adhoc

completed
2026-09-23T22:56:53.985479+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
303.6 s
total steps
454
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and long marker-like objects, with two empty baskets behind them. I’ll put the plush animals in the left basket and the markers in the right, starting with the nearer brown plush.
move_to
left_x0.2900left_y-0.2200left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3798, -0.0216, -0.033, 0.9996, -0.0154, 0.7975, 0.6106, -0.3737, -0.0128, -0.0162, 0.9992] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5812, -1.4154, 9.5385, 1.7607, -0.0171, 0.1734, -0.0611, -0.7043, -1.5795, 9.7846, 1.7411, -0.0904, -0.022, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.22,"left_z":0.16,"left_gripper":1},"note":"I see plush animals and long marker-like objects, with two empty baskets behind them. I’ll put the plush animals in the left basket and the markers in the right, starting with the nearer brown plush."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe wrist view shows the brown plush just left of the jaws, beside the larger beige plush. I’m shifting slightly left and lowering around the brown plush’s body.
move_to
left_x0.2650left_y-0.1800left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0126, 1.388, 0.8692, -0.3874, -0.7822, -0.7345, 0.9995, -0.0193, 0.7986, 0.6086, -0.384, -0.0124, -0.0162, 0.9992] state[eef_state]: left_x=0.2861 left_y=-0.2164 left_z=0.1486 left_yaw=-0.0129 left_pitch=-0.028 left_roll=0.0143 left_gripper=0.9995 right_x=0.2951 right_y=0.0001 right_z=0.18 right_yaw=-0.0041 right_pitch=-0.0134 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.4855, -5.1624, 9.1145, 1.2527, -0.5299, 0.0464, -0.0611, 0.2667, -1.306, 7.2137, 1.8144, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.18,"left_z":0.035},"note":"The wrist view shows the brown plush just left of the jaws, beside the larger beige plush. I’m shifting slightly left and lowering around the brown plush’s body."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe open jaws are around the brown plush’s lower body. I’ll close gently through the normal gripper command and check whether it is securely held.
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]: [-1.0092, 1.4914, 0.448, 0.1463, -0.7864, -0.7414, 0.9995, -0.02, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.2664 left_y=-0.1819 left_z=0.0415 left_yaw=-0.0033 left_pitch=-0.0202 left_roll=0.0026 left_gripper=0.9995 right_x=0.2952 right_y=-0.0002 right_z=0.1791 right_yaw=-0.0052 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [0.1983, -4.0684, 4.8889, 1.1746, -0.2466, 0.1245, -0.0122, -0.1162, -1.5111, 7.0359, 1.7216, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws are around the brown plush’s lower body. I’ll close gently through the normal gripper command and check whether it is securely held."})
tool
executing move_to over 10 steps (1.0s)
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 gripper has stopped above its empty-close width, suggesting it caught the brown plush. I’ll lift it a few centimetres to confirm before carrying it.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.005, 1.4994, 0.44, 0.1589, -0.7868, -0.7418, 0.1105, -0.02, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.2665 left_y=-0.1796 left_z=0.0385 left_yaw=0.0014 left_pitch=-0.0218 left_roll=0.0054 left_gripper=0.1105 right_x=0.2952 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [-0.6496, -5.4769, 5.6, 1.1648, -0.398, -0.0073, 0.7839, -0.0342, -1.3197, 7.2684, 1.7411, -0.0464, -0.0269, -0.0122] 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":{"left_z":0.1},"note":"The gripper has stopped above its empty-close width, suggesting it caught the brown plush. I’ll lift it a few centimetres to confirm before carrying it."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe brown plush rose with the jaws, confirming the grasp. I’m carrying it above the left basket with extra clearance for its dangling body.
