIeuPaCr5fbB6AsnPwNEXxCSh_Nri-g1aD0s_9BcOk4FtVVJLnCpxgyU9nJyHjYNfCykPh4PA3jvH3aXCCKWKtjXW4xXHbtvcapPu3Qsz8JMhNcqWRb0H-sc255PPkEx5SKO1w_HOCgkwXSvzzQ1qapTWSbeigzh-6pwPVrAXyQs7ngK1mbN403i6YrEzmMLUGgWRpTnnLYffISwNiyf2i2Gd6JjCCgGGbPJVeDF_Qgov8ClHRBjBPOLe44j7koiLwqWuWv77ox4AQi66S4v_2a6ly3-NLXwglBqtpvyDA7xGmhKHymlMP2AdarZOS8M25pMa_ek0BQA-BfK_MqNOS1YkMPPaxUgtfR8e2gFF6o-ZkQz9Go8_PSUU3wAwPok2OD0tARst_lCKmb0MrCCLK5UoLtqY20qUdAuw0CCX6_w96IE-8Yz9rMm8PS2QrEyUqmeX0pE7MJe3_rwwmsUpxwZAK2Z5V3-eADbZGqBb3NUw2FzAY9CdbNPVObXRMX0EyQRjxjlxkRYWzzJlOBUAf9gbGrH54cqITZcgcmJJkFs67aEVh8l1THu-T0gVpgVqsdPhYGZbGNxw-3Hh54V8eWDfYVXFkgCsVxHn04GT96P00EpEWiYGIt5dkIZ5TT9njn0I4JaB96gb6ruEFpD_lv_ublZhe57gg7ZjgTUz3AGhMbagci077m2H1dQmCvSpYmcfE-0iqjkRryeihOWr4Fg7KjZoZaRgJBZo4fqoClKreGJ1d5L2StGRQDJN8XueIzm_6BS8eTM7586m9WP3E7wdzXGM86sLturHoncV12KlNjJL6j8vbHndBBboFEvEhS8PnavMiV8qBhjxWlvaTddqKWC-C06tOk1KzpHMC3maif",
  "id": "rs_0847a71d2d32b4f3016ab465550c6487d09c311bf0c934d2bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.11},\"note\":\"The left fingertips have reached the soft toy and stopped descending. I’ll close around its body and lower the gray pen into the right basket.\"}",
  "call_id": "call_sSqyVXMA97i5aMfkjdOEC6kz",
  "id": "fc_0847a71d2d32b4f3016ab465560f7887d084dfa39a2efe886e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sSqyVXMA97i5aMfkjdOEC6kz",
  "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]: [0.0711, 1.7397, 0.4046, 0.9146, -0.128, 0.0074, 0.4892, 0.2886, 1.7798, 1.1744, -0.1726, 0.1448, 0.1265, 0.153]\nstate[eef_state]: left_x=0.4011 left_y=0.0548 left_z=0.0481 left_yaw=0.1591 left_pitch=0.1477 left_roll=0.0782 left_gripper=0.4892 right_x=0.4711 right_y=0.117 right_z=0.1084 right_yaw=0.0868 right_pitch=-0.2057 right_roll=0.0025 right_gripper=0.153\nstate[joint_eff]: [-0.6222, -6.6667, 4.2051, 1.5067, 0.0952, -0.0855, 1.0281, 0.0205, -8.1983, 6.7624, 1.7509, 0.022, -0.0513, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748eeaedfa5c4823fbe6302f3762b5e3e3c5cf24357ae332e6c1ae2d191ffcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba5a33b2121739e922355ddeb6f0d0209847b61caec0fd3a7177d951a5787d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bd7f9c01c2375df7ea9fd9eb540cd16ca00f6b2c55388449e5d60fc07e2f60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 5.36 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]: [-0.1654, 0.8467, 0.5831, -0.2527, -0.252, -0.1024, 0.9953, 0.4561, 1.0378, 0.3378, -0.02, 0.2749, 0.2466, 0.1501]\nstate[eef_state]: left_x=0.3108 left_y=-0.0036 left_z=0.185 left_yaw=0.0849 left_pitch=0.0673 left_roll=0.0508 left_gripper=0.9953 right_x=0.2821 right_y=0.089 right_z=0.0693 right_yaw=0.0825 right_pitch=-0.1257 right_roll=0.024 right_gripper=0.1501\nstate[joint_eff]: [-0.3624, -1.5111, 9.5932, 1.6728, -0.2027, 0.0904, -0.1392, -0.3624, -3.1111, 9.0462, 1.3455, 0.0757, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.1062, 1.7409, 0.4061, 0.8837, -0.0753, 0.0193, 0.9967, 0.2924, 1.7191, 1.4918, -0.5114, 0.1444, 0.1265, 0.153]\nstate[eef_state]: left_x=0.398 left_y=0.0594 left_z=0.0409 left_yaw=0.1428 left_pitch=0.1154 left_roll=0.0685 left_gripper=0.9967 right_x=0.4778 right_y=0.121 right_z=0.2116 right_yaw=0.0925 right_pitch=-0.1672 right_roll=0.0107 right_gripper=0.153\nstate[joint_eff]: [-0.5949, -3.8496, 2.441, 0.7985, 0.2613, -0.1441, -0.0073, -1.0188, -8.7726, 10.0308, 1.5946, 0.0269, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0711, 1.7397, 0.4046, 0.9146, -0.128, 0.0074, 0.4892, 0.2886, 1.7798, 1.1744, -0.1726, 0.1448, 0.1265, 0.153]\nstate[eef_state]: left_x=0.4011 left_y=0.0548 left_z=0.0481 left_yaw=0.1591 left_pitch=0.1477 left_roll=0.0782 left_gripper=0.4892 right_x=0.4711 right_y=0.117 right_z=0.1084 right_yaw=0.0868 right_pitch=-0.2057 right_roll=0.0025 right_gripper=0.153\nstate[joint_eff]: [-0.6222, -6.6667, 4.2051, 1.5067, 0.0952, -0.0855, 1.0281, 0.0205, -8.1983, 6.7624, 1.7509, 0.022, -0.0513, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748eeaedfa5c4823fbe6302f3762b5e3e3c5cf24357ae332e6c1ae2d191ffcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba5a33b2121739e922355ddeb6f0d0209847b61caec0fd3a7177d951a5787d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bd7f9c01c2375df7ea9fd9eb540cd16ca00f6b2c55388449e5d60fc07e2f60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVai2ubpiKvhBZ4g9ivUOvBimd_aC5H3w68MHukpkox5Tn-KqrJlXW-KfpdDAQl-0H5HZyRl9guBMVCol42IUrDKgxK19DZSN1lgB0hxXm_g3-QFMrcLkd9oEBoZHLA5ib4dnI5H53i4uqxTu2JeLiqP4T4WgU0hVJ4hw78RlnMGschOZLX0hJEP8JDGwTgJa1v571c0zelUmDPRvYfQeaaqz2555YWFZYLThXJgaNObDhklPUA1V5LmxCMB48PoVwI1J2WwWd9pZdCfU1xpI-RCbct6CVFgDZoYmg9MXWnqXJpY5fw0R9YC61Ah73EL0jBS54bjQSm5VDDCD5AQ0DCO1drKk0HjwX1pZAyE7YSbZKo-oSh-3szUykddWb5_ZrIbooyz4vsvv53-vB0AZnt-reF5eDUQMIwBo4j0ctk1xH7vrjBXgXyZgGGKL93XBTNe88b9sKZ3HwbtlWqFWCBGWQaI70mOlUS0CgN8s46KT-vjoYap6d2YcCY5nItOCVukQ4md5E_JCoeWjDz9w369nCjGBKrNjCwQN4FUoA_sR58Lda_wcTFRvnVhYwNnYtJs2ZC50ur6LxZln-3uC07fWpd3qViCYBVOV2H_Qwbj6-c3zmpO18vIbVYGYnJrC_DJKYaOeXlop0BqrfDOIH-MnHQjwe68AM6Nv0AfZZP93CDiBwBQheHHhxklkmczTHjkhoKrU_ki6zSzTOS-NQcnidMEfklE86O7zZWN2lHSCMW_X6eFF_qdLWdxjS14malyd5fzU_sw5iSjCQdSUDIVk8nmUfuBTscShmIRpBUqR0oqz8mJZd7zM6LHcUoOM0LgQM2SOxqFJ6PKNqw8QSMXKmPlpnNllxIdmlcULRp8o6ZAlrxYBHh1L5_m_J3v9CrB7J023tkCQQxn9aVX7vDl6KrCbqKCxuI0wz2c6cBQzpssR45VRrG8kIcShEuRz5iEYo8Dvuf6Uuc2rfGOfIap64gchfpzht7FD1xlBi2c71DlDIy89btUQ97kMsL_phLnByD5-wsOfRULqDo4iPJiNNDqjXWwjoNusLuSNpBMQ_9pjLxTACsMM_8iOiWzNgeGTN5PXUQG8WazriH80hxdAtAp-vE6kPFe-sMbWSuSCFJWjGpJQgxI-Aw1JMNgVU92O2MDZZHwCNeGhwr-oPWJLnXVCeKxHIj5UhqrseEMtjr_AkMz5F5j_x13WacjDYXs6gL3PHR3DeWhLLpXcSnnAB4bNchzwIq4o9nHMrrEwphPPak4l_OR2d_7hX-Ayg_2ZSsOFAAujsKpj6zj86xD82xwNDP3Rr_nKwJYkMP9mA=",
  "id": "rs_0847a71d2d32b4f3016ab465590bb887d088852b04ea65e606",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"right_gripper\":1},\"note\":\"The left jaws have stopped around a 4.6 cm thickness, indicating a grip on the plush toy. I’ll test-lift it while releasing the gray pen inside the right basket.\"}",
  "call_id": "call_RsKgJshQMGBhGeZPJYY92GsG",
  "id": "fc_0847a71d2d32b4f3016ab46559870087d08ba19db5ee3cb2cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RsKgJshQMGBhGeZPJYY92GsG",
  "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]: [0.0544, 1.4853, 0.4633, 0.5426, -0.1425, -0.0006, 0.4891, 0.2882, 1.7939, 1.1675, -0.1715, 0.1452, 0.1196, 0.9956]\nstate[eef_state]: left_x=0.3918 left_y=0.05 left_z=0.0845 left_yaw=0.1583 left_pitch=0.0903 left_roll=0.0829 left_gripper=0.4891 right_x=0.4694 right_y=0.1163 right_z=0.0993 right_yaw=0.089 right_pitch=-0.2251 right_roll=-0.0068 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -7.2957, 8.5402, 2.0684, -0.0904, -0.0611, 0.8181, -0.253, -10.4137, 7.0496, 1.5116, -0.0317, -0.0073, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65e18669b8c7aaaa55ae5136c8797ee1796eab6518d3abe874d02cd3b0faffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80cf22a5708512cc7333e314bc97a459655a4155eef1a08a0eb26121baf877e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96abd8a4df270fd59679ff592ce402be36f32e3728b656819dcba689f873dfec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.931 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]: [0.1146, 1.3827, 0.4484, 0.358, -0.0319, 0.0143, 0.9967, 0.4568, 0.9524, 0.9031, -0.6651, 0.2752, 0.2424, 0.153]\nstate[eef_state]: left_x=0.368 left_y=0.0516 left_z=0.0758 left_yaw=0.1169 left_pitch=-0.0099 left_roll=0.0452 left_gripper=0.9967 right_x=0.2853 right_y=0.0907 right_z=0.2179 right_yaw=0.0854 right_pitch=-0.1202 right_roll=0.0226 right_gripper=0.153\nstate[joint_eff]: [0.1846, -5.2718, 6.0103, 2.0733, 0.0952, 0.149, 0.1294, -0.2393, -1.5658, 9.388, 1.3797, 0.0904, 0.0122, 1.0281]",
      "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]: [0.0711, 1.7397, 0.4046, 0.9146, -0.128, 0.0074, 0.4892, 0.2886, 1.7798, 1.1744, -0.1726, 0.1448, 0.1265, 0.153]\nstate[eef_state]: left_x=0.4011 left_y=0.0548 left_z=0.0481 left_yaw=0.1591 left_pitch=0.1477 left_roll=0.0782 left_gripper=0.4892 right_x=0.4711 right_y=0.117 right_z=0.1084 right_yaw=0.0868 right_pitch=-0.2057 right_roll=0.0025 right_gripper=0.153\nstate[joint_eff]: [-0.6222, -6.6667, 4.2051, 1.5067, 0.0952, -0.0855, 1.0281, 0.0205, -8.1983, 6.7624, 1.7509, 0.022, -0.0513, 1.0379]\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 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]: [0.0544, 1.4853, 0.4633, 0.5426, -0.1425, -0.0006, 0.4891, 0.2882, 1.7939, 1.1675, -0.1715, 0.1452, 0.1196, 0.9956]\nstate[eef_state]: left_x=0.3918 left_y=0.05 left_z=0.0845 left_yaw=0.1583 left_pitch=0.0903 left_roll=0.0829 left_gripper=0.4891 right_x=0.4694 right_y=0.1163 right_z=0.0993 right_yaw=0.089 right_pitch=-0.2251 right_roll=-0.0068 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -7.2957, 8.5402, 2.0684, -0.0904, -0.0611, 0.8181, -0.253, -10.4137, 7.0496, 1.5116, -0.0317, -0.0073, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65e18669b8c7aaaa55ae5136c8797ee1796eab6518d3abe874d02cd3b0faffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80cf22a5708512cc7333e314bc97a459655a4155eef1a08a0eb26121baf877e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96abd8a4df270fd59679ff592ce402be36f32e3728b656819dcba689f873dfec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVg-YinUscuAB9PDMvDTjYytoHPJAYvyT6WU_WsMrwXBCusMZhfpepsloOXWk4NIBkxEdIqSYsPItX3RH9TPLNopxiwCYeyIPZZN_hkTfNE_2oNM43GDJjk0ZSU7wEpIQau_p8HxW5N2OOIyjkc6xrq5g364YkezZjVhx24N8Odn7YpfSgjY05vkaOu5IsckBOLJcDLSAEabej7kh_w8Rxw3CK_w_iSjT5BCCJNODz9l40TE7J86YoK6z7t4O0d2_WJhsvDeYjEBlHhtfS2r77m62RzV66xRBAL8-5RX4CZMd0UoCSXIedsarAsfnCv8zdqkkNWJV67Hht5UQcNmroWqxhqSQnBMzFvMT7WRVy6F0iBjLwbml8Bsv6lgRG-QdbkkBg9If1ROLdqqnR8lMGPXeHyvxzvj8paOSkVc0I6CQ7NrZcaRZuNvAoTHTJ2_F7Xv2oa5dP56D23WgBnkcqU5T3eWA-S4W-9jXhahe3nTJDspWoNd10Y4xJyDB4ntyGAFSOJpunhyWCgSKgHg3GIH05qdzS2UZdynDi9CcUvlOL6iLMliz3UWyjBA-NP6ncdLnQlKyHu9n_W6ZbOra4ya7dI5Tg3uJht9QRu-4DXHBOi3Dx4tXQ7647ZNnL44WbgpCB37iwjbjf9YQFpb6rmN5I4JElIHG8N2bxiY4egjBuHID-24ooF298odA2wHS5kR-Nio4NAhgMsNx1mLR7BSmMSDonIa-I8y-vIomiLmR0anfYcNF4ohrz-Q9DCAB19jec9wjtI65x6jT7rWR2CnpErzu2C9_wgZZw8ytwRMp8LKJtKPHfwf8NvGxrSFWUpGo75FBYramBNsMjKzKVCDPPEGHb4xQZpmPlASEqOalswR4GB5yqVWfB8hC04YLyTESDk22g8w2noFyoTHN_-aJaf8Trs0O3ibESRyMVXRR1oMbxzarkDCwEU8y3Is-tuK3PacRBdAp2ONBUWOuGJCKr5a676GOQ777nGQhrM93-CgbUyXZHFRdeFTyT4vwvuNIiQmDp1E_pBMRoZg-aiX27L027wpxNwaEh1T8J49RTuKrmqDonffdo8PVjy_gmp1sqM29bEF8Rzt4SVQE9BQWQogo50msOX-e6nKXjI4tiqdtxkMoaWb5aJhcuLdHDuJhCqtaSpqmFYNg9It67hbXyxQZJpFH92ZRPicDkqythKNJupFhXNZSapd0_OLIThcPzeXyQhj94-mixgbhn0lmTEt-9oJ1LWmE7k4bUojhbm2uy_cVjhB6bUGhrt1y89UPk3ENj_22kPq2-6FLMW1KVbDeb7mBASQlBGJa9BxZdKWe545kiHTBVx_QLbv-Cr9p5I_k0YARxKEpZYon2bf04qL9WsKKTnU9mnbmCXKmOaG5yQoIfp_oOFkh7rym-8muiAf-bybFcv5qhWc-W-UVMdviI9MmU5rNikpfNMpb_KB8Pkfls22tBrIwISxZBfK-ajcKEIl5mli7oH4gtG56wTSIbS93_9QWBkC_S9LNRCeEnHMgq4zt3Gm3En9HJ1PwmGa3dUiR3v9VaEctfG4JKQxNTeTFoG5j2eIUJrHwEECBMqRkd3dD5Fu-oAlIWCL_i6ihqrt_Z34Jzi8uXoq0wERDWdlMn7ZIJQrOZ2JF2nYOTbQC45dHAbNDl2FLE_9nqzu5H2DQgT-PBxKRXN1N5gTqiY8ZPT9BWUcULKDnRMwN1q1n6dHjycQoEy0zRbXo3kDR5G9QVJZjwYLuRbnlLDWI-SNI-94FS0FCoqR3vvLKE5x1ALAtsuYKolVQb1z8NlZaq8C3dNQ8EVv6BeTYQqv2RHE7mPclZ27OjxVA7eEXMDymKqXlBsFKWQQOZx3xr1yF2lhN7U0BUTZ5Kna_mJLZjOO8iR0rRXAX3QNCSBrcoT4nZrrIlnFVz6oxM-au4asXw0X71i1n3WjFua21P4yl6-T1iQ_DA0YxKF3sLsmhANax2Ek7Pfnw0mokw9wDxEmEghasFWEAcfmTBVdFkCAgx8LLY44JINPgJLdj6-_oAq4TLAu0H7FBR0cdK2R1KgJ3Rfwp3XjxVUKsL_cv493LjOjyvrUDr6-41R1SkPMgJog-U_7vjxwCNvRo0qQdoN2yBitxnffL2n7jZrd83g7_3hIAoVlrm9avMfWgg=",
  "id": "rs_0847a71d2d32b4f3016ab4655cdaf087d08e51c27375235426",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23},\"note\":\"The gray toy is moving with the left hand, and both pens are visible inside the right basket. I’ll raise the toy above the rim and park the right hand clear of the workspace.\"}",
  "call_id": "call_12FaVyIN5rDkU9OzfwSAlHzT",