move_to
left_x0.4800left_y-0.1700left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0046, 1.3132, 0.5613, -0.1646, -0.7788, -0.7418, 0.1127, -0.02, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.2643 left_y=-0.1779 left_z=0.0885 left_yaw=-0.0029 left_pitch=-0.0357 left_roll=0.0155 left_gripper=0.1127 right_x=0.2952 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [-0.0615, -5.2034, 7.9795, 1.16, -0.4176, -0.022, 0.2222, -0.1436, -1.2103, 7.0632, 1.7558, -0.0708, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.17,"left_z":0.26},"note":"The brown plush rose with the jaws, confirming the grasp. I’m carrying it above the left basket with extra clearance for its dangling body."})
tool
executing move_to over 17 steps (1.7s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe brown and beige plushes both appear to have lifted together. I’m moving them farther inside the left basket and lowering them over its opening before release.
move_to
left_x0.5500left_y-0.1300left_z0.1900left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4828, 1.7748, 1.6093, -0.5838, -0.4026, -0.3134, 0.1141, -0.02, 0.8078, 0.6067, -0.3916, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.4726 left_y=-0.1655 left_z=0.231 left_yaw=0.0079 left_pitch=-0.1136 left_roll=0.0429 left_gripper=0.1141 right_x=0.2944 right_y=-0.0002 right_z=0.175 right_yaw=-0.005 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [-0.3761, -10.3453, 10.0991, 1.9023, -0.2418, 0.105, 0.1441, -0.1299, -1.7026, 7.2, 1.8193, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.13,"left_z":0.19,"left_pitch":0.2},"note":"The brown and beige plushes both appear to have lifted together. I’m moving them farther inside the left basket and lowering them over its opening before release."})
tool
executing move_to over 11 steps (1.1s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent notePart of the plush load still hangs over the basket’s right rim. I’m shifting it left and lowering it slightly so it settles inside rather than beside the basket.
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]: [-0.3576, 1.8847, 1.3357, 0.0708, -0.3729, -0.1539, 0.1164, -0.02, 0.8097, 0.6067, -0.3923, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.5392 left_y=-0.129 left_z=0.1787 left_yaw=0.0231 left_pitch=0.1208 left_roll=0.0481 left_gripper=0.1164 right_x=0.2944 right_y=-0.0002 right_z=0.1744 right_yaw=-0.005 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [0.5402, -9.7026, 6.4205, 2.0, -0.1099, 0.2076, 0.2125, -0.0615, -1.4838, 7.0085, 1.6728, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.09,"left_z":0.14},"note":"Part of the plush load still hangs over the basket’s right rim. I’m shifting it left and lowering it slightly so it settles inside rather than beside the basket."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe brown plush is now lowered into the left basket. I’ll open the jaws to release it, then move clear to check where both plushes settled.
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]: [-0.276, 1.8954, 1.2049, 0.2146, -0.3107, -0.1299, 0.1177, -0.02, 0.812, 0.6067, -0.3927, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.5384 left_y=-0.0926 left_z=0.1435 left_yaw=0.0398 left_pitch=0.1125 left_roll=0.0421 left_gripper=0.1177 right_x=0.2945 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0055 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [0.1436, -9.9487, 6.0923, 1.9023, -0.0611, 0.1148, 0.1245, -0.1026, -1.5111, 7.1179, 1.7314, -0.0464, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is now lowered into the left basket. I’ll open the jaws to release it, then move clear to check where both plushes settled."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe brown plush is inside the left basket, but the beige plush settled on the table beside it. I’ll move above the beige plush to pick it up separately.
move_to
left_x0.5100left_y-0.2200left_z0.2200left_pitch0.1500
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]: [-0.2649, 1.8984, 1.1889, 0.2306, -0.2897, -0.1192, 0.9954, -0.02, 0.8139, 0.6067, -0.3927, -0.0116, -0.0166, 0.9992] state[eef_state]: left_x=0.5377 left_y=-0.0899 left_z=0.1377 left_yaw=0.0273 left_pitch=0.1064 left_roll=0.0434 left_gripper=0.9954 right_x=0.2947 right_y=-0.0003 right_z=0.1731 right_yaw=-0.0053 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.0205, -10.1128, 6.3521, 1.9853, -0.2076, 0.0562, -0.1392, -0.0479, -1.4701, 7.1726, 1.7118, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.22,"left_z":0.22,"left_pitch":0.15},"note":"The brown plush is inside the left basket, but the beige plush settled on the table beside it. I’ll move above the beige plush to pick it up separately."})
tool
executing move_to over 12 steps (1.2s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe beige plush is centered in the wrist view beside the basket. I’m lowering the open jaws around its torso, using a slight forward tilt at this longer reach.