  "id": "fc_0847a71d2d32b4f3016ab4655fb20087d09af3085f72a758e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_12FaVyIN5rDkU9OzfwSAlHzT",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0555, 1.2285, 0.9161, -0.2443, -0.1429, -0.017, 0.4905, -0.0593, 1.0546, 1.0149, -0.7471, -0.0727, -0.1059, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=0.0504 left_z=0.2132 left_yaw=0.1681 left_pitch=0.0141 left_roll=0.0772 left_gripper=0.4905 right_x=0.3113 right_y=-0.002 right_z=0.2176 right_yaw=0.0536 right_pitch=-0.2222 right_roll=-0.0109 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -6.9538, 10.7829, 2.2051, -0.0659, 0.1245, 0.4567, -0.294, -3.3709, 9.7709, 1.5311, -0.1783, -0.0073, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faec42637951c6dfc3a3c96861e057dfe01e4dc293e00449473065b19ddd5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7d05d998bdff9fb87fe8e0dc476fab5c6c06d3d5d5a8dfbfae5e89e3fe80ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d841fee58d86327ac231fda3c57ec74cf3378ab4cede3c6f3107b9caa9a3514",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.07 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]: [0.1062, 1.7409, 0.4061, 0.8837, -0.0753, 0.0193, 0.9967, 0.2924, 1.7191, 1.4918, -0.5114, 0.1444, 0.1265, 0.153]\nstate[eef_state]: left_x=0.398 left_y=0.0594 left_z=0.0409 left_yaw=0.1428 left_pitch=0.1154 left_roll=0.0685 left_gripper=0.9967 right_x=0.4778 right_y=0.121 right_z=0.2116 right_yaw=0.0925 right_pitch=-0.1672 right_roll=0.0107 right_gripper=0.153\nstate[joint_eff]: [-0.5949, -3.8496, 2.441, 0.7985, 0.2613, -0.1441, -0.0073, -1.0188, -8.7726, 10.0308, 1.5946, 0.0269, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0544, 1.4853, 0.4633, 0.5426, -0.1425, -0.0006, 0.4891, 0.2882, 1.7939, 1.1675, -0.1715, 0.1452, 0.1196, 0.9956]\nstate[eef_state]: left_x=0.3918 left_y=0.05 left_z=0.0845 left_yaw=0.1583 left_pitch=0.0903 left_roll=0.0829 left_gripper=0.4891 right_x=0.4694 right_y=0.1163 right_z=0.0993 right_yaw=0.089 right_pitch=-0.2251 right_roll=-0.0068 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -7.2957, 8.5402, 2.0684, -0.0904, -0.0611, 0.8181, -0.253, -10.4137, 7.0496, 1.5116, -0.0317, -0.0073, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0555, 1.2285, 0.9161, -0.2443, -0.1429, -0.017, 0.4905, -0.0593, 1.0546, 1.0149, -0.7471, -0.0727, -0.1059, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=0.0504 left_z=0.2132 left_yaw=0.1681 left_pitch=0.0141 left_roll=0.0772 left_gripper=0.4905 right_x=0.3113 right_y=-0.002 right_z=0.2176 right_yaw=0.0536 right_pitch=-0.2222 right_roll=-0.0109 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -6.9538, 10.7829, 2.2051, -0.0659, 0.1245, 0.4567, -0.294, -3.3709, 9.7709, 1.5311, -0.1783, -0.0073, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faec42637951c6dfc3a3c96861e057dfe01e4dc293e00449473065b19ddd5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7d05d998bdff9fb87fe8e0dc476fab5c6c06d3d5d5a8dfbfae5e89e3fe80ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d841fee58d86327ac231fda3c57ec74cf3378ab4cede3c6f3107b9caa9a3514",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVk_DybtjdO4hupbXNRsawMHVSF0UJGQqYyHX7BsVrUWrZslDfLY5jiLxj3x3NJtPI9pz9dfmjDFjcqVe9muh2oDD49rElUGZl5wxQbc--WO72BYWCzL5vFA2M_FEckdd9TmAxoB6cxQn8G-fvWuDRZimaQ3YgXTVQO6HaS1da0BGY44mm4utvGLQk3VDOQGFLyQp2og_63svLkX7CjiK6GZbOh08QA45Z0_JkByAk0IMXFmjGOBNZLNsFZ86OAao7xbu4M32slIBDscMrJNiH4hb_lrDYPLD-gAJP-3ftPfbsH_-rRQ7i9HZHmDvNZIWN1NzSCKnyYmIe49zyy6Ns4jlYfcg7nxutJVsMnV15VvI4_ESzH0qQQpcb9cFQTFodW_1ssxSJR-QxR0faaTgtQFrMIZ6OH2ovCleN0LZNN_wD18ZIARuLzvjbi6pfF9lDwmJp-YlFKTF2jj5YxBpvSoS7zeElk2dSDKBjllCAb27Rdqbu9RtxW0AkIXwGEt2EzuYHxe5PTvN8g_2R094ggcR96ENyV8Gw1cbOTkqtl4aePEU8garbBxn96dGxG4pA30Yb-XVW9gIzq8LIcEN7ul4RhprL7wQw1WiZU-Hvrafi62xpcpzM5AJYDvshAo2gGRTukPfvU2rXOjZfSEqMrx-AOuX2Ad_ueS39rchTVh0QycdpI9k4k2iaC5hlPFkkl9DPJ9LyB41fU6hLKbIgnFEcvYaeCeByDO7SH78dfzwrfbTMEMFTkt_5LVJulsH2DUz4uX2DcPM1Ey_Z9qNcoY_9Auz6DSbY1lUTx-xPhWHpZLye2a-f8rWS7quYKApgPLDGSE8K1Q9BnGDTYVsvM89avVXFXyGgLwcc30aWZpjV998707a472u65VssrKstV5FRaAg5wsLKZA5icngHCSaSDuayu6uMqXAt8J2d5ByiiENfH8KFQ9qBiTjzmVxDfgYxtpNvEJAEc_lD3CRopTsO-Sdt4w9XuVNlaEETJE6ruiJ1aaNnbZK6aSvQJLRp_CttvKiwKiHN9uBrshM_z8IGBHZq0nANT_W1sMvDGcPvDJ4nfu_LMSl_PgJtMa6zOLzq6o6SeTTZ-bXRBK6g803PaeORhqTrnGLH9lcH0JVfHwm6HdM9hJDWqV5UbpOsBckKTW-TAWwUJd-BELla0UJPDlAWctCBXtEYFvL8DkOVZLnRIMjkZw1hc1ArnsijnWG9KQkdEEkz9yZs0U-kY2galUbyEM2S36vNX5XmdYgqlneYMTaSdXSyENJ5dODB77j7O-IOmvKJk_rLGGVAqqUF5kZRX4szEKWTLdQiHDg0=",
  "id": "rs_0847a71d2d32b4f3016ab46563860c87d0a0576e1e146d334d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.16,\"left_z\":0.25,\"left_yaw\":0},\"note\":\"The gray plush toy is clear of the table. I’ll carry it over the left basket, keeping its hanging body above the rim.\"}",
  "call_id": "call_N7rHCUsQxz8EStuSAXMdeWbn",
  "id": "fc_0847a71d2d32b4f3016ab4656402f887d0b8e565fdb0ace523",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N7rHCUsQxz8EStuSAXMdeWbn",
  "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]: [-0.4847, 1.6859, 1.4303, -0.4538, -0.4458, -0.2604, 0.4944, -0.0647, 1.0603, 1.0126, -0.7666, -0.0795, -0.1265, 0.9965]\nstate[eef_state]: left_x=0.459 left_y=-0.1516 left_z=0.2211 left_yaw=0.0098 left_pitch=-0.0647 left_roll=0.0912 left_gripper=0.4944 right_x=0.3081 right_y=-0.0023 right_z=0.2117 right_yaw=0.0663 right_pitch=-0.249 right_roll=-0.0172 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -8.7179, 10.4957, 1.8779, -0.3053, 0.2076, 0.398, 0.335, -3.1795, 6.9402, 1.6581, 0.0024, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9cc934499bdaea612a01dbdf3726bb5c691786270d01a9663d2da6e1b5411",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a478cb4ad01f8bd717a938cc314fbfaa28142fc78a7fca4b5c263b3589ed065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01651b002a0a47b68c289583a892a76b410d05c02e4f05dfbaa13b059a538d6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.311 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]: [0.0711, 1.7397, 0.4046, 0.9146, -0.128, 0.0074, 0.4892, 0.2886, 1.7798, 1.1744, -0.1726, 0.1448, 0.1265, 0.153]\nstate[eef_state]: left_x=0.4011 left_y=0.0548 left_z=0.0481 left_yaw=0.1591 left_pitch=0.1477 left_roll=0.0782 left_gripper=0.4892 right_x=0.4711 right_y=0.117 right_z=0.1084 right_yaw=0.0868 right_pitch=-0.2057 right_roll=0.0025 right_gripper=0.153\nstate[joint_eff]: [-0.6222, -6.6667, 4.2051, 1.5067, 0.0952, -0.0855, 1.0281, 0.0205, -8.1983, 6.7624, 1.7509, 0.022, -0.0513, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.0555, 1.2285, 0.9161, -0.2443, -0.1429, -0.017, 0.4905, -0.0593, 1.0546, 1.0149, -0.7471, -0.0727, -0.1059, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=0.0504 left_z=0.2132 left_yaw=0.1681 left_pitch=0.0141 left_roll=0.0772 left_gripper=0.4905 right_x=0.3113 right_y=-0.002 right_z=0.2176 right_yaw=0.0536 right_pitch=-0.2222 right_roll=-0.0109 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -6.9538, 10.7829, 2.2051, -0.0659, 0.1245, 0.4567, -0.294, -3.3709, 9.7709, 1.5311, -0.1783, -0.0073, 0.0757]",
      "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]: [-0.4847, 1.6859, 1.4303, -0.4538, -0.4458, -0.2604, 0.4944, -0.0647, 1.0603, 1.0126, -0.7666, -0.0795, -0.1265, 0.9965]\nstate[eef_state]: left_x=0.459 left_y=-0.1516 left_z=0.2211 left_yaw=0.0098 left_pitch=-0.0647 left_roll=0.0912 left_gripper=0.4944 right_x=0.3081 right_y=-0.0023 right_z=0.2117 right_yaw=0.0663 right_pitch=-0.249 right_roll=-0.0172 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -8.7179, 10.4957, 1.8779, -0.3053, 0.2076, 0.398, 0.335, -3.1795, 6.9402, 1.6581, 0.0024, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9cc934499bdaea612a01dbdf3726bb5c691786270d01a9663d2da6e1b5411",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a478cb4ad01f8bd717a938cc314fbfaa28142fc78a7fca4b5c263b3589ed065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01651b002a0a47b68c289583a892a76b410d05c02e4f05dfbaa13b059a538d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The toy is positioned over the left basket. I’ll lower it gently into the basket before opening the jaws.\"}",
  "call_id": "call_9HnEuj5fkyw8E2FGYYui0e8M",
  "id": "fc_0847a71d2d32b4f3016ab46568378487d09408724d7655f660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9HnEuj5fkyw8E2FGYYui0e8M",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7374, 1.1362, -0.1356, -0.4461, -0.2626, 0.4966, -0.0658, 1.0607, 1.0122, -0.7677, -0.0803, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4529 left_y=-0.1483 left_z=0.1292 left_yaw=0.0123 left_pitch=-0.0886 left_roll=0.1027 left_gripper=0.4966 right_x=0.3079 right_y=-0.0025 right_z=0.2113 right_yaw=0.0668 right_pitch=-0.2508 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.3932, 5.9692, 1.6337, -0.1832, -0.0269, 0.2125, -0.2256, -2.8923, 6.694, 1.5018, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07363a87414095de95c0a3c24f24a064a44ee2b5375cdef5ae232292afc8a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6730c53b72a6363282f64810b74380b63202ee6be2349a1a6ef9eb3ed4a491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1f9a29ab8ea1a2e2633104fe1fc86a5b6b2b3e215fc1c6ec8170deeb7563d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 87 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]: [0.0544, 1.4853, 0.4633, 0.5426, -0.1425, -0.0006, 0.4891, 0.2882, 1.7939, 1.1675, -0.1715, 0.1452, 0.1196, 0.9956]\nstate[eef_state]: left_x=0.3918 left_y=0.05 left_z=0.0845 left_yaw=0.1583 left_pitch=0.0903 left_roll=0.0829 left_gripper=0.4891 right_x=0.4694 right_y=0.1163 right_z=0.0993 right_yaw=0.089 right_pitch=-0.2251 right_roll=-0.0068 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -7.2957, 8.5402, 2.0684, -0.0904, -0.0611, 0.8181, -0.253, -10.4137, 7.0496, 1.5116, -0.0317, -0.0073, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4847, 1.6859, 1.4303, -0.4538, -0.4458, -0.2604, 0.4944, -0.0647, 1.0603, 1.0126, -0.7666, -0.0795, -0.1265, 0.9965]\nstate[eef_state]: left_x=0.459 left_y=-0.1516 left_z=0.2211 left_yaw=0.0098 left_pitch=-0.0647 left_roll=0.0912 left_gripper=0.4944 right_x=0.3081 right_y=-0.0023 right_z=0.2117 right_yaw=0.0663 right_pitch=-0.249 right_roll=-0.0172 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -8.7179, 10.4957, 1.8779, -0.3053, 0.2076, 0.398, 0.335, -3.1795, 6.9402, 1.6581, 0.0024, 0.1978, -0.0073]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7374, 1.1362, -0.1356, -0.4461, -0.2626, 0.4966, -0.0658, 1.0607, 1.0122, -0.7677, -0.0803, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4529 left_y=-0.1483 left_z=0.1292 left_yaw=0.0123 left_pitch=-0.0886 left_roll=0.1027 left_gripper=0.4966 right_x=0.3079 right_y=-0.0025 right_z=0.2113 right_yaw=0.0668 right_pitch=-0.2508 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.3932, 5.9692, 1.6337, -0.1832, -0.0269, 0.2125, -0.2256, -2.8923, 6.694, 1.5018, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07363a87414095de95c0a3c24f24a064a44ee2b5375cdef5ae232292afc8a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6730c53b72a6363282f64810b74380b63202ee6be2349a1a6ef9eb3ed4a491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1f9a29ab8ea1a2e2633104fe1fc86a5b6b2b3e215fc1c6ec8170deeb7563d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVsQBSxtU96J3HjUZFGhZ9z7GPbvoC0rgNlX0bl8QuuxTePPcgDAu5xR8RKhhIFWnOEBcT-RtTXaS6XMujw88WBdGWK21OHNCzWGH_oxSH-DNhNOaFnzjsSZMv4K0HZBR3ymdisLn9C_JvQ8XvnRDqF8y0fh19tWOrxs1Gp-IXb5mfvqSJ4DbMkIFwFHVll7c7NGaJJOh7mjffAAc4XZ2zjMkYGbun4Pjak_dDhIU-Cne3c9G_BaWA5bwsf0-coYp3MpN7hFuWRClVHAHLqLppigkdhI-Jn_dfFSmYvf6vTaqRnxEGC8t5r6mBKZK5eWa4J4lz_eGd6O7Qxv6X7xvsklUWd2m7Fw2cruZggTwov6nrxMwGW9hl5blC3XlX1hdzqvc9CNjeC7pPuyWfPjGxeNXFPb5jGamlrtUlQ0ANi15xfpUgjLluGbY3e-ug75pgoTPHdPpQNViR1Xmirw3Io_SOT-bKe0Iw1t_TBOtYYMHDMr4RyeRhEdeKg7neZZH5n3LyCqBhnu9nCxDYe1PrvVng5OhwwcfA-eLeJfn4AiaZOCzzYntDJ72OLEnJv8aiEA5HjQRD7wEbxQC6eGWf1buFIkHJUHzGhwsdwsfY7GI0GX8cS-BmAIglsuYN8rznfxC3nFkfjsypNiiQUT90iampSkNXsPZZ0AhbRqZI9yAtZ3Eo9vujANkYr4aR_IgRRGe-CLPIVrsSkUtfHs5gXt_EPxHs6QTImv1iqrGpHYAEvhmyALWYsGpl398kHhlTCI9h8g7_lIAjD_XeEaB2MEfQS6uwdtNVTm_rqdETTFkiQoqPr3UNorkZATxzBGd_wSFO3b2BZnmO8dNNq9pYO4tvPJ0eaOn0xQpVgT0gWfQuSmZy2I2c53AtYpiS3OouNq1U-Fi_-aT3FLAIoUeggMs8UVOtzirAGFUci_kpF-OqS6P72qMHaP0MI5ynkJGLNLxll1vhF8iCv48GdwsuoLUUCRBwEtdLwBYd2g3plZONJwj-Q78hc_VVDlsrjaez_ao6RWSkdOADVGw9aNg3-NOBmOj-pmRe2ZN1jdC0E1BvQUeD9Wp8J1L2Tg9ue5fhSGlwBr_rIXkPslQ6Rs9EExaK4Q4ng4f4G5If164xzWzScKbh7NnghWJQ2g7cZuXgXaHGIemQgHrjUT-pVoH2ng2qyaYcgluIY_OlwVBSSENteahsJUqjtQ7umI7SJDPwWxBsDjFBDm-wlFONJLtVr8DzbXpLQLt27OrTgSV-tQa6B6ZhrZLAh3-Ntof_9O4R5VuMVNfSCaJpzRhZuDgydbRtJAcXnann2uGYv3vJ7qrxA7TRuGDQ8dhhen6hO66UB77tKv9UZO-wbiQeCZtoTtFBKXDSeaZBjnWpfKnXHdGxgO3phwmnrDxOYv-aMj9jcOH5aJNetXZEEot-ymPo0Zzn32KzWFJ62HP678UQSs1Xdyr9tYijNBXyPs4P9ivvoy2xt-N_XjfngeeW1XojhfdtF7UhfJlWEwFF4iWpcULI=",
  "id": "rs_0847a71d2d32b4f3016ab4656b04d087d0948e9331e4f436b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray toy is supported inside the left basket. I’ll release it there, keeping that basket reserved for plush toys.\"}",
  "call_id": "call_rcg2cjxwZlBZzMqnSqIkmuUd",
  "id": "fc_0847a71d2d32b4f3016ab4656c256c87d09f842a6cbe6cca91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rcg2cjxwZlBZzMqnSqIkmuUd",
  "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]: [-0.4847, 1.7523, 1.1221, -0.1188, -0.4488, -0.263, 0.996, -0.0658, 1.0607, 1.0122, -0.7681, -0.0803, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4523 left_y=-0.1475 left_z=0.1198 left_yaw=0.0152 left_pitch=-0.0984 left_roll=0.1099 left_gripper=0.996 right_x=0.3078 right_y=-0.0025 right_z=0.2112 right_yaw=0.067 right_pitch=-0.2512 right_roll=-0.0177 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.9487, 7.6786, 1.4042, -0.2076, 0.0317, -0.0024, -0.3487, -2.865, 6.6667, 1.4921, -0.0952, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50a20d2032133622aa2b88f80a0534fb75e012b410a2a84b32e37c24e3a7b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515f3bb964b167f37c33f570e013391710b59cc23f1c8c92aac90ce72fa8ee67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c75b3296abec830a054a9908dd119e2f0811eaf58558aee4ed6eaad362c89c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.553 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 87 changed as sent