move_to
left_x0.5200left_z0.0550left_pitch0.2500
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]: [-0.5816, 1.8992, 1.4731, -0.0895, -0.5552, -0.2642, 0.9967, -0.02, 0.8146, 0.6067, -0.392, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.5083 left_y=-0.2185 left_z=0.2069 left_yaw=0.007 left_pitch=0.1316 left_roll=0.0425 left_gripper=0.9967 right_x=0.2948 right_y=-0.0002 right_z=0.1731 right_yaw=-0.0052 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.2803, -9.7162, 9.3607, 1.6923, -0.2564, -0.0659, 0.1099, -0.0889, -1.1419, 7.0906, 1.707, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_z":0.055,"left_pitch":0.25},"note":"The beige plush is centered in the wrist view beside the basket. I’m lowering the open jaws around its torso, using a slight forward tilt at this longer reach."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe jaws are against the beige plush, and the descent stopped just above the requested height. I’ll close here rather than press farther down.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.58, 2.1803, 1.19, 0.6338, -0.5804, -0.1902, 0.9967, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.5235 left_y=-0.2229 left_z=0.0807 left_yaw=0.0071 left_pitch=0.268 left_roll=0.0321 left_gripper=0.9967 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [0.253, -8.8957, 3.5624, 1.3504, -0.1099, -0.149, -0.0073, -0.212, -1.4974, 7.2274, 1.7363, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are against the beige plush, and the descent stopped just above the requested height. I’ll close here rather than press farther down."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe gripper retained a substantial opening on the beige plush. I’ll lift it clear of the table and check that it follows.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5842, 2.1971, 1.1873, 0.6865, -0.5774, -0.1799, 0.1998, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.5247 left_y=-0.2271 left_z=0.0813 left_yaw=-0.0002 left_pitch=0.2949 left_roll=0.0224 left_gripper=0.1998 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.0205, -12.9983, 5.9966, 1.2674, -0.2076, -0.1441, 0.7595, -0.2256, -1.4154, 7.1316, 1.7607, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gripper retained a substantial opening on the beige plush. I’ll lift it clear of the table and check that it follows."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe beige plush moved upward, but the arm is well below the requested height at this reach. I’m bringing it slightly closer while lifting to clear the basket rim safely.
move_to
left_x0.4700left_z0.2900left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.585, 2.0884, 1.2358, 0.4477, -0.5766, -0.1883, 0.202, -0.02, 0.8165, 0.6067, -0.3923, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.5202 left_y=-0.2247 left_z=0.1107 left_yaw=-0.0089 left_pitch=0.2267 left_roll=0.0602 left_gripper=0.202 right_x=0.2949 right_y=-0.0002 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.1299, -15.8291, 9.7573, 2.083, -0.1832, 0.0562, 0.2076, -0.0889, -1.4017, 7.0085, 1.7118, -0.0415, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_z":0.29,"left_pitch":0.2},"note":"The beige plush moved upward, but the arm is well below the requested height at this reach. I’m bringing it slightly closer while lifting to clear the basket rim safely."})
tool
executing move_to over 12 steps (1.2s)
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 beige plush is now clear of the rim. The left basket has shifted farther back, so I’m reaching over its nearer opening while keeping the plush raised.