message 91 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0555, 1.2285, 0.9161, -0.2443, -0.1429, -0.017, 0.4905, -0.0593, 1.0546, 1.0149, -0.7471, -0.0727, -0.1059, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=0.0504 left_z=0.2132 left_yaw=0.1681 left_pitch=0.0141 left_roll=0.0772 left_gripper=0.4905 right_x=0.3113 right_y=-0.002 right_z=0.2176 right_yaw=0.0536 right_pitch=-0.2222 right_roll=-0.0109 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -6.9538, 10.7829, 2.2051, -0.0659, 0.1245, 0.4567, -0.294, -3.3709, 9.7709, 1.5311, -0.1783, -0.0073, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7374, 1.1362, -0.1356, -0.4461, -0.2626, 0.4966, -0.0658, 1.0607, 1.0122, -0.7677, -0.0803, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4529 left_y=-0.1483 left_z=0.1292 left_yaw=0.0123 left_pitch=-0.0886 left_roll=0.1027 left_gripper=0.4966 right_x=0.3079 right_y=-0.0025 right_z=0.2113 right_yaw=0.0668 right_pitch=-0.2508 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.3932, 5.9692, 1.6337, -0.1832, -0.0269, 0.2125, -0.2256, -2.8923, 6.694, 1.5018, -0.0611, -0.0122, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7523, 1.1221, -0.1188, -0.4488, -0.263, 0.996, -0.0658, 1.0607, 1.0122, -0.7681, -0.0803, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4523 left_y=-0.1475 left_z=0.1198 left_yaw=0.0152 left_pitch=-0.0984 left_roll=0.1099 left_gripper=0.996 right_x=0.3078 right_y=-0.0025 right_z=0.2112 right_yaw=0.067 right_pitch=-0.2512 right_roll=-0.0177 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.9487, 7.6786, 1.4042, -0.2076, 0.0317, -0.0024, -0.3487, -2.865, 6.6667, 1.4921, -0.0952, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50a20d2032133622aa2b88f80a0534fb75e012b410a2a84b32e37c24e3a7b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515f3bb964b167f37c33f570e013391710b59cc23f1c8c92aac90ce72fa8ee67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c75b3296abec830a054a9908dd119e2f0811eaf58558aee4ed6eaad362c89c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVwNE2l1dlkKbcodYyWlRjPBhIsktbz1Hrm01LD8aeR_SqD2n8kan0R0qilRWDKY2-4dVxXzvHPmj1fxm9PUyH-8mx2u_bo8cCFMT_DTFBUL2F49dqQOKeUsefxrEi5AiwFd_NP1ZHTtQaf_PBxnjURnvEvu5aZgot77erpotTXb3cGuXNUCPWtdrTvcDqycQunxuvT3pUsPtuN5l1oAMO6I71CrL3_d0qAjp24Tje8IIQttcGUeWMN9s0ZB101Wq3zvXXVvIsNY6oPm_wfE7l_2DXMijiPXhxpct-iiEvgziTvqmY7-Z2GudNPrNJ2Q9HFjyI0t6qaj6z9DolWwgQVipfzE2rmYmFcXSDsx9HD8NTJVImOn9LayqmEMV1D1oFr6MSA6F4RHsCW7lR2_6YJ9gFqvB0JpAVPBbWFdv18QeEUPUUW0eD71NeYtHqP136ZizJdEu300FqwG1Ko2LwuvG40YLeGEsiEhLc4EZmazteAQeTlIWsppCjfy3VswLk6ZG1xi9NS3S8Ep0RIXiQbcaawkDlqpqN53MoudQBsAj1Lw_9m2AyzC2mbrBCBVk2te-0DPY6BBVBP3FimGKDClbTgR-67HEiz67jeQXkeKIOiGKusxZWC5CayF3oZGXPKShs3K1IkfY_oKgVSjyFXE90g9Hs_zjQxowcrcyuvyYqSRQhbjQdG7zCfMZtGj7jIyRxUEVk7WIvWhU8UsKnA7giMdI4dWwrI3uDqQ4Tp19KkEUxRtl-9Lh_PV4gfQE5Z9j4cEjynFvbY12YkqndqTGEC-2E2Hq5v83Mv3bUSqrfSUQQRr-blCZmc9u0VXQOrqLeVXBatPWKj1Vhw16R-F6QZKE0l8qI_9MBde1Cnu-Bo91aMkGjLX15qwN34JNk7U-gXD0tL87jpzp2fXySh8_qVWGlM6bGDQfuPxYTcN3n5efUMhMP_SdnXORgj6xCSzWzU4xY7K4jjkj8xgx8SzvCe1lwb91D17rlW31sGZ8Eu8N-BjO6CwQb9gliXB7Fzy1vQNiK0KWEEmtL3veZ4ILf7oYJRMbD8DpuG0qVhYFJlrExRJTnoe2L-RdxfxnObhA_rZrGS9UgHNM2exgkAKcbUGUljccTLDYCVHGMCVn73Whq12hRFVhXm7mUJH3bbMoNQ5CP8r7NKRPDo3aKqpiIIV5t9rILBM0F6ZfLXmCk3z7l1awzy2QIcUj9nyAt1OxN-KD_uxlbJJKALdeJUKZgkORg7Xd5nsoPYvMYmStueWvsjm0s92yVgs8H5j2z5PCJ2Eo-c_i78-_igUWUjWZnm76XFR_-gsBDECnGl69WtiAD8MQbvUOJH_Czv7kzlh1ABGw1-WC2fGEWCiC7yGRpyJmQOU3LSqW1LONfScBV2v3WoRzeTOPEb0ipbikj7LZFDSIaCPwJfvlrRp0L_ietcWwFqQ5ZWyABPAgaWxVd5WVzQKtefdU7ynsgdnmCVjIxCTNcbqDyrxXGujAeiJqYHbDHhSqC-zayzdla1XaA=",
  "id": "rs_0847a71d2d32b4f3016ab4656ecd6087d0aaf9d74c20d8bb71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.24},\"note\":\"The gray toy has been released. I’ll lift straight up to clear the basket before reaching for the tan plush toy.\"}",
  "call_id": "call_R3NiI4PKbS1azwNQjsVTu3YF",
  "id": "fc_0847a71d2d32b4f3016ab4657009d887d095f3135c5df5a057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R3NiI4PKbS1azwNQjsVTu3YF",
  "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]: [-0.4831, 1.7206, 1.4742, -0.5552, -0.4492, -0.289, 0.9967, -0.0658, 1.0607, 1.0122, -0.77, -0.0807, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4545 left_y=-0.1478 left_z=0.2069 left_yaw=0.0341 left_pitch=-0.1426 left_roll=0.1157 left_gripper=0.9967 right_x=0.3075 right_y=-0.0024 right_z=0.2109 right_yaw=0.0674 right_pitch=-0.2531 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -11.5761, 9.3197, 1.6825, -0.2515, 0.2466, 0.0611, -0.2393, -2.865, 6.6667, 1.4774, -0.0952, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca1fc96ebcf8b71a8a58543fe8541376476ac17158f20b27ed56d47c51ec9be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b28cdf12edfe94d7486623e052a4eee5d8baed471735cef6caa0a58ffdf8f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6cf26878beb40ec43f68a5c7106057cbd17df398a4470ff93f4c29728bfd1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.416 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 91 changed as sent

message 95 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.6859, 1.4303, -0.4538, -0.4458, -0.2604, 0.4944, -0.0647, 1.0603, 1.0126, -0.7666, -0.0795, -0.1265, 0.9965]\nstate[eef_state]: left_x=0.459 left_y=-0.1516 left_z=0.2211 left_yaw=0.0098 left_pitch=-0.0647 left_roll=0.0912 left_gripper=0.4944 right_x=0.3081 right_y=-0.0023 right_z=0.2117 right_yaw=0.0663 right_pitch=-0.249 right_roll=-0.0172 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -8.7179, 10.4957, 1.8779, -0.3053, 0.2076, 0.398, 0.335, -3.1795, 6.9402, 1.6581, 0.0024, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7523, 1.1221, -0.1188, -0.4488, -0.263, 0.996, -0.0658, 1.0607, 1.0122, -0.7681, -0.0803, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4523 left_y=-0.1475 left_z=0.1198 left_yaw=0.0152 left_pitch=-0.0984 left_roll=0.1099 left_gripper=0.996 right_x=0.3078 right_y=-0.0025 right_z=0.2112 right_yaw=0.067 right_pitch=-0.2512 right_roll=-0.0177 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.9487, 7.6786, 1.4042, -0.2076, 0.0317, -0.0024, -0.3487, -2.865, 6.6667, 1.4921, -0.0952, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 1.7206, 1.4742, -0.5552, -0.4492, -0.289, 0.9967, -0.0658, 1.0607, 1.0122, -0.77, -0.0807, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4545 left_y=-0.1478 left_z=0.2069 left_yaw=0.0341 left_pitch=-0.1426 left_roll=0.1157 left_gripper=0.9967 right_x=0.3075 right_y=-0.0024 right_z=0.2109 right_yaw=0.0674 right_pitch=-0.2531 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -11.5761, 9.3197, 1.6825, -0.2515, 0.2466, 0.0611, -0.2393, -2.865, 6.6667, 1.4774, -0.0952, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca1fc96ebcf8b71a8a58543fe8541376476ac17158f20b27ed56d47c51ec9be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b28cdf12edfe94d7486623e052a4eee5d8baed471735cef6caa0a58ffdf8f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6cf26878beb40ec43f68a5c7106057cbd17df398a4470ff93f4c29728bfd1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGV1oS_3X2UnKNYolk0r7wlctHBRmOl1-qqO2kNz23rg353X09krB7QnAPSdH3ohM3YeUS--U8apjoiRhug1jcOAlQi4cJnH5Hnz9yPU5SlW6vGrGNh-5J6q_dHtprLn9PxkWnJ065-AiS4KFwOctS8TI198q17o397n-bCVEKqusvV23Cquut17Ma3Zx7_LI530HEaMxd_mrVOg2yeBqJCbQreVdWC_mTVEeXUBWe674X7o3R4jzx4KorRIJp70mM3_vxbCfbJ7hMyZhqpngHfXinjsZujyYf1N3duX7DZBIA5hN5B_mDy2KQB3OxmEA6lRHAwkwpyd3N-mSpopb0zxUGoCi8pSBj7awosOX7wmdWxz3sazbMm0XgOBpHe2rXddt17qKkmje1qLSyss1x66ODD7ErVNBfmJoeLqpTFXGzMcxh-PlQb3Nuz0JDjqvSOYtGUutQ1q9saVsAsPbb1iW8qTXJdnLiCTn5TOjOlMo0O3AKK83-6dpofS7U_WQI_x-dZ7F_sFRI0ZWTaig3Jh25kQQOdKsvzG8XD64XK9hx49qp7_-8wkKfuNq9MiTR8YKQxrujKpxe-rLYN4DicIG05-jVo2UoTmtXiByuseyoq5OxiyuqKXCUDLHPZAKUGh00kGpQ063WAaCOMUlRdHTJTHE1bG2ROhQc7AXsDODdS4swjk8zYGx04rbbPebRRl-TuDeN6aB6sZSjVsrCFw8TQvCERAtAelU1uU8BGhx-3kN-aRZJsfn2u3UpBrx3diON1Gd0Rq67ELofJV3F4Mtl6lcctpaabNgruxpm-scuKPd_xgKvOTBvlPjlBetA9hskrnXBtEhNA_Cnx7a_WNRXo5zgovdgNiPBKe2jGt8Wy7iYhI2GsUp125EkIrCrKSZv4z6kP0xrmWDpLd5vo2_xBJHw0ZhEX_78aNcQH3xv-AXqE4UTZ9UoOg0_VztuHkHeZXa9FUK8n5gmqm0jKxXVVgFViwut0XNNY7JTZC2QPRDt08hk4cJZJgc-S_5Dx-rX5i7cZcbfYT2UFm52hg4huPbQxWlDPocKubnTl6ZcJyCJW4VvuqugBMi9WzGOLR0FwzrMfZMa7QOBkDWfiEvVRgi9BWxeTMSwr7ArF6g1bcZNop29hLGnkU8mLLecR7pgp_jnp3OSMdE5SmTuCFaWYTIky-KRzOXvBFQRNh8q9atQB9pNuetsr27giyXbcyORC1k2PLxXmvPcq5pi-p05Nw83I0mGSgSDUloGtCuzQviOEfpb6jAHF0ygSBdfyKULRQT7X-x-ywZ26lvYjm5N2XF7RD5mkzY4pJoPF6Gg8MCYzussDDrGl_HTZAkWzrPQDOwX-DwTK12907mJxBLCrhZufSrvura3GVFywinatyHGTCPreyPQ3x6Q3wNZJtkKVePqC4YtC-6QAoCPV90g==",
  "id": "rs_0847a71d2d32b4f3016ab46572d4d487d0a9cd0563de7826c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.3,\"left_z\":0.12},\"note\":\"The gray toy is in the left basket. The tan toy lies in the center with the yellow pen beside it; I’ll approach the tan toy’s torso next.\"}",
  "call_id": "call_BETG7bniMRbXqQfHVAAZSU6w",
  "id": "fc_0847a71d2d32b4f3016ab46573f5d887d09c8ba3c14506d11a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BETG7bniMRbXqQfHVAAZSU6w",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.832, 1.3071, -0.614, -0.7536, -0.831, 0.9968, -0.0658, 1.0607, 1.0122, -0.77, -0.0822, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.3112 left_y=-0.2994 left_z=0.1157 left_yaw=-0.004 left_pitch=-0.1634 left_roll=0.1247 left_gripper=0.9968 right_x=0.3075 right_y=-0.0021 right_z=0.2109 right_yaw=0.0687 right_pitch=-0.2529 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -8.8, 8.8821, 0.6862, -0.5934, -0.0855, -0.0073, -0.335, -2.7419, 6.6667, 1.4872, -0.0073, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d571b4e4ebce348ab9cb5d3ffd81a7e8af2a624b201689e7444e69570cb7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35c6f0aa4b24e67028907b3640e5638bb18d67a14a15b9e4aa86accbd3a4f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464233f80fff4e4665200229f2549b3abd10995b85ecbfdfa0aedada37f60faa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.023 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7374, 1.1362, -0.1356, -0.4461, -0.2626, 0.4966, -0.0658, 1.0607, 1.0122, -0.7677, -0.0803, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4529 left_y=-0.1483 left_z=0.1292 left_yaw=0.0123 left_pitch=-0.0886 left_roll=0.1027 left_gripper=0.4966 right_x=0.3079 right_y=-0.0025 right_z=0.2113 right_yaw=0.0668 right_pitch=-0.2508 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.3932, 5.9692, 1.6337, -0.1832, -0.0269, 0.2125, -0.2256, -2.8923, 6.694, 1.5018, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 1.7206, 1.4742, -0.5552, -0.4492, -0.289, 0.9967, -0.0658, 1.0607, 1.0122, -0.77, -0.0807, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4545 left_y=-0.1478 left_z=0.2069 left_yaw=0.0341 left_pitch=-0.1426 left_roll=0.1157 left_gripper=0.9967 right_x=0.3075 right_y=-0.0024 right_z=0.2109 right_yaw=0.0674 right_pitch=-0.2531 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -11.5761, 9.3197, 1.6825, -0.2515, 0.2466, 0.0611, -0.2393, -2.865, 6.6667, 1.4774, -0.0952, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.832, 1.3071, -0.614, -0.7536, -0.831, 0.9968, -0.0658, 1.0607, 1.0122, -0.77, -0.0822, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.3112 left_y=-0.2994 left_z=0.1157 left_yaw=-0.004 left_pitch=-0.1634 left_roll=0.1247 left_gripper=0.9968 right_x=0.3075 right_y=-0.0021 right_z=0.2109 right_yaw=0.0687 right_pitch=-0.2529 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -8.8, 8.8821, 0.6862, -0.5934, -0.0855, -0.0073, -0.335, -2.7419, 6.6667, 1.4872, -0.0073, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d571b4e4ebce348ab9cb5d3ffd81a7e8af2a624b201689e7444e69570cb7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35c6f0aa4b24e67028907b3640e5638bb18d67a14a15b9e4aa86accbd3a4f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464233f80fff4e4665200229f2549b3abd10995b85ecbfdfa0aedada37f60faa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGV5rkhfwd6AWGChGAY78jLWVtuw51j_EPiFjGVuQ1MU4EMjtCteqgvwzBHZy-cBKZJdkvZgyaRnW9VuddsYnFXfIbD7Nxga4nPQ5w_eSs1EMIYwupOGnXs-xSlH5mnwSitlW4k6648fmMYv2-xJDBOthGXnMoBipsnSrhXCtM3cr7l1PQajcVmq4ns4mpComjK7XgxhRkfrxbihhy_HhoS57IrUqlQ_sgDczuQcUMKxV4dgEZ8ET2N6mKZskB77-0QOU3-3ujS4t5x2CqRhsYkfHOdrKRtWeMH267yRT1GC-zlYELvOqDeUIYQxmj8nZ7WaDdDVBr_u9U0DxV9RcXBhyMKBIMcVqIZA-vtfMoU-UHialDZwrB5GOXDqD9KbkfF74YxyCyZRutnkYNDeY6NKBUYRHSM0AxHRmMiJN6vTFtnzHwbV4dvQEkmFzhjjjG9Ss5iWCfm9Zq1W75Q04GMfnvmHf343Y0fhWj7p_IhiKreO7ILAiRtbMk8Ga2vjgNj8GkBS_qC07iZrtjsh3LCvAJeAvbbXcbx9AxKYdyWLnEftFInYmVvYpjiJj14BGg6Sc0FGIUeXORAvhsq00Tmftbo_4RPcYGMEYUFUFyCbeI4ZpGAyoaSOyKfzbwhfPjRtTsmKIz_mdFDRC_frWmjyNeeupkjjbuR67xaFmAT0PqptWSBLkCzjxdYUvdmDQFz6LDGjpNlPLjhNSKCqUedkk6QLADsLulSVndzHkbS6T3TLY4XCVNygMOOzz73nW1SZ7sjTgkS8n4kzmf0-1sZjdAt0Ry5xuAfX0Nir--CxjrhZGIMR-QPQ1K2FLyMnhZ1uFtCWW_UijLCc6U5u1Ch0iHcRXYwkU9lw5nqGjlSYKdIvSbziNHaNCPDmVg88EZShPi--8cfo7jNmzXpz-SADGB7xXt_RitqzsoSgJ28BXmmsy7g9wdSBFWgKGGwcex8Cwsx-8kFLVph-frHBCbPlmdP4zmYKC0Sv9b-1yr9T6mHwSjxNwiWnVnQxbQuQuzd-hDAF3LT75BZ4zUaaVOGiEC4gL9W2UcQbl1rSWwx3Y3JmRzsDyb4L0qWMeiPr27kgjTD_Arh0sooU2yB5QqydpnCyG7-vMyuNW7I6Sx3GgMtSeydmL4JEuFhR3iGJbHVX9SHAiWXRolq8rYg8GGmyhM1luZ-5qZ3OGQ8r8PxjXLAHzXh2pTRYL7sBL01I99rUh-poBiRgU4qCK3yrp-x1mdsvsFVtSmlVOXzLZ7-70j8Mj1vNfmn70CWz4ed_KiybS7mCe-8p6pi1npW7XiIP7IyD_qBz7XwCNXjxLozj3_vGtEznyFx9eH5AVUwGwzb4484U91d4XR9FPMDLw6sEG8WYtn5McwdSIXxjP9robQLNOpCRBgadDpuIHhQ1o8VL",
  "id": "rs_0847a71d2d32b4f3016ab46577e05c87d0bae5fac19a9dc247",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.325,\"left_z\":0.025},\"note\":\"The tan toy’s torso is slightly right of the jaw center. I’ll make a small sideways correction and lower the jaws around its body.\"}",
  "call_id": "call_oDy26hNWHQCJAKkPDacf1Smc",
  "id": "fc_0847a71d2d32b4f3016ab46578a70c87d0a2b00bbdccec0de8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oDy26hNWHQCJAKkPDacf1Smc",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0798, 2.022, 1.264, -0.3721, -0.7727, -0.8639, 0.9968, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1314, 0.9965]\nstate[eef_state]: left_x=0.3185 left_y=-0.3265 left_z=0.0471 left_yaw=0.0005 left_pitch=-0.1418 left_roll=0.1004 left_gripper=0.9968 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0711 right_pitch=-0.2533 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.7744, 4.041, 0.8767, -0.2466, -0.0122, -0.022, -0.335, -2.7009, 6.8034, 1.4628, -0.0708, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6ac5a7e5b1dd3e3e7557416da9095a1333edf50e31746dcdbb997cc4b37899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb763af5092cedcc95bcf52e8df1473622527f6135bc15d521ab4a8bbd3177e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d9a24b7a95efa35f9efc6b7604ef31e25e986263037037b15970a95048a905",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.363 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.7523, 1.1221, -0.1188, -0.4488, -0.263, 0.996, -0.0658, 1.0607, 1.0122, -0.7681, -0.0803, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4523 left_y=-0.1475 left_z=0.1198 left_yaw=0.0152 left_pitch=-0.0984 left_roll=0.1099 left_gripper=0.996 right_x=0.3078 right_y=-0.0025 right_z=0.2112 right_yaw=0.067 right_pitch=-0.2512 right_roll=-0.0177 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.9487, 7.6786, 1.4042, -0.2076, 0.0317, -0.0024, -0.3487, -2.865, 6.6667, 1.4921, -0.0952, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.832, 1.3071, -0.614, -0.7536, -0.831, 0.9968, -0.0658, 1.0607, 1.0122, -0.77, -0.0822, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.3112 left_y=-0.2994 left_z=0.1157 left_yaw=-0.004 left_pitch=-0.1634 left_roll=0.1247 left_gripper=0.9968 right_x=0.3075 right_y=-0.0021 right_z=0.2109 right_yaw=0.0687 right_pitch=-0.2529 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -8.8, 8.8821, 0.6862, -0.5934, -0.0855, -0.0073, -0.335, -2.7419, 6.6667, 1.4872, -0.0073, -0.0708, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0798, 2.022, 1.264, -0.3721, -0.7727, -0.8639, 0.9968, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1314, 0.9965]\nstate[eef_state]: left_x=0.3185 left_y=-0.3265 left_z=0.0471 left_yaw=0.0005 left_pitch=-0.1418 left_roll=0.1004 left_gripper=0.9968 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0711 right_pitch=-0.2533 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.7744, 4.041, 0.8767, -0.2466, -0.0122, -0.022, -0.335, -2.7009, 6.8034, 1.4628, -0.0708, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6ac5a7e5b1dd3e3e7557416da9095a1333edf50e31746dcdbb997cc4b37899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb763af5092cedcc95bcf52e8df1473622527f6135bc15d521ab4a8bbd3177e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d9a24b7a95efa35f9efc6b7604ef31e25e986263037037b15970a95048a905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan toy’s torso is between the fingertips. I’ll close gently around the soft body.\"}",
  "call_id": "call_BXVqtVxHJTrPvaSd9JgtGbJw",
  "id": "fc_0847a71d2d32b4f3016ab4657bc06c87d0b273f8af75cbfe5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BXVqtVxHJTrPvaSd9JgtGbJw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 2.0251, 1.2678, -0.3462, -0.8162, -0.8642, 0.1068, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3239 left_y=-0.3274 left_z=0.0541 left_yaw=0.0168 left_pitch=-0.0948 left_roll=0.0945 left_gripper=0.1068 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0713 right_pitch=-0.2533 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -10.6051, 5.5043, 0.7643, -0.0024, -0.0073, 0.7009, -0.3487, -2.4547, 6.6803, 1.4872, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b9d88c00f306e578daca486553b93669227d9cfb50e5669c40c515110da679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42576dda43571f028425dbeeb1ed92bf17ae9791894f3462aeeb0c4f3896acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26af1992670fd6bb4764321ca9595f3b4205c62d3c5f3cffe71e617c11570c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.655 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 106 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 1.7206, 1.4742, -0.5552, -0.4492, -0.289, 0.9967, -0.0658, 1.0607, 1.0122, -0.77, -0.0807, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.4545 left_y=-0.1478 left_z=0.2069 left_yaw=0.0341 left_pitch=-0.1426 left_roll=0.1157 left_gripper=0.9967 right_x=0.3075 right_y=-0.0024 right_z=0.2109 right_yaw=0.0674 right_pitch=-0.2531 right_roll=-0.0171 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -11.5761, 9.3197, 1.6825, -0.2515, 0.2466, 0.0611, -0.2393, -2.865, 6.6667, 1.4774, -0.0952, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0798, 2.022, 1.264, -0.3721, -0.7727, -0.8639, 0.9968, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1314, 0.9965]\nstate[eef_state]: left_x=0.3185 left_y=-0.3265 left_z=0.0471 left_yaw=0.0005 left_pitch=-0.1418 left_roll=0.1004 left_gripper=0.9968 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0711 right_pitch=-0.2533 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.7744, 4.041, 0.8767, -0.2466, -0.0122, -0.022, -0.335, -2.7009, 6.8034, 1.4628, -0.0708, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 2.0251, 1.2678, -0.3462, -0.8162, -0.8642, 0.1068, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3239 left_y=-0.3274 left_z=0.0541 left_yaw=0.0168 left_pitch=-0.0948 left_roll=0.0945 left_gripper=0.1068 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0713 right_pitch=-0.2533 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -10.6051, 5.5043, 0.7643, -0.0024, -0.0073, 0.7009, -0.3487, -2.4547, 6.6803, 1.4872, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b9d88c00f306e578daca486553b93669227d9cfb50e5669c40c515110da679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42576dda43571f028425dbeeb1ed92bf17ae9791894f3462aeeb0c4f3896acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26af1992670fd6bb4764321ca9595f3b4205c62d3c5f3cffe71e617c11570c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWDfmydi_4jxSZVDAzpZbmFRfTH-TJTs3vRMhvAS_3yerM3bOmZyCXW_yeecmt-jOicuEhBNwRg7m5dqChI78w4RvprbjCh8qwaCZquH3yONW1c_zntm9ic0m_n6Jr5i98So_DE98Wb9uUH-fkdDYsc8jk4RtqyxPzIIYVGjp1MiR6et2Eh7DJCg3-8L32cEnYwNqLAIiDk8nsEOyX7iLvy7mcQF9uioMTeRHSx8heQljCjlLyzgPx7Uuv_u26dlBA9z0tjuKeh883L0uHMpXXA9lldN2jO-dFNWRgrae34hGLSf-lLyLz1CojdMKxGvZi0nxupg0Mph3BgNwoYJyh5P5rQi64-WKlpOFh4khNzwPZzWbmAzTMjseX70Y2fpcxBDg4dWQ3QU_n4To7CU6YuFxJIEPvd5Gw9kb7X4k46L7H9F-hir3QELa0ZhTw5UTIuBdIHUKmxS49JiCGNIEtPxp69RDMtuCnfRE6SYopcpJjYSQRSBMvBi7j60nWkDehZw5F16I9j7zDN5JG5rgdaIHS6ZA-O1-lLHN3WcfIFlreM9S9E3m63ZEyO7woeIikjPcEL3tqPw5XHwZcCOgq8_CZB1aKjJE5JoVsKpyRv_bpmaAkDlkclzztkNQ1BH7NJgwtKGlRcV6-PXlcoRd3JEdQH-pYd38yHXPduaSgU0dJxAna45KebJBZEa9kC6eSOFQIHRASSrNTuaxBLZNUvIhqJTninb3u37VJuao8azug4NGmXjQMBQpxcOMPBpEjmx43opR7XZMwSHMF5VJnN9IV1JNkD4zdS28CDzO6Ocprs1oiEkHf9d1_DwSFj8c3HpH7Wefe6sEI4-Qk3gqoIeBU1jZCQ7cSnYuwiqp0DCVnMxDM-TGu3qIB3_7CyzOanc1F-rVzgIdI-4u4gFZKFa6_MJ5oHfjvI5sTlB7e6c7VZJepbNSgS1aEANCJhm2BLS9hOvgvRjASBhvJDXaTRaA3CeAqru3cl9V8ASDRgIP33-EXZAAVjb5mYwMk-CuPwNzEH2oDT0a8lwzsaz6K3W3CQ5bhzEFgRuc27NN9PQovLxHIqNQiaRSxItJNWiKyx8F3QxNcAAzt7ooMVUu-4oCV_mZ1ES7UAozTDaEYcOLFxIl7nJE6nocDroSHpOxaOoE5eZha86kQb7DsLhfORrHTkdxwKiWmiTRJJNNoY-XlnlS_ogVdKRZpf3xNIXVpXrBzHr24BSy6kr048DOIm62e0lZaxCgvWAkbP1DzAyKey0ojwMinYqtDUfp7DKQipYIGhS2r8-HDm5HigVV3Ml9NumwLJUdvweywMmpQYQn3lB9X6voZifszfw3JTeMZxYmNJ8yrz0YstiUP37zsnyCGZNnKsf2TrUj__oTOqALmpCdVXM6yErilAgAcJxOE9GWLisrQUjbFaIyUdQej37eU06p7qkdHBI4szQIyoy_gSrT3ASJUP9p_zfXHRGWvdKWk761u7eSTrJEC9Up6xjh7Z327i8InsJwEAPbQKECkqJ4Fk5DTG54dPa6ANcfgImnI2e1Mxbpfw6ZVGjAgGzibXo_4_sKD0JgHX6BvDNuvPiiGH215H0WGhpQlktf7R2aQHF4iA6ZviPm9xMpjk-0qjAO2QYw04cbT1a28-rz-5iztF570aMoVlgHpQJyYOqkHgJgnwxnQh9TPHokc44LOSIoI-AZwjnakyfPYLuFJ2C3AJkPFC9cTXrVVQhc1MX0WN_MJE9U6L06YLynqt1O7zTYofnh5uhWdYV5mg1PJ9QkGhYOaZjfqIdRhjyb7AHQ9Zt2lFKQSqAn1NlNW7rZgVfRScCYk-pnM1_G3yZgeMdjXmjrugdUmnbyKOdj7vATkK7iMbpMo-dvRRhFURtAfqZbkJXKxAP-REGRFI6chwBZkEnSYb2Ynd4Bk_wPxV4jfaUghUOQZHDj1qcW3y1bAmZrKVlx1nSUAanyt_rrAR6FVA6dZ8wRsr7HcH9y08AtuMYjPQuPSRUQCAt7CnGtItiadTVz94iAWpqCE386E4SMi6Y53whPAm04aLqEXxrI-_6uIrE339HTCwdgQLXofUilUizOj3zoFiYrJQn7hIYB9wm2dj5FCG7OSB97cQTWQZgwKCtdYSjUhgnFm8R3DF3AFbXXvAlePSsogeZefJ_O7Uj6lm0v1uRgNTj-Yg_VAoJN6fQMHwaSFQgwzdtRPJvbllQQJyCDiuCXsZ0U7TN43rUhJW1kQbUJJBHEJBdes8xwoVv7Qgw4d7XSI9PZTFeV7oXwuNNT5MDdZxpYWHQ4anQyR6f2yAf7ZGE2wC",
  "id": "rs_0847a71d2d32b4f3016ab4657ea3b487d0995953d52c67c94a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper has caught a narrow part of the tan toy. I’ll lift a short distance and check that the whole toy follows before carrying it.\"}",
  "call_id": "call_FGAJON5FUKK2hxadLCvkIuTq",
  "id": "fc_0847a71d2d32b4f3016ab46582448887d094f904966cf8dcb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FGAJON5FUKK2hxadLCvkIuTq",
  "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]: [-1.0813, 1.9816, 1.3643, -0.5381, -0.8047, -0.8799, 0.1084, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3213 left_y=-0.3247 left_z=0.0851 left_yaw=0.0257 left_pitch=-0.1264 left_roll=0.1241 left_gripper=0.1084 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0715 right_pitch=-0.2533 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -14.3248, 9.1419, 0.9939, -0.5739, 0.2027, 0.1538, -0.1436, -2.5231, 6.9128, 1.4579, -0.1099, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d59093e2902d5bcd84358e83bcc63809b621176f2906baba6a1ab50489d2dde5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f30b39ffd04d998a92debe420645c726765352a1454cb6acd5a964c8a8aeb01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb7e8b2d6f70160a36b99451eac825cad9a6df51a1af3939c14255c04088269",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 106 changed as sent

message 110 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.832, 1.3071, -0.614, -0.7536, -0.831, 0.9968, -0.0658, 1.0607, 1.0122, -0.77, -0.0822, -0.1284, 0.9965]\nstate[eef_state]: left_x=0.3112 left_y=-0.2994 left_z=0.1157 left_yaw=-0.004 left_pitch=-0.1634 left_roll=0.1247 left_gripper=0.9968 right_x=0.3075 right_y=-0.0021 right_z=0.2109 right_yaw=0.0687 right_pitch=-0.2529 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -8.8, 8.8821, 0.6862, -0.5934, -0.0855, -0.0073, -0.335, -2.7419, 6.6667, 1.4872, -0.0073, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 2.0251, 1.2678, -0.3462, -0.8162, -0.8642, 0.1068, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3239 left_y=-0.3274 left_z=0.0541 left_yaw=0.0168 left_pitch=-0.0948 left_roll=0.0945 left_gripper=0.1068 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0713 right_pitch=-0.2533 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -10.6051, 5.5043, 0.7643, -0.0024, -0.0073, 0.7009, -0.3487, -2.4547, 6.6803, 1.4872, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9816, 1.3643, -0.5381, -0.8047, -0.8799, 0.1084, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3213 left_y=-0.3247 left_z=0.0851 left_yaw=0.0257 left_pitch=-0.1264 left_roll=0.1241 left_gripper=0.1084 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0715 right_pitch=-0.2533 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -14.3248, 9.1419, 0.9939, -0.5739, 0.2027, 0.1538, -0.1436, -2.5231, 6.9128, 1.4579, -0.1099, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d59093e2902d5bcd84358e83bcc63809b621176f2906baba6a1ab50489d2dde5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f30b39ffd04d998a92debe420645c726765352a1454cb6acd5a964c8a8aeb01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb7e8b2d6f70160a36b99451eac825cad9a6df51a1af3939c14255c04088269",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWGs_osCZZHgKwt0wnbGwDmMae_Is5BtYK3o8Q-7FDz_I8EN3vNGOEKZrYFZRH5-cXsTtdYNtViWuGUnFRqnB-doJgVBHIIFsjaMj_FRgc1QrfEN7m5Zep-ycpiV-JTFkh9BvzxocUHNv8bNjnCoKAf5IeoxG_2Fyy5ktvnyF8kCSsywuhFkaw5CdxT25z0ruYt5Og4YEjx-vNIj0SdUX32l22f_s4RFwgswbM8CflJGkooOcBavFEQ2VerDHcwwqiA3KkCfe8cA2ldix2Eoij5XxXribso4n1gbQ-BGigNBeAPyifhJOXLcKd1PPJ7vdQNzd48gE5-AwXHn5mNKCmDu5bLplM_8yjK1tWgEuAVQ2ldT6GZlH_Jajf4wSbaPqpSQ580U56Lk0NtltKvq70Vsvuzng39FMj9NAXnUEuKjvVO2itDkjdscrM1U5nwtmuwa4m7e4DUCC-8NBXRzZcPQH0hB5hY8t80ELkCWEySco0tgHn-vueDByHqt_wpheOifcIMfQ6lbngvXpkMgiCdwFhEaLh-VQxoArTRPaBYWZGc7-4IGi8y4zt4ohIw4HQF-xSTBDfvmv63DfJSAlYsOXMbMksh3GyijiB1pd9t_ovXxp9GQYwmGld2-SFAwhBe9jO-Fpk-HoZwiuqmkvLsIo88Tt_hLTLrnSivIhj30NkkHROyijcAatuBvmVGK1isGQ6jwcZLZ5XqdPdsduflFkn0j89xnh8DyeF-lGkT-lEIc6KwVxtoY0xB_5KQ04d11Gj-K8OVBI2VW3RYBzaDgHIdgaKRgl4IRgBKiZsMnZh9rP-sOlv9j8VZMb0Tdbj64_znMMTmGwUlFVwa8oz2UM89HI1K8NEoL_3mTSOBVZEBRlvOnZd_dk5GSWwIExqQkvgCPUVa_VyIKQ08hC5HAHoC2i42n1tMh0yCDuPtA-PvYQCR04sD9Rd6zoJzSe4YmNGdy03iQZXpBX8G0j7poCXkgR2rXD7ffULThSDSihZbw043PNTDOslaX-BU6ujRfhHAX81YAEFEOxvc42xpNVnQh1p6NB6LFT_aavIu2K_NRVWOa1sPy8vOiRVAO9SHGUoNckWjFL--cz4BXjTHSNUxrvUOZHgz4aFTD__YYAaDWsyYoY-HCd7O4lB02j1bhKuPVNuL4xaxthQZXh1vmzw1EII24e-8wHriou5LtUVwG8OyNYaqr1g-T35UcWnF",