move_to
left_x0.5900left_y-0.0850left_z0.2400left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6506, 1.8122, 1.5032, -0.2077, -0.6159, -0.2485, 0.2039, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0166, 0.9992] state[eef_state]: left_x=0.4787 left_y=-0.2316 left_z=0.2453 left_yaw=-0.0212 left_pitch=0.1471 left_roll=0.0823 left_gripper=0.2039 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0053 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9992 state[joint_eff]: [-0.5538, -14.612, 10.0171, 1.7021, -0.3932, 0.022, 0.1832, -0.1709, -1.3744, 7.0222, 1.7411, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x":0.59,"left_y":-0.085,"left_z":0.24,"left_pitch":0.4},"note":"The beige plush is now clear of the rim. The left basket has shifted farther back, so I’m reaching over its nearer opening while keeping the plush raised."})
tool
executing move_to over 14 steps (1.4s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe beige plush is positioned over the left basket’s opening. I’ll release it from this clear position so it drops into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2329, 1.9347, 1.3594, 0.3012, -0.2886, -0.0212, 0.2068, -0.02, 0.8192, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.5796 left_y=-0.0821 left_z=0.2112 left_yaw=0.016 left_pitch=0.3 left_roll=0.0808 left_gripper=0.2068 right_x=0.295 right_y=-0.0003 right_z=0.1717 right_yaw=-0.0055 right_pitch=-0.0443 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [0.212, -10.5231, 9.5385, 2.337, 0.0122, 0.2955, 0.2955, -0.1299, -1.5932, 7.2821, 1.6923, -0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The beige plush is positioned over the left basket’s opening. I’ll release it from this clear position so it drops into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe beige plush has dropped into the left basket. I’m moving the left arm toward the remaining gray plush and the well-separated right arm above the blue marker.
move_to
left_x0.3400left_y0.0050left_z0.1800left_pitch0.0000right_x0.3000right_y0.1900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2352, 1.948, 1.3571, 0.3004, -0.2871, -0.0277, 0.9952, -0.02, 0.8192, 0.6067, -0.3923, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.5802 left_y=-0.0839 left_z=0.2024 left_yaw=0.0148 left_pitch=0.2843 left_roll=0.0781 left_gripper=0.9952 right_x=0.295 right_y=-0.0002 right_z=0.1717 right_yaw=-0.0052 right_pitch=-0.0443 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [0.0752, -11.8769, 7.0769, 1.8437, -0.1294, 0.0513, -0.1392, -0.0889, -1.3607, 7.0496, 1.7216, -0.0171, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.005,"left_z":0.18,"left_pitch":0,"right_x":0.3,"right_y":0.19,"right_z":0.15,"right_gripper":1},"note":"The beige plush has dropped into the left basket. I’m moving the left arm toward the remaining gray plush and the well-separated right arm above the blue marker."})
tool
executing move_to over 19 steps (1.9s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe clear view shows that the beige plush missed the basket and is resting against the gray plush; I’ll recover them from the left side. The blue marker is aligned under the right jaws, so I’m lowering that gripper to table level at the same time.
move_to
left_x0.3850left_y-0.0150left_z0.0350right_x0.2950right_y0.2070right_z0.0000
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]: [-0.0547, 1.0416, 0.6872, -0.1707, -0.1261, -0.0093, 0.9966, 0.8612, 1.3121, 0.778, -0.329, 0.643, 0.5488, 0.9992] state[eef_state]: left_x=0.3506 left_y=0.0066 left_z=0.1883 left_yaw=0.0402 left_pitch=0.0421 left_roll=0.0721 left_gripper=0.9966 right_x=0.2935 right_y=0.1847 right_z=0.1336 right_yaw=0.0344 right_pitch=-0.0938 right_roll=-0.0433 right_gripper=0.9992 state[joint_eff]: [0.1162, -3.0291, 6.9128, 1.7851, 0.0757, 0.1392, 0.1343, 0.335, -5.2034, 8.9915, 1.3748, 0.5153, 0.1734, -0.1001] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.015,"left_z":0.035,"right_x":0.295,"right_y":0.207,"right_z":0},"note":"The clear view shows that the beige plush missed the basket and is resting against the gray plush; I’ll recover them from the left side. The blue marker is aligned under the right jaws, so I’m lowering that gripper to table level at the same time."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe left jaws surround a plush limb, and the blue marker lies directly between the right jaws. I’ll close both, with a small additional descent on the right to catch the thin marker.