  "id": "rs_0847a71d2d32b4f3016ab46585b33887d097a9f89c32c764a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.27},\"note\":\"The tan toy is following the hand. I’ll raise it fully clear of the table and basket rims before moving sideways.\"}",
  "call_id": "call_yxH3ZI7cB3DD0icca66vX46y",
  "id": "fc_0847a71d2d32b4f3016ab46585e46c87d0947a4b790238a012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yxH3ZI7cB3DD0icca66vX46y",
  "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]: [-1.0813, 1.9709, 2.0468, -1.2232, -0.77, -0.923, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.3202 left_y=-0.3319 left_z=0.2542 left_yaw=0.0318 left_pitch=-0.1488 left_roll=0.0694 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.388, 8.1709, 0.9255, -0.8034, 0.4176, 0.0464, -0.1709, -2.8786, 7.0359, 1.5116, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11059e79d62cdbedde2de62f0c265a2f110775dd9872e85e167001370957c7d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c51163c9fd3163bdb4c4feb9a8a56116bbb114ac1aa514ec24c513d881836c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a18003ef46fc4c2f69355d802c84ac36baa261c22a033ee3a23ddb2ebca4b3",
      "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 · 5.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 110 changed as sent

message 114 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0798, 2.022, 1.264, -0.3721, -0.7727, -0.8639, 0.9968, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1314, 0.9965]\nstate[eef_state]: left_x=0.3185 left_y=-0.3265 left_z=0.0471 left_yaw=0.0005 left_pitch=-0.1418 left_roll=0.1004 left_gripper=0.9968 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0711 right_pitch=-0.2533 right_roll=-0.0175 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -7.7744, 4.041, 0.8767, -0.2466, -0.0122, -0.022, -0.335, -2.7009, 6.8034, 1.4628, -0.0708, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9816, 1.3643, -0.5381, -0.8047, -0.8799, 0.1084, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3213 left_y=-0.3247 left_z=0.0851 left_yaw=0.0257 left_pitch=-0.1264 left_roll=0.1241 left_gripper=0.1084 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0715 right_pitch=-0.2533 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -14.3248, 9.1419, 0.9939, -0.5739, 0.2027, 0.1538, -0.1436, -2.5231, 6.9128, 1.4579, -0.1099, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9709, 2.0468, -1.2232, -0.77, -0.923, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.3202 left_y=-0.3319 left_z=0.2542 left_yaw=0.0318 left_pitch=-0.1488 left_roll=0.0694 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.388, 8.1709, 0.9255, -0.8034, 0.4176, 0.0464, -0.1709, -2.8786, 7.0359, 1.5116, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11059e79d62cdbedde2de62f0c265a2f110775dd9872e85e167001370957c7d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c51163c9fd3163bdb4c4feb9a8a56116bbb114ac1aa514ec24c513d881836c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a18003ef46fc4c2f69355d802c84ac36baa261c22a033ee3a23ddb2ebca4b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWKOBlmsR4T2pbMF7sqIfhkc2mCGVBlD4iu2l625zaHuVjUre3taVDIZzI0rkY6b8phA7ukAV2YMs39M55LsFeEfkc8e-wT9tdmCNj-JibZ7k-LE5LiC838LINjGBTOQs-OWPzVRStRFagD5TFcIKvZPGT-pHJbxUAgCNKIxCKO-1pz1Zmqxr5n0IW1UL2ZXVJ4XsOdGsq9A3dzX9G7iWQfqXoB3RmHYtWEa4udoWMaFDwN8LE7_E1CnUuB_8bHa4JftzLJH-CPJ53fHBBKcVR5MdmtoDkMl8-fyevWlWQyMdZrpUcXzsRu-QpuIFAgZXvlL6sWTgdrgV96sSTEbrYJSKVp4AKLjRB9_pUzbWFAbmkm-YrS5lbBOa_v-5PKK8pZysep7rLcgHUZjuEiZGKpHKEcHG8U_N-AMyIjH82-zZM3wyND4_8CepbIk4mci_alTqMsKEM24nlAY2GPA_ELWfM0ylezv3Wd7BCaJdUvFBJUfW7BUGTyPBpl7snpb5WGC6NvI20G6HE88cIEV4S6-my06vRk_sLW0meyg-TkE_SsUNvQs5VoUSC9jhXfqiMsLMqxIljHNEjigobT8FLAhGVnvgejokHKoeHlPqzDsgI3lvAwIoLXABJVyyQM-p1G9YlW7B_YMrwJlDcNEPReZsJaqDKkNKrI2qczsmOjgFkIQL0DbROjzHcSqkaIndoVpHzcvEtMZTaFSacKDv3RNGJBfN3BchUyk-Dj_N7VfdtXBiTQ7pduf6EsfvFAQQJKWLdK8CheDWumry84c8h79vGKp5ZUZIp0qSiKXNzzD59rRBwklKXJz9gKJ8CKhqgwzXsuOykNFyHoGbsuIGwhBuK5BzLxnQkLrVJp8qZAhExwT9JOFiK9ItEZOtQo5RgMOeAD3SUNpY2q-IwIfycqswsKXD5KC8D-rFWiGRphD44pKNicZsXzdA3GLn7vnUxi4Uz9wVliPsooqAX_iDvVRdFnj5ELtV3Wl-VOlCElTZtSTpaC_hN92zIH2JtzFCSPUKupmxgD5dBKh0EMB_dPDPXBKf-59pTBdWRNYFsBraJjyRB9c0aA9ADaThbCUI9y9jqnuBTruoqCSIIvTrUYgYdXGq-KSj_7--8iR1uYlT3QrqBtv28tCPQaddbfA_8YmA0h_zZ1p_vOdsatHf99Qfwun9Ho-0s5Ds9Pux90lKp3xn267r4L0oeq8Tgr9iXtl6VwyIju3Kii8nli1GoJfQ==",
  "id": "rs_0847a71d2d32b4f3016ab46589529487d0bb82d4c93189cf77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.17,\"left_z\":0.27},\"note\":\"The tan toy is clear of the table. I’ll bring it over the left basket to join the gray plush toy.\"}",
  "call_id": "call_3IRXTfmvlk81S8nnEZuLxSQe",
  "id": "fc_0847a71d2d32b4f3016ab46589af6087d09206870e84692fdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3IRXTfmvlk81S8nnEZuLxSQe",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.8572, 1.84, -0.9222, -0.4393, -0.4244, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.4528 left_y=-0.1676 left_z=0.2355 left_yaw=0.0799 left_pitch=-0.2556 left_roll=0.0838 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -10.6051, 10.7282, 2.0293, -0.3639, 0.5006, -0.0122, -0.3487, -2.7282, 6.694, 1.4872, -0.0952, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a911f0efd9b583442bcccfcd543c9a619022dc2a37ac569683567327acc2d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8533978b0fa2d841b157da3c5fd3ba76c426ec57b1e040fd8cccb152482d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b3f08cc36785bd828d11c0f9ea3691d62e61bfdef620548dc83d2c08c4a8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 4.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 2.0251, 1.2678, -0.3462, -0.8162, -0.8642, 0.1068, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3239 left_y=-0.3274 left_z=0.0541 left_yaw=0.0168 left_pitch=-0.0948 left_roll=0.0945 left_gripper=0.1068 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0713 right_pitch=-0.2533 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -10.6051, 5.5043, 0.7643, -0.0024, -0.0073, 0.7009, -0.3487, -2.4547, 6.6803, 1.4872, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9709, 2.0468, -1.2232, -0.77, -0.923, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.3202 left_y=-0.3319 left_z=0.2542 left_yaw=0.0318 left_pitch=-0.1488 left_roll=0.0694 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.388, 8.1709, 0.9255, -0.8034, 0.4176, 0.0464, -0.1709, -2.8786, 7.0359, 1.5116, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.8572, 1.84, -0.9222, -0.4393, -0.4244, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.4528 left_y=-0.1676 left_z=0.2355 left_yaw=0.0799 left_pitch=-0.2556 left_roll=0.0838 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -10.6051, 10.7282, 2.0293, -0.3639, 0.5006, -0.0122, -0.3487, -2.7282, 6.694, 1.4872, -0.0952, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a911f0efd9b583442bcccfcd543c9a619022dc2a37ac569683567327acc2d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8533978b0fa2d841b157da3c5fd3ba76c426ec57b1e040fd8cccb152482d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b3f08cc36785bd828d11c0f9ea3691d62e61bfdef620548dc83d2c08c4a8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWRptiC0BqqnoOKG_oJE63j-xOkrwUnupVBGKMWxkxGbezcCSzFPHlhMml790hBEzoK2bFRz_mj127YVJdoUdqcx3IZKkIocLNhOs9esKqpu_sUT2Lh4A_6n8PqlHYdufX0w7uGU2GrXC3JDzrm0yE4yP3-C4aNV28uOR80nOgTXc_y7iJH7AEe2JhKhjziL4ah8ihAELd7lTgkUhZeRnNs4k16BSntdZzBL44XdsIerrq2_nV6H08NH6FfUcHbtuyBz4Qxnjam-FFkTegsLOwC5QnUYho9kK85MeCfAtU7s9bRtZqphcFEmnlC-_UeDKGp20byyHXYPRgTUHiNw9kKISgj1jJDk0lYfKBCumzrZnP8mIYald5fg3kC_ekhw2s7-Q7ugOH8jsbguVNovBqh1vcUKFeTeZ79AeHAduiF7DJtXj0dHcUv35RWwhb7KLc48Dfw1noCLOKJj0opQlx7jTZcdavEYmBrLlWo7K_VOgGkK-W-Krbltl3yndr3KcuHs2x7z6UhqpX3lfDDzDwWj6fNja3ZwBeLpMt9a6cdI9hMB4gIGHHjb_b1se0So_rsYZWg7RPscS4AUyspdUZdbxp_xybL3zON1wUPwh8HWxk1gYViZPT1dzN3EAivusguLiPdwNubmwmwc_j7xwH3GFWQ6cvgAhxwRi7buuDq1lEwsS8r1eM0RJS6Z_rC7m_l5oPTrqyEFAxml_Zk7V2RnDYOsP2J723FrKUpehCU8XRDghU-j1uomyZnOAmZ2fevPHTS3le8fasj44c8eVD0sVhTsEJUeVcWHciAln4Bd0VEup7GPcgLFK3Ym90n0oRc03yxdfewU36cv8x-Iv5CECO79hnY4iHaHfarytPw0WGNvuyG1B4a2WspaQmpau7YRjUs5YeMufklXhx7yK5ImCjBqiSrA7tTe_eUjINmhmaDpR0UpXUPiPTp0E0C_9y2fmKjf6U-r0G_qpOmfjMOftk7Dc-GClaoAI-BWEldWyAdr52a2jqyCRJ60XCfgcRA2o6-b7RCBML1J0dXN8zLurNZ8Ijt9rPEn9C5x9oM-40fHt1ecwmw-WxHlai63jSN_xRGAuneCdV-8bRt-DIGVI1nnrhMm8ASxqbM0mq7t_3HCsSx7XpxsGCSH5Ao__jib4QfJwJIkWuSRt6Z2zQ3KIIy7syDkjNLqacForwnSP_8OM7K6ATR8WrYJlxb7Mgb1kZHhpF1RaIzoTH8AjaHH1S-VXhmb1R9ZGOsGLmZlkx3_jfUfkGVwrSUt8nVTHNjA0xVui8JMcoTxXklCJEZevjKS93Lb5HxiF9gTUh2pJrXGg_ukZH9yoh-cDCQaIOUwnS-3R6KZ8ijzgCF4oaj0w3dnZBDA0dq8IpZkCCFt05A2uEijcyBDmNCo5lh_ZLMyKPr7jTE7EAIg1E8GMJE2gH249NxKJYjqQ__DlRzBrBLO_MbTfwOUoW5vkBPAAenh1Pc_MLK4K5HlbEwnqBkpk5nyJPjudvEooE5xpZvPMPZAYbrQU19kHWz7me2DPViXpM51y-1tQGA1yhIGpu1hMxOA1yo2sg1D-KkGab7ulTGEi6QKfOo5-3Sy0tpXNU6Lfy2DMd9p1pBRXGhFVuOHZeLKylYQwo5MGa1jMoYNn57cWamsTCmB7KQi2LnYsWgpLHoVRZgzBQqVPsgK0iYC8ABjsp3rYpXGE2cMWxhnWlVj2g_BSuvWpBwZTznaYYYx-xEtVZiuUXchysq5oYWEIaIFO-dHL7SZ4vO3v0ZlFECxoBhz5XcLaR4bk-taEi0K1G2SKqBlpbRdKkVkwCgLAmbpkGjzxNadc94ZcKKAiwVje4_38PV2WiRfh5lNudlFyH_KW4exGNmdcuDDGpaNkJQYHM0TbPKv_uDgvb-ExajnVVHbo4xJeIsiquPEa4vafC3zIP5mJBQDWCxhUeq-df0WE5qQ-Tdf9eWIShoqYbewmcEYhWEYAGRU0vPqAusCrEI5-jBBxevNqOCGuqCUgMOYz3U3dh4dv5ruuM3MeeF3t_Sr5YHIm24iuGDgWB9OIVjLC8QfEgB675VVlqvJFGabe5WVAMfB54TgzHFm_wZI4fS1iADsZJgXtRXTq1AAuKVyxLp-jkS2pqecIxSHKERjUDrpgA1h0kLrwM9wvnhxUkHUxHzYBGTUzvOTu8sN02J7lxbQjm5gkZFsxXrsA==",
  "id": "rs_0847a71d2d32b4f3016ab4658dfffc87d0a74ae6301f544212",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.15,\"left_z\":0.15},\"note\":\"The tan toy hangs below and slightly behind the grasp point. I’ll move farther over the basket and lower it so its body lands inside rather than against the front rim.\"}",
  "call_id": "call_2P9DeJubcdGgJeYf4CAEpanQ",
  "id": "fc_0847a71d2d32b4f3016ab46590c8b887d0ac8d44e737063434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2P9DeJubcdGgJeYf4CAEpanQ",
  "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]: [-0.4034, 2.0148, 1.7515, -0.6968, -0.3973, -0.3645, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.5058 left_y=-0.1377 left_z=0.1539 left_yaw=0.132 left_pitch=-0.2947 left_roll=0.1069 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -10.4547, 6.188, 1.7509, -0.1001, 0.3541, -0.0122, -0.2393, -2.8376, 6.694, 1.4921, -0.1001, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b12e1f36f5432fad845179a029416a32cd2c1fa38c5b437b521cc619ac3372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa96d8fd8f6e53bc865a67e41bdcba3a44abb09de0afb31430039c0930329f13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbd9a0f0c392f1f0004e4de445bba62eaa9b19cd9577f17a443dc4f6fe59999",