move_to
left_gripper0.0000right_z-0.0100right_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]: [-0.1371, 1.631, 0.4103, 0.646, -0.1951, -0.0422, 0.9967, 0.9062, 1.7302, 0.5739, 0.2817, 0.6823, 0.593, 0.9992] state[eef_state]: left_x=0.3823 left_y=-0.0146 left_z=0.0338 left_yaw=0.0333 left_pitch=-0.0007 left_roll=0.0863 left_gripper=0.9967 right_x=0.2997 right_y=0.2078 right_z=0.0137 right_yaw=0.0281 right_pitch=-0.0778 right_roll=-0.0363 right_gripper=0.9992 state[joint_eff]: [-0.1846, -6.8308, 3.7675, 1.9219, -0.1197, -0.149, 0.0024, 0.4444, -4.465, 3.3162, 0.5446, -0.0269, -0.0171, -0.0171] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":-0.01,"right_gripper":0},"note":"The left jaws surround a plush limb, and the blue marker lies directly between the right jaws. I’ll close both, with a small additional descent on the right to catch the thin marker."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe right gripper width is consistent with holding the blue marker. The left close is nearly empty, so this short lift will check whether it caught a thin plush limb or missed.
move_to
left_z0.0900right_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]: [-0.139, 1.6547, 0.3927, 0.6441, -0.2031, -0.0448, 0.0353, 0.9051, 1.8046, 0.5636, 0.44, 0.6983, 0.5869, 0.1405] state[eef_state]: left_x=0.3739 left_y=-0.0127 left_z=0.0193 left_yaw=0.0397 left_pitch=-0.0422 left_roll=0.096 left_gripper=0.0353 right_x=0.309 right_y=0.2154 right_z=0.0091 right_yaw=0.0219 right_pitch=-0.0218 right_roll=0.008 right_gripper=0.1405 state[joint_eff]: [0.0615, -7.6239, 6.0103, 1.707, 0.0073, 0.0562, 1.1941, 0.0068, -4.6701, 3.1932, 0.989, 0.0122, 0.022, 1.0085] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_z":0.08},"note":"The right gripper width is consistent with holding the blue marker. The left close is nearly empty, so this short lift will check whether it caught a thin plush limb or missed."})
tool
executing move_to over 5 steps (0.5s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteBoth objects rose: the left gripper caught the beige plush by a thin limb, and the right holds the blue marker. I’m raising them above the basket rims before transport.
move_to
left_z0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.139, 1.3926, 0.4881, 0.2829, -0.2028, -0.0452, 0.036, 0.9031, 1.5791, 0.6437, 0.1566, 0.6853, 0.5835, 0.141] state[eef_state]: left_x=0.3714 left_y=-0.0124 left_z=0.0749 left_yaw=0.0396 left_pitch=-0.046 left_roll=0.0962 left_gripper=0.036 right_x=0.3099 right_y=0.2182 right_z=0.0693 right_yaw=0.0313 right_pitch=-0.0147 right_roll=0.028 right_gripper=0.141 state[joint_eff]: [-0.1026, -6.2427, 8.6632, 1.9853, -0.149, -0.0513, 1.0232, 0.0615, -7.2274, 7.7197, 1.2625, 0.3834, -0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"right_z":0.2},"note":"Both objects rose: the left gripper caught the beige plush by a thin limb, and the right holds the blue marker. I’m raising them above the basket rims before transport."})
tool
executing move_to over 12 steps (1.2s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe clearer overhead view shows the left arm is carrying the gray plush; the beige one remains beside the basket. I’m taking the gray plush high over the left basket and the blue marker over the right basket.
move_to
left_x0.6000left_y-0.1000left_z0.3500left_pitch0.4000right_x0.5300right_y0.1700right_z0.2000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.139, 1.2114, 1.026, -0.4896, -0.2024, -0.0528, 0.036, 0.9031, 1.388, 0.973, -0.3908, 0.6693, 0.58, 0.1467] state[eef_state]: left_x=0.3708 left_y=-0.0124 left_z=0.2212 left_yaw=0.0441 left_pitch=-0.0982 left_roll=0.0994 left_gripper=0.036 right_x=0.3092 right_y=0.2209 right_z=0.1774 right_yaw=0.0441 right_pitch=-0.0409 right_roll=0.0119 right_gripper=0.1467 state[joint_eff]: [-0.1162, -5.8325, 9.8667, 1.8877, -0.1343, 0.0024, 1.0281, -0.212, -7.3778, 9.5795, 1.4237, 0.3834, -0.0366, 1.0281] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.1,"left_z":0.35,"left_pitch":0.4,"right_x":0.53,"right_y":0.17,"right_z":0.2,"right_pitch":0.2},"note":"The clearer overhead view shows the left arm is carrying the gray plush; the beige one remains beside the basket. I’m taking the gray plush high over the left basket and the blue marker over the right basket."})
tool
executing move_to over 18 steps (1.8s)
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 noteBoth carried objects are over their assigned basket openings. I’ll release the plush into the left basket and the blue marker into the right, then inspect the table again.
move_to
left_gripper1.0000right_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]: [-0.2722, 1.9728, 1.8114, -0.1463, -0.3676, -0.0254, 0.036, 0.4191, 1.8439, 1.2579, 0.1188, 0.342, 0.1452, 0.1467] state[eef_state]: left_x=0.5949 left_y=-0.0964 left_z=0.3039 left_yaw=0.0455 left_pitch=0.2744 left_roll=0.1091 left_gripper=0.036 right_x=0.5158 right_y=0.1688 right_z=0.1744 right_yaw=0.0476 right_pitch=0.1224 right_roll=-0.013 right_gripper=0.1467 state[joint_eff]: [-0.6085, -12.6838, 10.1812, 2.3663, -0.2027, 0.2613, 1.0281, -0.4444, -9.7162, 9.812, 2.0098, 0.0513, -0.022, 1.0281] 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,"right_gripper":1},"note":"Both carried objects are over their assigned basket openings. I’ll release the plush into the left basket and the blue marker into the right, then inspect the table again."})
tool
executing move_to over 10 steps (1.0s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe beige plush and blue marker are now visibly inside their baskets. The remaining items are the gray plush, yellow marker, and dark marker; I’m approaching the gray plush and dark marker with separate arms.
move_to
left_x0.2850left_y0.0100left_z0.1500left_pitch0.0000right_x0.3000right_y0.1050right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2737, 1.9888, 1.8076, -0.1486, -0.3668, -0.0338, 0.9953, 0.4129, 1.8561, 1.261, 0.1162, 0.3294, 0.1371, 0.9956] state[eef_state]: left_x=0.5972 left_y=-0.0981 left_z=0.2922 left_yaw=0.0461 left_pitch=0.2538 left_roll=0.1077 left_gripper=0.9953 right_x=0.5175 right_y=0.1683 right_z=0.1685 right_yaw=0.0569 right_pitch=0.1092 right_roll=-0.0191 right_gripper=0.9956 state[joint_eff]: [0.0889, -12.8889, 7.4051, 1.8974, -0.1343, 0.0122, -0.2173, 0.294, -11.1248, 6.5299, 1.7851, 0.1294, 0.0073, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":0.01,"left_z":0.15,"left_pitch":0,"right_x":0.3,"right_y":0.105,"right_z":0.12,"right_pitch":0},"note":"The beige plush and blue marker are now visibly inside their baskets. The remaining items are the gray plush, yellow marker, and dark marker; I’m approaching the gray plush and dark marker with separate arms."})
tool
executing move_to over 25 steps (2.5s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
right_cam
camera right_cam step 264
assistant
agent noteThe gray plush is slightly left of the left jaw column, and the dark marker is slightly right of the right jaw column. I’m correcting those offsets and lowering both grippers to grasp height.