      "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 32 attempt 0 · /responses · status 200 · 11.18 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9816, 1.3643, -0.5381, -0.8047, -0.8799, 0.1084, -0.0658, 1.0607, 1.0122, -0.7704, -0.083, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3213 left_y=-0.3247 left_z=0.0851 left_yaw=0.0257 left_pitch=-0.1264 left_roll=0.1241 left_gripper=0.1084 right_x=0.3074 right_y=-0.002 right_z=0.2108 right_yaw=0.0715 right_pitch=-0.2533 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -14.3248, 9.1419, 0.9939, -0.5739, 0.2027, 0.1538, -0.1436, -2.5231, 6.9128, 1.4579, -0.1099, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.8572, 1.84, -0.9222, -0.4393, -0.4244, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.4528 left_y=-0.1676 left_z=0.2355 left_yaw=0.0799 left_pitch=-0.2556 left_roll=0.0838 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -10.6051, 10.7282, 2.0293, -0.3639, 0.5006, -0.0122, -0.3487, -2.7282, 6.694, 1.4872, -0.0952, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4034, 2.0148, 1.7515, -0.6968, -0.3973, -0.3645, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.5058 left_y=-0.1377 left_z=0.1539 left_yaw=0.132 left_pitch=-0.2947 left_roll=0.1069 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -10.4547, 6.188, 1.7509, -0.1001, 0.3541, -0.0122, -0.2393, -2.8376, 6.694, 1.4921, -0.1001, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b12e1f36f5432fad845179a029416a32cd2c1fa38c5b437b521cc619ac3372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa96d8fd8f6e53bc865a67e41bdcba3a44abb09de0afb31430039c0930329f13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbd9a0f0c392f1f0004e4de445bba62eaa9b19cd9577f17a443dc4f6fe59999",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWWNxpQAX5P27amC2pWmNQBSCbWP397kcoAV0GZKjXjwvAApTvfpunrebf026zilSkUutwMKV0ipVY96q31156cU8qT_rvAIX7vE2GOVfa_KKSO7F-zJzIul2owphbEjgPf1tIS42PuYplrF3Us7mqKGxX-Tgy3FmYAVUdjnsuYsI8wwxuzcFF3Hqae41Fxih1ZVDigaFMqU4cjRxxAMblaQDAqFW8xo854XeOsv3AKFW2bI4dOMLAVBYLjo3XMlB_yJQLqAbm8A0OUTernqTVOFItM9KixrML6zI2D96_FLVQpPn4iJN8y9abnHAMEHfrbimqkZka9h6hUIQv01OCHQiDpRRURthlgwAV38FNvg8RXBxLqTJmYa7Hmc-dfLoY1NkIjgGtFqY66DkETl_JgGzp63YF2OJGhv_K6Fu0Ma_F1XTbNRlzfoZrrnG88RL6pqAFmKZhfpVDAOtbh3xVqmlB8YZun2QFTmpYJdwhDvZsh9ZZJ_MYCrwru-kgBnaGbwuKtloJ9NnTva6B1XTgtc8FIcKBe8PF_D5yGevb2mYwQrfHQot7JRNX783mZWfyg8kf8REgNZIfDTO5oQ08Zr6nu6prKzmeq89yU4iLthAbHu0wIihEgVffNFsDriF7_1nyNMMx05tjoxKBqI5-ummSKlPbVmljDyROnA6PM-YKpx0F8QLsNnPB2V_5lf77C9E4Z6MoNAg4hdpt414wfgWXAHF8YnP-K3YDu3mPtOcESNjuxBcaZZBufJfXb4lo7ga_Ew7qhm5nIKixIGPw94nWGKG3Ly9gPUDDNO0EzlD-8ok3xW2d1Rp1T09mkfJV0LZF7tQ6gW4T0AhDFsKxBpYnWRdkBvqMiR2iCQrvi2MafPh8SX7vNgUexlbhzOr_eyRXk-UNljHB7AYYwRWZR1u8TdltDbco3mnFo0BJ-mW8GnZM3JzBz-DtuHpX_VYfpPB8N0LFnStOgY5uQx2NIK-YuUCVNDSwv0xIDcz7spk0FyYCn-VqVzQeMT1mLmBipCbhelHWteT5vFn11UdyIOlRXrF5tN6HgK1oSLFJUfRtaiTvZz3CIwg-ArFj1C_ZMqtRHr4NDORge6ba8z3WNP0JACuKcKN8d1x234LLeCLUYoaq12bhGHWsRkNq-j8yLWzg-ZuZMi35d8v9mXmSBGpKM8UWEiOgpi19uD3j_ils2sTrc3xLr6Scn87DwOS0KPfaO6-mm51baffpLFkiKqsNPt4rDtwMPcNw3xwKkCfyeV11sEmVOBuPIsgzDuMf5_OSS-Grr9leaSisWRLsqYELzk5eXaPM317bJt4XAOYD7oK6MHsx9L4gMG0BY9CApLxXZoeGnYfRur-iFAgSdMFnwvWuzNe73eWqg4MESKYSQlr_gGztH3daLSUcL4m2ru2vbxPFVkjHe13dfDHnLKXB0uADJR-aj1Uz1HTfSMxjfhAW-FPVMYWxXuOdUjYMGawX0Xwpp184KipnWMFTbAcLWPRR71FNF_Vkq8MMYSd_qXEfFa44E34furtcSDYFALniRHPztxB4Pqc8204oDFGVW1uTDd9h-HOpxAFMMCcFHa1QqKnBBxa4j_b5clIoafHRNZlwBoL271aQImarGY2WIs6gLnpduHF-YGqVl9wZh02zl8V9Hn2TpvyXoQdvsKXdKUxfGLoyF5b41VYDSXfMzrUPJmsErkPsYfx0g0vlqtDndaONMVl3h3FID9jrxADxirtqXeUAIbfEA0xWQFbeBkvih3hi4Ifqq3HZIuCLtD4bu8n_i2zCEeeVBJKGC",
  "id": "rs_0847a71d2d32b4f3016ab46593b3c887d0a2d5758ca20b6b45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":0.14},\"note\":\"The wrist view shows the tan toy hanging toward the basket’s right edge. I’ll shift left slightly so the toy’s body is fully over the opening.\"}",
  "call_id": "call_QFYWBwtZXLuYp8UdA1BMrmsO",
  "id": "fc_0847a71d2d32b4f3016ab46595f2f487d08418a76949003971",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QFYWBwtZXLuYp8UdA1BMrmsO",
  "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]: [-0.3107, 1.9762, 1.6188, -0.5846, -0.3309, -0.3084, 0.1091, -0.0658, 1.0607, 1.0115, -0.7704, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5081 left_y=-0.0991 left_z=0.1334 left_yaw=0.1374 left_pitch=-0.3076 left_roll=0.0861 left_gripper=0.1091 right_x=0.3073 right_y=-0.002 right_z=0.2105 right_yaw=0.0732 right_pitch=-0.2541 right_roll=-0.0201 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -13.135, 5.6137, 1.2772, -0.2418, 0.1978, -0.0171, -0.1846, -2.6051, 6.9128, 1.4579, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3eedd4ae93b73a31052520100bbb513940ce3e29dcf8dfb65bf2236cd903cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15392b95f93c283361c094d61171111d7c3f38e10e6000c8dd5606eb86960914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4318baca17ac105adbb3cab33b5fe5740c47dee13792a1d676587fb1e2798aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0813, 1.9709, 2.0468, -1.2232, -0.77, -0.923, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.3202 left_y=-0.3319 left_z=0.2542 left_yaw=0.0318 left_pitch=-0.1488 left_roll=0.0694 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.388, 8.1709, 0.9255, -0.8034, 0.4176, 0.0464, -0.1709, -2.8786, 7.0359, 1.5116, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4034, 2.0148, 1.7515, -0.6968, -0.3973, -0.3645, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.5058 left_y=-0.1377 left_z=0.1539 left_yaw=0.132 left_pitch=-0.2947 left_roll=0.1069 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -10.4547, 6.188, 1.7509, -0.1001, 0.3541, -0.0122, -0.2393, -2.8376, 6.694, 1.4921, -0.1001, -0.0171, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3107, 1.9762, 1.6188, -0.5846, -0.3309, -0.3084, 0.1091, -0.0658, 1.0607, 1.0115, -0.7704, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5081 left_y=-0.0991 left_z=0.1334 left_yaw=0.1374 left_pitch=-0.3076 left_roll=0.0861 left_gripper=0.1091 right_x=0.3073 right_y=-0.002 right_z=0.2105 right_yaw=0.0732 right_pitch=-0.2541 right_roll=-0.0201 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -13.135, 5.6137, 1.2772, -0.2418, 0.1978, -0.0171, -0.1846, -2.6051, 6.9128, 1.4579, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3eedd4ae93b73a31052520100bbb513940ce3e29dcf8dfb65bf2236cd903cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15392b95f93c283361c094d61171111d7c3f38e10e6000c8dd5606eb86960914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4318baca17ac105adbb3cab33b5fe5740c47dee13792a1d676587fb1e2798aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWiRZ2QGrXYLjOOxCSNzroQhrxJJ_3Qy8lUwcNnZZ3c_jDRYIpEFdkzov3QyEnIYHIajKLy90cG5Cr8m0Q_zW6IbB0ml4pk6VfOwCgmwsRkkESFfHVLTWxGikjYsDpMi7bDqhpZ34pgi9rRaLuVE45qwpEYyqq3wbpWehaUpgiGudkKzp4xX1tvMf6MeoHX9zNH6s_bYEsRxxj5CV4TriBLBxgqEf2sYIeWKm9cqOtogKRpOc0ExcoTypTqU7ktqjNNh-0agaEzHCzYJx9fEv5wn__IJHUQMd4NnfOKebTHMwFiqo2-8JNGiA7bXI_iVyBJajsBrAiYTXRF1OAtNitlIwM8pzM5d1X_UuqwecCyeRAxJ4_AXOPDHr-eIXOiZEx10Czsr8CP2IXseUjyRkqRjJ66f1L1f3FnYL0PfuG34pUWs4wisxyf0-3vyZiUZ9noXbPqVOz9WwQM9_kYSNG4ea6Xh_bbhbBfcUCzafBTPZVZqDW5JLEuTPPJzR7_sxn2em8WRRIA4WMYEJ-1_7SyNw5Q6pOA8bdq5uMRHcwVGkpUk3-lvTmeC1hsfwvQuCU8Cct-cKl3br7seIVzIrELKuxecClldNExi-9yPQyjlqcw6CHorUsqaad9UlPfcbBiQeTuOzed4DnxuS02ZV187WMPVJ6cxIN2FigQVlY4cT35jp9U2XqvCBPGcE8wlXgB2mE-XtzLyyxsX6capAs_eqhjcFgSe-rLvRB56ZYQemQVRHHQtSGjJ1NZsBTX2LoAYQ6NGBw5Cy7khLOzu0_oDBMhZZEvybZI1hVVcjELm7vSSGralb0STuX8UmyQQMyy-jSnee1YNE-4J9NlrRo4luIQjKhmy2pNUQdq12uCf6_Df2Ln1VOSV87jb9x6iPguqobG18EfsegG6y8uZ1iyJ0sj_chYQ5ZsVDfb7l589XHLllLRT1uu96xHDiT7CnmfjwnDGpiawrgZ2-EMxQZtb27GG7NGBTgnn5gsgnvCB4RBgSVC4BMu8abv9a165YK_1tqVctP9ISvcvEeqVoLftPeZcJonMMxmtlcKpzBazCGKYTVhqdZev9231vqH5-EzmCoEGSLWwUDhhbxbyfbSaCBDUAciLAj7-idaoxBc2gq9-_3j7qV4NcdAvLEyTjGPoMaDwW_stZfQtZ22EyvG-iSXZXbQYC-5udq1iGvUZiyC8SIHxVVSLoFcOwOLgJkNnyhHXBXgV4ftgiIgXvVv84E9LZoiOQVgcHhdKz4_CTpj-LcELVaLFD8kIFNyXOE5JwnjKYV7tmlURZ_vKSxYeyZTnGu7_jqtTyQ56cMD9d7RtUzQ6CL9dSEQ99Lw3KBAg43oPGMuThpDS19e9XSYFiY2E5zCGB1mJ6FQ9QxbPOQeVE2G8_d7ni9xPwGJRuN5nfEqgJNq3qwuZsUHO9U3GwRgCB-2lhC1HBJteFpxcv2i8nszQsJNTmY7KStHlMyomBKWdhHZ62T9cNqz1HTsKrmv_PuLihS39sQHVKZyhwWTxvL_hoUvb9ym5H4JAMuRgtIjJibmTpuakSFMWm0F9hcE6uTM951TxnlNRwcJYuD70EGUvZoIkfsCIeFQL4RTbnlmnhHsO5qLkIgSasevALJbxqTjxmxc5-hC_yfDqt91YzBR9wnacBFHaSPVILFCP-4Mf8JS9mscPrE_EigKO4xdd1HubLSsVB-ljggUUMmANEo8k94aeNehacQ8W4hJcgQEZLa5mcLdXLEP0Y7-I1-YLxG3PHU31J20_1VBYYkphx8c0V3KvZNIkha1cwy1ATxxYJ5x916LRm4EnX1ErP_rXqAmhkgzcLVFPYjZWTN1UKnITnSmJ2iLhU39J7mphvEZYfxnRaX2et-C-o644Cd10whGwBxA92RbTt3y8BJKphl2se2wmzpQWBMbz4TRa46tZuJ9WktqLZgSxEFSLdlE_rtBXe33oQpy5OVbYIjLugQZKxw0uowzUS5ufkY3BxeFjN7Uarb7vza6tKsT3jLlqrMnzxA1j186kJUAQHC2K7pLNDjIyTTs3OssHPtmpWBlXTPBgM0gV76j09hHMf5j849YBaZqac13-KaYtyF_pKCAVRBaQmIaVFhoGBLZ25O8hGQnaAKjJlLlWbTDJ4eehuA_-tbnCD2p_cAd5a4aplLMxeO6DpmJo2f1KbnEo46NCMkgXhR7GheXOMPR3jR3k8bg6eawCQOjs0khf8NzVvxJ3wzbEqlj_4eHVfh5kxIqk_v0qNgUnSjYMihR57Q2XeLdcm_fZK4EsJzxzf-eZFXzP4tTEeEp3MHz0qnVaD7n1iIw9vx5xPAk3zc8AXDRUcj4ceKn4uutq2P4lmXkJQ76F_Az-hQYXFfV6m3ySCZKy88fmqtlBZMoDDq4m9VmANHFOl8D37SYzCEMUknUgdoWF04G26-dk7GFqAXMV_Zsx8tiLvMucu0QB-1-aUBEOMbUsLuSi2OO1X0as8ThjHJatunH9PU88P95o2-f0GVtJJj_iq-15uKjY1_bVc54mhu_3N_dzDGXxKSK-uVLcehNEUBQl_VJ4e2m-Urc6H03B7m4fYalAoipbnvGKF9WcTqew6yU6gLrw-1PyvycKzdbOLxxCsc3PB3_a_FFUb6xxOSSGdahswgZWiGZ2ncgJ7LCFJkT_C5MD5iAYGMvIVlc9tHvZuIdjj8XtTwSzefMM34Gs0nI81Opv_Qc0yDnnyylRk5Amye29lfSGHk8y_6YhT3ALMXvCkVj7pcOSadPjoKBr_aWY_e78vIVStJNn59lOi3Most8n-TcH6B66X3q1pJG3En2G5qLmXgz8p3fdKbWQe7WeyTluS5xIdyzH_BLaP2Mmn4REIScskCyAMu6e_7kXTqXZ_CrKMfAyePCnFpgT7oO7bVMcNDeqcoqbdTEwrhLIn5lHjIizNNVwXWOoqfE0OA6z31hLQKkrcK7aPAXHo2i--RSWsSK0fhVqfZ9XxpbHX6CEWMi3-0ctujyBADs1nmFkY2Df1pMZfqHHHad7RWlWQxawGyTimc9OUzLYccqDcjeQuFYKfINzBdlupmazAcdxvJTFnrnl35CvAEINCCYLENAC46q1d3BTNm05Gj58ksmARNMg3KgepjTmSXTsar4NN0o8nnZWvFCqqgKJvASEbDFdoNJx7oFIzcs6wU0wpZBeKmEpBr79GBbMQD-la9o9h-fsBteUkz4gxpMC3ieQ3A1s7CM3OIOlHHIcpRPOWRP9u0ARm8KzqOeIg35UBuqwkS_wLcWhZBnrCEtHgDuf1bvjrgmQjj7IiNwY_k-V220xg2CIfjtc_conMQo9VEkfhu7_hogPpMi5sQP08IHBCd5Q3pQuvl9WkQHDDLRV1i3U9OMI2_1NI8n1YJgpTUxaowJsjwkkWt4e37DNrEmkewSgzfC8mxN4VkT0YZSbFSxEtPGmU5mKaVldomGCJdZeNSH5gebtMbB2l-2xIzCWzwYFUf1QLDgvXagxID_f1zTRNfn4G8qHKTxwIdBDAk4cR6fsf2KmI2wYD44TwSb5aBos7ZpFnXZZxq6z8p9Vkye8sUE6isN1v64ln7qpLBHT8y0B0dAQ4p0-y4__nPVP0bv7zMAGM8gLkw7CrxLLFtuBGsXrdFAMWXT-mARz1aS0e-63gZueCwSFuDz7aFct68_g8xxdvawjpcGFpOHVVs7ZjsnBp8fr4EvIzSlToIfQnIJCHy91rgShHbq6B7wVhuI6YawZMSjHHpphwjvsyLuBOYleBRgehiAElSD9QgFvJCTAe4gHGuwFDuF2K37rjvd4FquGdFcqwWtWqFS2qkZsJw2nwIL_vf4knHP3gItm4XP9IMwXoAhp4e3PaRcx_Yf003N1A4eAWJRYrNSpFlZhTanPx9AQ_p2nfnqpAIUlHGJI54IkvAGR6beu0jjm6iX7iTcs8KHD_grBJt0oWZhLlj9-S9C9J5ZiVkEgXS9L5GfaQnw9pku6-YJnlF74vng6DKGEJtyte2DkbnVai7d7ON1oW9Nlklw0yGtQ7g-_vKukPErGjwJVZlHphWf6KzJbaf3RxXR24StKvaje_0790C8RkU2M5LLkC4RMMMXxyvrsvtXO6TZ0m_hIPGMV-rv5NDiDQ==",
  "id": "rs_0847a71d2d32b4f3016ab465989cfc87d09dfd8398eb2baa4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan toy’s upper body is over the left basket. I’ll release it and then check the unobstructed table for any remaining objects.\"}",
  "call_id": "call_yXzl51BXJZrjREma4MU31cH5",
  "id": "fc_0847a71d2d32b4f3016ab465a1a67c87d08db1b7a83d5c7936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yXzl51BXJZrjREma4MU31cH5",
  "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]: [-0.2913, 1.9747, 1.6043, -0.5671, -0.3397, -0.2874, 0.9957, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5102 left_y=-0.0878 left_z=0.1314 left_yaw=0.1517 left_pitch=-0.3016 left_roll=0.1049 left_gripper=0.9957 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.0732 right_pitch=-0.2537 right_roll=-0.0202 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -13.1624, 5.9145, 1.2674, -0.1343, 0.1001, -0.188, -0.1983, -2.6872, 6.9949, 1.453, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8421c2e76fd01289c1f1d27f21391f7014dd0a8c2e394fba60ee3428e6fe409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d01b7c915b3f4ba45c61b999fcfbc606df790216d791092cc93a577f5d1f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d8a005e3c38f1cab2f5b40321655402d4a43741914da593fcd9b39fc44ffae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.8572, 1.84, -0.9222, -0.4393, -0.4244, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.4528 left_y=-0.1676 left_z=0.2355 left_yaw=0.0799 left_pitch=-0.2556 left_roll=0.0838 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -10.6051, 10.7282, 2.0293, -0.3639, 0.5006, -0.0122, -0.3487, -2.7282, 6.694, 1.4872, -0.0952, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3107, 1.9762, 1.6188, -0.5846, -0.3309, -0.3084, 0.1091, -0.0658, 1.0607, 1.0115, -0.7704, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5081 left_y=-0.0991 left_z=0.1334 left_yaw=0.1374 left_pitch=-0.3076 left_roll=0.0861 left_gripper=0.1091 right_x=0.3073 right_y=-0.002 right_z=0.2105 right_yaw=0.0732 right_pitch=-0.2541 right_roll=-0.0201 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -13.135, 5.6137, 1.2772, -0.2418, 0.1978, -0.0171, -0.1846, -2.6051, 6.9128, 1.4579, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 1.9747, 1.6043, -0.5671, -0.3397, -0.2874, 0.9957, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5102 left_y=-0.0878 left_z=0.1314 left_yaw=0.1517 left_pitch=-0.3016 left_roll=0.1049 left_gripper=0.9957 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.0732 right_pitch=-0.2537 right_roll=-0.0202 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -13.1624, 5.9145, 1.2674, -0.1343, 0.1001, -0.188, -0.1983, -2.6872, 6.9949, 1.453, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8421c2e76fd01289c1f1d27f21391f7014dd0a8c2e394fba60ee3428e6fe409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d01b7c915b3f4ba45c61b999fcfbc606df790216d791092cc93a577f5d1f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d8a005e3c38f1cab2f5b40321655402d4a43741914da593fcd9b39fc44ffae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWmqxuipIzVn6RrDDaah-aERXxLfxZXGDTJIua_NfoSpe9MzOQmbuKCZslj8hD6cepnq4q4IVpfkfvy5W422Ga_j3IucrFRALYbJIfVV-TP1OJgPsuEfBmUpsGXgKS0amMemi0Acg07LdO_YX4Na1-BAh_DqIodKEKPpXrs74pk6w29rMfiX8Mj261eSSHzTD8rXCK_JYXmAtKV0uPJyorGua9zr4OIKph5CV4ge1iTBrXtmNj60lHai8ezben335z0UY34i-cLRaud4o9DtFzEeYT2aOg1Iq6l_MviTUABgxYuyxEi-7H_-hIyt6T4IfG3vMgfVIk3qDKpXGpW5zEjTd8goH_n99L6DoFGzlLvX-9xac1I7DhYF-BFi05s1j0pmW-tIie8uGPxuks5X6kr56Z0s9bZY3d_MihVz9OkJP8MV67QUFUE_7SB2OEYxT_N6CWwv92oQDyDK_y3SlWByhLlpfIGQRwfJAVFpZZjuTgpRdqSX1hqkoS95JPiJY0CInkgJY3EiSoh3jIAH9H1qDbdvlH_3dmdyI1GfxmK1GhKwYfB-tP5P124hgbDC2itTkakvc-w1d0HJbP0wLNdS3hScFz-GdeyeLa4f5w97545ImclymNRrSrYtJ9qwLpYrkOYre2zEMvn8fYfPZWWeVMY5MCajCkHANPqLZoznty5NkeyL-qfrUIMkOZoLnyJ1XVWDb2NM3we1SAgsEB_ebIfltf1bXKMQaQxgBrNCS5-jRERlYFnsUvDB_4jwwVEsVz5J1y7NoEDzHlovYPVX4xDPhFKD_94f0g7TKcVaj1_i1dWnVs90ji0xcm3aLovBjsUoXFudc2uo0yV0mz5zqHJFPc8KPnA4TcDBDurnht9khuslbLLGajcGtvOXQBLEwKC1AhfQjTyjWLhlNsU-l-7MWFKdiqxJMORN67c149kH97fSjkdT3tsq1fUfMYS2AS35bPlS8WxWBScXnlB_QZGjVqqpZmoOUkvB4SOCX0tx0Rh_lyjvl7syD_HIbwZdH2Ii0tgDh87x6Jn_ZpIZZLCHBK7G-8ib883f5-AWNq4ytS0h3k9EAeHDrht6z7xfUwEaQG0vL9AWtWruTrFbQMjHko3F5ysZqgVaQFo9_pMYBjIiuJmotxpuG6ZylBSluQTqCsev-pW8SLqF4Pjq6iT21Bk_H4rO8q8tqoqu9yL0mBUklu7X9748YaIaT0yyJgzhPpeHorGEB2M49t66TYteIJZcXI4tBIMqJMoMqkYv55pKPNKTaeNJsBqpGRFGzkj1FpvYXTTqsX-zrgeK2kZzWVT1yF1pJ2qYiNWGDZmKxzqG6OqGce4V6x_PQsOVcVKDA5RrJoqFYnweo1iG8WclxvxC1b0MBY9uhiO_Cz-8Dy0u_UeQ4vvC1a7kSfr",
  "id": "rs_0847a71d2d32b4f3016ab465a4a9dc87d0a9b9797a332c3014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.09,\"left_z\":0.25},\"note\":\"The tan plush toy has been released, but it appears to be resting partly against the rim. I’ll lift and withdraw the hand to check its placement and see what remains on the table.\"}",
  "call_id": "call_gUUg56xfOhw4ho8anwFsj9eo",
  "id": "fc_0847a71d2d32b4f3016ab465a57aa087d0a9a88f8eba85e2f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gUUg56xfOhw4ho8anwFsj9eo",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4824, 1.4425, 1.43, -0.9867, -0.4278, -0.4442, 0.9967, -0.0658, 1.0653, 1.0107, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.0974 left_z=0.2368 left_yaw=0.1279 left_pitch=-0.3092 left_roll=0.0975 left_gripper=0.9967 right_x=0.3077 right_y=-0.002 right_z=0.209 right_yaw=0.0734 right_pitch=-0.259 right_roll=-0.0194 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.4598, 8.8137, 1.1941, -0.4274, -0.0757, 0.0855, -0.3761, -3.2479, 6.8991, 1.4823, -0.1148, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02509f5f31e77a73ee87575705f8710d158d2ca0322db64a25d5b4f824946a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a53650637a87a93a30d9e1299f7ae3d8dbbeeabd6d1fff34aad14584290ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb75c6c03c539fef13217ec778340b071ad788ac3d083e4b793bd0df34f0f68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4034, 2.0148, 1.7515, -0.6968, -0.3973, -0.3645, 0.1091, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1349, 0.9965]\nstate[eef_state]: left_x=0.5058 left_y=-0.1377 left_z=0.1539 left_yaw=0.132 left_pitch=-0.2947 left_roll=0.1069 left_gripper=0.1091 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.073 right_pitch=-0.2537 right_roll=-0.0199 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -10.4547, 6.188, 1.7509, -0.1001, 0.3541, -0.0122, -0.2393, -2.8376, 6.694, 1.4921, -0.1001, -0.0171, -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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 1.9747, 1.6043, -0.5671, -0.3397, -0.2874, 0.9957, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5102 left_y=-0.0878 left_z=0.1314 left_yaw=0.1517 left_pitch=-0.3016 left_roll=0.1049 left_gripper=0.9957 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.0732 right_pitch=-0.2537 right_roll=-0.0202 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -13.1624, 5.9145, 1.2674, -0.1343, 0.1001, -0.188, -0.1983, -2.6872, 6.9949, 1.453, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4824, 1.4425, 1.43, -0.9867, -0.4278, -0.4442, 0.9967, -0.0658, 1.0653, 1.0107, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.0974 left_z=0.2368 left_yaw=0.1279 left_pitch=-0.3092 left_roll=0.0975 left_gripper=0.9967 right_x=0.3077 right_y=-0.002 right_z=0.209 right_yaw=0.0734 right_pitch=-0.259 right_roll=-0.0194 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.4598, 8.8137, 1.1941, -0.4274, -0.0757, 0.0855, -0.3761, -3.2479, 6.8991, 1.4823, -0.1148, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02509f5f31e77a73ee87575705f8710d158d2ca0322db64a25d5b4f824946a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a53650637a87a93a30d9e1299f7ae3d8dbbeeabd6d1fff34aad14584290ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb75c6c03c539fef13217ec778340b071ad788ac3d083e4b793bd0df34f0f68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWyZJIxAWOBHeDYRZPmeXbScVO7ehXHVcGNH6oTKWuwkSL_dLJa4OS8o_alqwc5Ix5aClpCIulidm3mGPk4YvODu5XUfO3aY49vbC8A6581C2Sv1PKQ9nyBnTA-fqAICA7Ycl0Fhaw5m6YjIA-qTmKRKheyV3sO99TqSvXRac0jZkQnhZ3FY9BZZvui136QXXHxTbzvGL4ZIAfuQaKEKwSCDboPiXmBHTYja5Fjccut7x4GysfDWctvRt5W-SwBUBOlldeu1CymiKygRmH9GboH_bL_t8WfuqN-ChcFnmthmik7q7gRrUQOSV7t06Qj0bJNXcoOTT-nk5k4NgBkSzek2A2_Gcj6ttHWXsfsoLGinSWiek43sCIDtsC6qTV0k_HxMEBB7Hl4_pPwszHOkbvMLTiDk9FBadxjYBVM13aCW4qd3eKE7D3pdU_HcMpbk9_nqUqCl69FJeQwEoZcH3SE5T5cfxQ7zX-z25Y81dggOb76jPdlpw_aDB5B2PHfasCIpItkD2djcGy_PpYnN0I9XCeo9mMQ4MSZUbJfGwMt8Y2PcqwQo3yANfizKbn8a4YHDZoNSwkRf0hkNTPdmDa5Zu1P8-7OP4_tPQulhyuzX46IiLLDyWcCA_jRlmomdkVE8cQLcD2aDQwQk3DQLn7QKkCAiDPGr4RejZ9Mp_v3seWTIYxOMhC8sgEi-GW-fn55-Mhk96mcSfWWmv0dKY2DHE00IFap6CamOnlJIe5PRIIQ4AfPaG_uT3S-hIUqeAb2rYzQ4Ny8s64DJUbLg78qVc4Q2pdJBGsPAiLr3A6Wmtlc3lfG4vaWYl1LS206mzb8SMrr5q2K259xIuQyeHmO2thd4_83qhiIo1RxYh0u8P2TFBRtDu-tzDHV6fKTiSGXuVhqC6unFsbpV8ZLkTG6g9sCs4FXNLzZZsIBScGSyBMUmhUqSprazIzv4RhGOTwIlfzFAURFiJhTq3tYwkyriK-S1QAIKPmdadDa0b0N0mDgQsvUNnRu7xQFYMkVfD0U_MmFhwcoDENuRvnMZKoFmTS2EOszquuhsXYhi6bxb1l4jxs7WFcxzw0DdZ298fFMq9HHly__Ww620zuHC0k9U85VrQJgkf7LxSmgdlGIyVnvk0rm-oFxaK-LHDB0QYGps09u_Ty8foTrC-8gbyZU8yUIK67j6-0IHyAuXnyLBJjFCGKyHes9CmZkdbY_qd_07pL_ThW95ZgAjpZ97p0sj-ZfdRZ-1IRgGYBwnkDQvda2w8HRtZ7tGflhM73qXaarricy4DRLOQdHU0cJYsK1a4nFPP-1lXJv-lUgJc-YyhtUiqWkbR88-K-hHyOkUiY7tzgthh7NdKxppkw4FYd05JBYe3hnVPnP1GYjvacMZZ_ry4MA15-Y1ESdhuzySpA_oB4ieIAZiTVedP4xK1mgf65frjKaVA6T7ymC2Q4l9f1NdfFtfpDCGFArfkVg0_pU2luWRZ9wUF1FxSWzQ5jHb3XAvFqX_r85DdXSj0iJ6viLteRZ9UqunAAJRuhs5Z99emh_vke6XP6psyGc-lkebQYe4_0Av_sWFfp8HbzWf9PFpb5-Wbep79ZtWayhe2wdAA0qgIpWkSzq0VjvHQx-Ob2BV6W8x4hp6_cd4N9CSMQ58K8UTI1xQTxyMwuzWQmWG_cgfz4myw-nubJXj511YrNFfO3TrYeWcY7o1hKHXHNfPHNutWC7M5YjF2aJXLimBqRChZn9mqqQM69NSfqnQKLxsbwcLV7Aji0Td2sc_fQ9LV3RGCqV69UTCCsY-8nBSVMkBUgPzFACTnK4IE-Qd0CWHfaEZyg1hEDE-99-E9Eym_QLZF8E_9n0N6vLhhMhOe6d_mcOvY6hj_JbTRFKoFARPr6E89ID16PinAeuDlzBw6vAyxxP5f4NEbCmbvr3yafjmWWmOH4agoNq5SMCQdTWricLdGbdhfEDO746DEEFt9k48d_zQj4WQUNFkT7zwwn1LdIlgWHrS4fN2fcqAIvzMV3opq1R9HIdNQowihoTpth6qqHYvNEeRtJw1tlw8tL733cqmiUWtTxXNvQjRByWUub3PAdmqPKJSK-Ht5UHGBxBqdKrO14ODifuJkug4hwTIwpq30GHcqo-2MdoW9M6QnBV171fiSdqvbLZXmm6ewNaVjBS9GOFe4-HRO8o2iWijwuJRgNekLRnKeEuJyS845XCdcUrAl9bQzlmBVKazcpoUkaXSXppaVhOxVrxWl-yJt57_mb4yg7gL60ZQ9XiNgGTsmds_li90vJ4I23vWzhKj6p2WFvucuoMVSUXhSlkbfjAB29A93_1-z6BR44plrpo2iU3BFh949p8yG03uqz9u1J9A0WjbR-EkXyUzWETMyik5U1WdRaOFC4iXlgn7TK9l1mrZ0iv4vUtwreAeAu4cYrtvJjqDDSczjPGOaSldo83qGRCw7vnvqso4pAvbfuDqzr0CbFdysuwq5-SzHZ2772ZgWYuNp2Th-251HIKaOXovF-sf_DtKZji-j8EFfemhS4bId9Ea6daRPPMDdFIZJpSCTHTqEqoNcqc_c0rUk6-eYTCPRpLdYGN4CF7hCPY8Z9marf-d0MfckcAJT_46ASwmo5OTqxL80ggQXl-FyHKe4Zs-gU4WsHgjb8b9Hw18pD0fNP_B5xdHbtIqBc8MNu7jzxT7SAm4tOW9OORg1hK66fgx3IUq7bXpvGpA6w5_8pTziaAYUmjt7t7Qst7h0BtTy_OHAXvI8n9ERTJ6J0Mqf0o8clxqlex_MS3p-y0dFCrQg5GicYm5VejOYB9X7OLB7xDFREPYEyrax0d2sdKOmsYZk4QMVATc65peVhhp-dx8p-BdTK5aLz8jb-HpvsGqVDWUaJbZvEUvlhj3t08lZvACtSQO2E-Oc2YmBm7fC-dDOvpkyeNUsSjuRM1sgecFy-Epb7S_6JDXbZW6XCLnnAJfPUiExyUfrFRnToiKGFySMjcr1Dlop86kRkC0U-t5vPA6ecLMAwsCN1KqwWofYnJkk07HZH-38Qpq_QGgL9w44EmMroQIVVN6wDdueDd2AskHYjwxao7aq_umFZ-iHx_yfJa7D5MetIqnoT2D1mvOA805nKboAd84P0-LfUsfz_wCWvhL6IOyT2kWR2QLRbWJNHbA4SiyqRx6hIw8LwAS_P3ghKkJ1OvMWa8Q56TiiIdM0oPiz1oR1RL7InfGeYjX9jr62ZcKQ==",
  "id": "rs_0847a71d2d32b4f3016ab465aa1bcc87d09848a8a4fe7fc4a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.245,\"left_z\":0.065},\"note\":\"The unobstructed view confirms that the large tan toy is mostly outside the left basket; a small brown toy and a yellow pen also remain on the table. I’ll first regrasp the large toy by its body to correct its placement.\"}",
  "call_id": "call_oOT1ybjYCNpELpu6onhUxJLz",
  "id": "fc_0847a71d2d32b4f3016ab465b1255c87d08ba7c2be07545567",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOT1ybjYCNpELpu6onhUxJLz",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7151, 2.0262, 1.4899, -0.5419, -0.5201, -0.683, 0.9967, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4246 left_y=-0.2477 left_z=0.0788 left_yaw=0.1118 left_pitch=-0.3051 left_roll=0.054 left_gripper=0.9967 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -8.4308, 6.9812, 0.6716, -0.4274, 0.3443, -0.0024, -0.1846, -3.0701, 7.0359, 1.4774, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f1730d5b0fe5baa8fb5e6508c5a46f4444771cbabc69a3a8540e68d7d4eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d61c1d1904a4e52f347d6e64485bf21b22190d61ef8edc1e582b6b50f7ea92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282d6be9eef1a6776ef78b5f72c941d7e318ac6a182e89202a5cc734c0bd5d9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 8.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3107, 1.9762, 1.6188, -0.5846, -0.3309, -0.3084, 0.1091, -0.0658, 1.0607, 1.0115, -0.7704, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5081 left_y=-0.0991 left_z=0.1334 left_yaw=0.1374 left_pitch=-0.3076 left_roll=0.0861 left_gripper=0.1091 right_x=0.3073 right_y=-0.002 right_z=0.2105 right_yaw=0.0732 right_pitch=-0.2541 right_roll=-0.0201 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -13.135, 5.6137, 1.2772, -0.2418, 0.1978, -0.0171, -0.1846, -2.6051, 6.9128, 1.4579, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4824, 1.4425, 1.43, -0.9867, -0.4278, -0.4442, 0.9967, -0.0658, 1.0653, 1.0107, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.0974 left_z=0.2368 left_yaw=0.1279 left_pitch=-0.3092 left_roll=0.0975 left_gripper=0.9967 right_x=0.3077 right_y=-0.002 right_z=0.209 right_yaw=0.0734 right_pitch=-0.259 right_roll=-0.0194 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.4598, 8.8137, 1.1941, -0.4274, -0.0757, 0.0855, -0.3761, -3.2479, 6.8991, 1.4823, -0.1148, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7151, 2.0262, 1.4899, -0.5419, -0.5201, -0.683, 0.9967, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4246 left_y=-0.2477 left_z=0.0788 left_yaw=0.1118 left_pitch=-0.3051 left_roll=0.054 left_gripper=0.9967 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -8.4308, 6.9812, 0.6716, -0.4274, 0.3443, -0.0024, -0.1846, -3.0701, 7.0359, 1.4774, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f1730d5b0fe5baa8fb5e6508c5a46f4444771cbabc69a3a8540e68d7d4eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d61c1d1904a4e52f347d6e64485bf21b22190d61ef8edc1e582b6b50f7ea92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282d6be9eef1a6776ef78b5f72c941d7e318ac6a182e89202a5cc734c0bd5d9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGW2NC418atGzQ3BWRhT6mLP4lAcafqGxMiLni5QVVJtlJZ4Ff1ale3fnUtA6ZKuBPUaS2g3Li50LkNf3xbLboOe0ZKB5krutf4qW7QOsFFZahOBoLWNerFVDHydZnut2Ti52a1ld_yScbIdH9ZMP1exSU2SQkD9C99_3Eqj-b5wLukJsXVkM2Csy6FVaLmf2aeJN3262g37UDdFBYL0F1v23Bd-7gmrWx2OkUap5tQHlWKxhI4PXdrlmE1tUha13MAkWCRyL-ofTo5vxsTtb3OpfoMlfLHhouNw-g0hZl5l1ivmoem61GcoqPi8NwXi-2pShgboEYQriBNcLyW0LcifSRyPyY93PAVQTlpSSOgcXKSzpsz0EYQIq8fjLQJQBY0jT_umOnKrXWseBZfdlf6_V9_swKvPYT4K0omR8ejfxxP-P1OpSxQ-uBEXq1Ek-oi4bpOATHufARh8lHM-oGaqEqTkec-iBvGzerslRU1BN2baji-Fs7khcA0QoCFWAE5m5LhyC5GSDMVnv-s690VJgn7Ptrb62RHp7LinVIc0x9hyYNEhtSikxQCOqvJ8vuXqmwacdXBLBXErbkSa0n2N2epgbJqfqWcVc2HLYNkjeGJ58wmBLtVkqR9fz-gegTALaCtwgo-1jgpzoblIgVCrBofIqzq9eonIea7g41YSu0cnJjoidTVVFvBVSiuDaIfD805r6KBcII9tzb0YGwG8tNExWtJNSlBAzLqVJXMEDNUYfbCRA8Sr5dJsprTlggYJ8qkSYFl82257wyeZVJ0zNjvqiCP_3c_5dZbcq_fqYTFxVzqDFopUHUwj0VBbWb3-LEUUeqiFjdXc1t4sR6AOrXdS74zVaOo3OgeYm75ayF_cQ7gVHo0OKNTTHX_ydWookZEW2fwzfAXsditaUPb2tlLaKaDJSm_3B197zsdNxYAXsDfMS6nlb20DKsCRk1RNhcGF7yQwwnnlmLKilOpcmZ30r6-dzCMl1z5VV7jOjf0uRPuc_MH5r0AdRP6SXc7EQaCh5XdfeR3xlqfaWMMISnVi3VeWh73gdEvuUyplqgUtC2l-56V1VfUTweyhins8MJQgHJGp2TzZyt1UPNr45GKJxk96sJBdL5Yw020A7gXjibm5GCrc_GJqx84ZaCtCzgfYkiDV7hLLSZ3vqFutCkQrjt1-yONM6w1zq3sRyP_PT3i3QrPWIz78WSvXrlWcedC73keM2mZjJa_qTpWuNw==",
  "id": "rs_0847a71d2d32b4f3016ab465b515ec87d0984c7e8262a3b387",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are now around the large tan toy’s torso rather than its thin extremity. I’ll close to obtain a more centered grasp.\"}",
  "call_id": "call_5bBntrCXzwpe8N7vi58oDhx6",
  "id": "fc_0847a71d2d32b4f3016ab465b5440887d0a680eab9fbd64472",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5bBntrCXzwpe8N7vi58oDhx6",
  "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]: [-0.7254, 2.0457, 1.4979, -0.503, -0.5167, -0.7074, 0.1056, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4286 left_y=-0.2586 left_z=0.0764 left_yaw=0.1067 left_pitch=-0.2882 left_roll=0.0141 left_gripper=0.1056 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -12.588, 5.6957, 0.7497, -0.3248, 0.1636, 0.8376, -0.253, -2.6872, 6.6803, 1.4872, -0.0952, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487cc68d97ea60a37ad58879c554061fb9a11c213941968b02e04e8dcb86dded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c447799031368ab59f2145dc642696ced36dcb0a64c8fefacafeb59257b2bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73abe4128cec57452cb8d431c3646194205f436c55cb13d658e87341a01a022",
      "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 37 attempt 0 · /responses · status 200 · 4.467 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 1.9747, 1.6043, -0.5671, -0.3397, -0.2874, 0.9957, -0.0658, 1.0607, 1.0115, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.5102 left_y=-0.0878 left_z=0.1314 left_yaw=0.1517 left_pitch=-0.3016 left_roll=0.1049 left_gripper=0.9957 right_x=0.3074 right_y=-0.002 right_z=0.2106 right_yaw=0.0732 right_pitch=-0.2537 right_roll=-0.0202 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -13.1624, 5.9145, 1.2674, -0.1343, 0.1001, -0.188, -0.1983, -2.6872, 6.9949, 1.453, -0.1001, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7151, 2.0262, 1.4899, -0.5419, -0.5201, -0.683, 0.9967, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4246 left_y=-0.2477 left_z=0.0788 left_yaw=0.1118 left_pitch=-0.3051 left_roll=0.054 left_gripper=0.9967 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -8.4308, 6.9812, 0.6716, -0.4274, 0.3443, -0.0024, -0.1846, -3.0701, 7.0359, 1.4774, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7254, 2.0457, 1.4979, -0.503, -0.5167, -0.7074, 0.1056, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4286 left_y=-0.2586 left_z=0.0764 left_yaw=0.1067 left_pitch=-0.2882 left_roll=0.0141 left_gripper=0.1056 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -12.588, 5.6957, 0.7497, -0.3248, 0.1636, 0.8376, -0.253, -2.6872, 6.6803, 1.4872, -0.0952, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487cc68d97ea60a37ad58879c554061fb9a11c213941968b02e04e8dcb86dded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c447799031368ab59f2145dc642696ced36dcb0a64c8fefacafeb59257b2bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73abe4128cec57452cb8d431c3646194205f436c55cb13d658e87341a01a022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0847a71d2d32b4f3016ab465b90d6087d0922b9c0137888ac1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.24},\"note\":\"The toy is caught in the jaws. I’ll lift it clear of the basket edge before shifting it inward.\"}",
  "call_id": "call_GuGz1m02En6AoHypkbE1jjPP",
  "id": "fc_0847a71d2d32b4f3016ab465bebedc87d09740b685d0320453",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GuGz1m02En6AoHypkbE1jjPP",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7242, 2.0617, 2.1178, -1.1393, -0.4892, -0.7456, 0.1064, -0.0658, 1.0672, 1.0061, -0.7742, -0.083, -0.1356, 0.9965]\nstate[eef_state]: left_x=0.4256 left_y=-0.2608 left_z=0.2189 left_yaw=0.1186 left_pitch=-0.3275 left_roll=-0.0032 left_gripper=0.1064 right_x=0.3065 right_y=-0.0019 right_z=0.2058 right_yaw=0.074 right_pitch=-0.2695 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -10.7009, 8.841, 1.326, -0.5543, 0.3883, 0.8083, -0.2256, -2.865, 6.7214, 1.4579, -0.1001, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae242bf518c1d4e94263dba3a2c693951574d4962a6643277422e937cdaef89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caa15dd14bc0cbfb637eca979c74611dc5c9a192781058d786f606b1edc070b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ec1419a52cbee2163d43020929e2067b21381ba20c9b654bcde3496d8d34c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.118 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4824, 1.4425, 1.43, -0.9867, -0.4278, -0.4442, 0.9967, -0.0658, 1.0653, 1.0107, -0.77, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.0974 left_z=0.2368 left_yaw=0.1279 left_pitch=-0.3092 left_roll=0.0975 left_gripper=0.9967 right_x=0.3077 right_y=-0.002 right_z=0.209 right_yaw=0.0734 right_pitch=-0.259 right_roll=-0.0194 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.4598, 8.8137, 1.1941, -0.4274, -0.0757, 0.0855, -0.3761, -3.2479, 6.8991, 1.4823, -0.1148, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7254, 2.0457, 1.4979, -0.503, -0.5167, -0.7074, 0.1056, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4286 left_y=-0.2586 left_z=0.0764 left_yaw=0.1067 left_pitch=-0.2882 left_roll=0.0141 left_gripper=0.1056 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -12.588, 5.6957, 0.7497, -0.3248, 0.1636, 0.8376, -0.253, -2.6872, 6.6803, 1.4872, -0.0952, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7242, 2.0617, 2.1178, -1.1393, -0.4892, -0.7456, 0.1064, -0.0658, 1.0672, 1.0061, -0.7742, -0.083, -0.1356, 0.9965]\nstate[eef_state]: left_x=0.4256 left_y=-0.2608 left_z=0.2189 left_yaw=0.1186 left_pitch=-0.3275 left_roll=-0.0032 left_gripper=0.1064 right_x=0.3065 right_y=-0.0019 right_z=0.2058 right_yaw=0.074 right_pitch=-0.2695 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -10.7009, 8.841, 1.326, -0.5543, 0.3883, 0.8083, -0.2256, -2.865, 6.7214, 1.4579, -0.1001, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae242bf518c1d4e94263dba3a2c693951574d4962a6643277422e937cdaef89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caa15dd14bc0cbfb637eca979c74611dc5c9a192781058d786f606b1edc070b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ec1419a52cbee2163d43020929e2067b21381ba20c9b654bcde3496d8d34c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGXEeObwJd53zh16DJVH4VDgDBrchGeqoWbgbVrfpxeqJKcJ5oU4GyVZxdkJ1d249V5UpvuqHwmsQSNroTYWK0xnLgnT4emTV_-IjW6E_amZxjaCFavSiPTAMOWZJm_yWqNfWETly3ikfXHXK_zXSxhyw-XuKbmqS_mIBSrv9EEFkpLtfZ_mFTwhEbS15zIsE1V1cdNXMC2saz2xaPoVqudvJlHFE3glUZtxotkQQgTDlGqCQ1fitsXAKJlWOc6cMYmiGw_Kfmz2ESaTzSDaFKLU-Qz6V5VuG5-bD6zc9sqG5iW4ieBvIFHeZ9UKOAEWRnt0r_uK3-vfV_7QekjtVb1TeRgcmPcy5ULu1lAlm1WJ5Sl_xat7NUtcYJjsyaZcmVQ4mA0C-XcTjKAd6vgk1DfnmkSDibuQtXfq6AGFu6-No-FvzDqDU9buusDfBN7EtnymMIJwhKP3TmeP6DmlCPjsboEZxHlknVxKSysz76AyQarhKp5NIJ7LVR9YpwZL0kvoLguGnncWjntti0vV66AGjASvJTrxqdhJFx8DLTIrCl_OlujX38T-KYnAfOg2-efUKZ1lZMvGwJ5QYLI6pJ2OEPvIz1SycMa8PZLTP4equrz0LDFdzaOmPZWRqvWEojwYcgZnWS7D81Gus9bePnS3L20VQ8EHe4WE0ONjZglaFZpmh2lnnxNwDhvcg7Vk2l0lTnPoCIEgWani1HJLd35PbA8I9JLWH1A1cdVzROKJMxa-KZztTOg4w9pKz3vgpkmx-VdbKhD_JYrzAy6ww0yAsyz5qEPu3YPgA0h3Yo_GFyaQeQ7xXrdwUpG2EE3neG8KJJCN8JEN6PGfPNfz-lCRPVV44ET3hHHR4XYQhH0oMOav8rPZ9MoCMQcX9fIPNLYVCEF4lJe05VgIyt0E3EYPGVD7hYx1A0Uxw12Jx8WvpiiFppo3CX8dnPA_urYRSQfBGRt_xA2G5qECBQy6waPI3xM2vgL78cEzl5HaoQJH_klvGV9eVsHhaEvNf3gom3Ye7Mm-qdamLaT0IQwKyHDvU1D-QdhdEEM-BF6HMxqw4TtUs83MwCT-Byyrc1Kvc5gTpqUNmOE1Xn_aOYa0obgb5wLBsb25Ennz_m1dNaPUeH3KtRCSROzcMTaOLpJj4GcVbg1iFPDtSyH9htFpkMTU-UvgxIg5Efw5grtrlQaRrLbdeoHkMKWpGkbbyUBwGrvhJyEhk3ZCQq7rD1l9Yy3zJVLq91gsZqdwhwio22eiwornCxUqGD9lBWiKCHIh5HSwtiznqaSOa3cBX7nUK8CZt-oyhsF8UR2Q6JGM9jY2rSqJJ1xkbi8gG2WhvBSceG9hDYdMRuJk5nnZi95uQfo7XrQFeAJPg9r10OfofYLO0WuiJbzEhJNbqOZHDa2LfaVqLjiNqEZCv8MDfHNYKrzXlKPg2NYyctT28jZDNKTzJsaen0CbvdupkEF_DN0306zSf-Zt4YETtqNRahw-5hpgemXsjgbrfGw0oAyjlfVW79AWKa4tANGOljxCK4b8vuGKG84dzRhW6g6-XgpfvY2F3CcLbJatZB-iKCgaHDZPq-ksdbk5XPRlv-o4RrY4PBDVVVSb5A3eMmoPmuMLa0y3Zl8CghVXz8DUr8BCTcEUsrmDJSSiU88JbD27_HXmiobO-xxD11dipScpn2eOG2yuPP1mn_1V70zpLvpI4LNtwgYoiftW2CN4YLHczxGtETNv00aFuVhV8LFe3-hv1H7V0n-udTRZa80O5SNaY3CgxGhh5_Tyw4prGcuK22e3qYlJYt-GqYJYXm0RPzwVqeWTJfK811E1nASpe2zICCaGX9M=",
  "id": "rs_0847a71d2d32b4f3016ab465c1d12c87d0b432bec755ded5d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.115,\"left_z\":0.19},\"note\":\"The toy has lifted clear. I’ll shift its body left over the basket opening, accounting for how far it extends forward from the grasp.\"}",
  "call_id": "call_DzHrqhrzE3wbfTkJb8VB6ozh",
  "id": "fc_0847a71d2d32b4f3016ab465c40c6c87d08f2ff0b801eeb262",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DzHrqhrzE3wbfTkJb8VB6ozh",
  "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]: [-0.4061, 1.7412, 1.5105, -0.8173, -0.3119, -0.4782, 0.1086, -0.0658, 1.0679, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4233 left_y=-0.1191 left_z=0.1683 left_yaw=0.1424 left_pitch=-0.403 left_roll=0.0157 left_gripper=0.1086 right_x=0.3067 right_y=-0.0019 right_z=0.2057 right_yaw=0.0738 right_pitch=-0.2699 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -11.6308, 6.8855, 1.5409, -0.2515, 0.105, 0.4567, -0.0342, -2.8103, 6.8444, 1.4579, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc8ebdb39239a6b37bd222501c5cc47d948cc0686e21ded5a8ff6a80a9d28d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5bb4ae1383679c2d64adc1f199491a1a2ad4ae90b741067b3c83169f73510e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dc6e9db22bd01de6e41c02de47e014f2ea4c37978c01924aef4f9ae6767f8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.376 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7151, 2.0262, 1.4899, -0.5419, -0.5201, -0.683, 0.9967, -0.0658, 1.0672, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4246 left_y=-0.2477 left_z=0.0788 left_yaw=0.1118 left_pitch=-0.3051 left_roll=0.054 left_gripper=0.9967 right_x=0.3066 right_y=-0.0019 right_z=0.2059 right_yaw=0.0738 right_pitch=-0.2692 right_roll=-0.0179 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -8.4308, 6.9812, 0.6716, -0.4274, 0.3443, -0.0024, -0.1846, -3.0701, 7.0359, 1.4774, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7242, 2.0617, 2.1178, -1.1393, -0.4892, -0.7456, 0.1064, -0.0658, 1.0672, 1.0061, -0.7742, -0.083, -0.1356, 0.9965]\nstate[eef_state]: left_x=0.4256 left_y=-0.2608 left_z=0.2189 left_yaw=0.1186 left_pitch=-0.3275 left_roll=-0.0032 left_gripper=0.1064 right_x=0.3065 right_y=-0.0019 right_z=0.2058 right_yaw=0.074 right_pitch=-0.2695 right_roll=-0.0181 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -10.7009, 8.841, 1.326, -0.5543, 0.3883, 0.8083, -0.2256, -2.865, 6.7214, 1.4579, -0.1001, -0.0659, -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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4061, 1.7412, 1.5105, -0.8173, -0.3119, -0.4782, 0.1086, -0.0658, 1.0679, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4233 left_y=-0.1191 left_z=0.1683 left_yaw=0.1424 left_pitch=-0.403 left_roll=0.0157 left_gripper=0.1086 right_x=0.3067 right_y=-0.0019 right_z=0.2057 right_yaw=0.0738 right_pitch=-0.2699 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -11.6308, 6.8855, 1.5409, -0.2515, 0.105, 0.4567, -0.0342, -2.8103, 6.8444, 1.4579, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc8ebdb39239a6b37bd222501c5cc47d948cc0686e21ded5a8ff6a80a9d28d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5bb4ae1383679c2d64adc1f199491a1a2ad4ae90b741067b3c83169f73510e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dc6e9db22bd01de6e41c02de47e014f2ea4c37978c01924aef4f9ae6767f8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGXJ27k-JBKX-OFP0yoyz3Nw7_nx1e7Tf3nk17dGiwYPyCBZp7XGqHatNIr6W6ciacJJD5bGy0kh4oTrHM7eaMKoyb5h0HMd5Y7BUp53-KAdS65GnNQvCkw8BKqUXHL-6hj7AfV6bySl8c4BaI1bk2UCxkm5S0Un800oHejeyYfM0PpwXKW-z40ucpWs_wOMfNFekAQ8udnQT2djV-so6kZNduTjwrqhNczrphSYobN5BV9TFfa3AiUE0_-ipKumO2-Dkuin17kr2KxteAWHGKH5yuSnIPdyunlQr-A73t8QzxvBPQcgcL9inygXFGvbINym9i05x1M8wf-_fsBW-XMxTVUE7v-C35l0lUF3mQT8sscofip4BMxx9kH4YippQsndRwb6n-gmT-20j9jKPHdZpS2W1WuAkaxJcah1CHURRG1MqQUoAuysoPudoMw2_BvyDtHbQ04mtc58ZuZiTA86LIdfPTRgA8g5YPsGs01-1b-5DkgS4I4ddHCw5WfSuKBiE2Ar9LGJSB9vSOA19L3JXqsiDNW38lQ9oPB_dNiQg6NNEFNwS3GmMptdmAt4D4vAWvWqRJlwgdnNsvoX8KeeZrED2gRgSV4eZqDnkzWHyeKy4VsL3RxUHlXPJPqMs12jQKNVGLT_1tI9ML2PZO0p1dyCKz14YjCTAZ-Wf2Pwi9sF6I0DiuJ3-rtA72HMgtvG7GOLa0JjI27tXI-O6ur4QHA33E6vczAV8rXJO01_fcgF_eJzohEFklQ1CvluN8XHfOgKpm1zOW8y5N9ZQyYU1S5WXPhQB04Nv8zkeJU4XOjN9aGQTd8MZTF39-cvb-2FhyQT9aS7mM85_86Y37cfUSdEkkWtP5bnzuo2NWYmes9JLCq9gaM8mf1kdjdBQyCOXPwwb1pTQuvtQ42FWZvFitooOprvqM-sXkAhuRPRQJ_ipOThPSp5ZrtMN0g7fGMRNtza9voDMNbj72RNeuwWkSGCdgABNIv1uS49NqPpDtM-Yn-dMob44cQq3k5ypCaU_ZqQwmgqWoJVosLVTQ-382M0G3OQyXUpIEmzWb3poFinTZyTHhXmlrLbDB56qlc0s3CLq1Z24cYQUwCXXvvF8SSVfp5EukuM3yIS24tY4baiex26vPZ0cukqNmFG53MZvW0FPCyVEmDO3ADFkqyJsA1k4mXYyAuB4ZL0yqw29oAminivLBsYjERUi7Yuw6b8cL-eJj8f58WJhhUg0SFMqyjDqei1130yTaYkOG6OUt7IPjvuRpisAS1V6wqfzzLwuxUePAPM8mW9BfRga5461LwZoR9Esso5Jr6TYNXBRi2NE1Xqhb27gNoNwJTlj6-Yvf_2ibhYkLVbC40b3bJA0tDwNFCr0EuPZxUZ8fDBJb8=",
  "id": "rs_0847a71d2d32b4f3016ab465c78d3487d0834a74c60c2cd098",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The large tan toy is now aligned with the left basket opening. I’ll release it there; the small brown toy and yellow pen still remain unsorted on the table.\"}",
  "call_id": "call_fxfjrGGq2Y4WqtUZ36X4CWbd",
  "id": "fc_0847a71d2d32b4f3016ab465c871b087d08edcceac06f06506",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fxfjrGGq2Y4WqtUZ36X4CWbd",
  "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]: [-0.4046, 1.7374, 1.4963, -0.8227, -0.3096, -0.487, 0.9953, -0.0658, 1.0679, 1.0061, -0.7738, -0.083, -0.1352, 0.9965]\nstate[eef_state]: left_x=0.4195 left_y=-0.1172 left_z=0.1639 left_yaw=0.1507 left_pitch=-0.4172 left_roll=0.0174 left_gripper=0.9953 right_x=0.3067 right_y=-0.0019 right_z=0.2057 right_yaw=0.0738 right_pitch=-0.2699 right_roll=-0.0178 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -8.2803, 7.6103, 1.2186, -0.2222, 0.0366, 0.022, -0.3077, -2.7419, 6.6667, 1.4432, -0.0659, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62bd6fa1c333a788cc47e318e751ca5f658195ddd95bb60c73eecfd744ab41d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5562f21de7e17c74fd3ebb440ba3a30b036e48dd8f39c481a73936413afe651d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d37922766f25760986cd899efcfc5f04b4d5f14967712fdaeca6545d67ce6c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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