move_to
left_x0.2900left_y0.0300left_z0.0250right_x0.3000right_y0.0900right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0929, 0.7704, 0.4797, -0.2501, -0.1993, -0.0212, 0.9967, 0.551, 1.0576, 0.4633, -0.0124, 0.408, 0.2417, 0.9963] state[eef_state]: left_x=0.2935 left_y=0.0114 left_z=0.1581 left_yaw=0.07 left_pitch=0.032 left_roll=0.1008 left_gripper=0.9967 right_x=0.3057 right_y=0.1098 right_z=0.1223 right_yaw=0.0771 right_pitch=0.0096 right_roll=-0.0161 right_gripper=0.9963 state[joint_eff]: [0.2393, -0.9641, 7.2137, 1.7167, 0.1148, 0.149, 0.1294, 0.6359, -3.2068, 6.8581, 1.6337, 0.3053, 0.1099, 0.0611] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.03,"left_z":0.025,"right_x":0.3,"right_y":0.09,"right_z":-0.008},"note":"The gray plush is slightly left of the left jaw column, and the dark marker is slightly right of the right jaw column. I’m correcting those offsets and lowering both grippers to grasp height."})
tool
executing move_to over 9 steps (0.9s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
assistant
agent noteBoth objects are between their respective jaws. I’ll close on the gray plush’s body and across the dark marker.
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]: [0.0307, 1.2259, 0.0788, 0.646, -0.1375, 0.0654, 0.9967, 0.4767, 1.6745, 0.1493, 0.9874, 0.3485, 0.2214, 0.9964] state[eef_state]: left_x=0.3003 left_y=0.037 left_z=0.0442 left_yaw=0.0956 left_pitch=0.0618 left_roll=0.141 left_gripper=0.9967 right_x=0.3116 right_y=0.0971 right_z=0.0118 right_yaw=0.0615 right_pitch=0.0581 right_roll=0.0252 right_gripper=0.9964 state[joint_eff]: [0.294, -0.9368, 1.9897, 0.3346, 0.4371, -0.4713, -0.0024, -0.7453, -2.5504, 0.9094, -0.2662, -0.0024, -0.3736, -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_gripper":0,"right_gripper":0},"note":"Both objects are between their respective jaws. I’ll close on the gray plush’s body and across the dark marker."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteThe dark marker appears held, but the left gripper closed empty beside the gray plush. I’m lifting the marker to verify it while reopening and shifting the left jaws toward the plush’s body for one retry.
move_to
left_gripper1.0000left_x0.3200left_y0.0050left_z0.0150right_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]: [0.0334, 1.2209, 0.0731, 0.7219, -0.1558, 0.0727, 0.0105, 0.4736, 1.6806, 0.1383, 1.0206, 0.3355, 0.2173, 0.1351] state[eef_state]: left_x=0.3065 left_y=0.0413 left_z=0.0604 left_yaw=0.1106 left_pitch=0.1368 left_roll=0.1503 left_gripper=0.0105 right_x=0.3109 right_y=0.098 right_z=0.0134 right_yaw=0.0711 right_pitch=0.0703 right_roll=0.0339 right_gripper=0.1351 state[joint_eff]: [-0.294, -2.0444, 5.6274, 1.0818, 0.1148, -0.0806, 0.823, 0.1573, -5.2581, 3.9043, 1.3797, 0.1929, 0.0024, 0.9939] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.32,"left_y":0.005,"left_z":0.015,"right_z":0.09},"note":"The dark marker appears held, but the left gripper closed empty beside the gray plush. I’m lifting the marker to verify it while reopening and shifting the left jaws toward the plush’s body for one retry."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteThe dark marker rose with the right gripper, so I’m carrying it to the right basket. The gray plush is still left and forward of the left jaws; I’ll align over its thicker upper body without closing yet.
move_to
left_x0.3600left_y0.0450left_z0.0450left_pitch0.0000left_roll0.0000right_x0.5300right_y0.1700right_z0.2200right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1905, 1.7603, 0.0818, 1.3499, -0.3592, 0.0303, 0.9954, 0.4736, 1.1576, 0.2535, 0.3851, 0.3275, 0.2169, 0.1402] state[eef_state]: left_x=0.3327 left_y=0.0027 left_z=0.0455 left_yaw=0.0877 left_pitch=0.2491 left_roll=0.1678 left_gripper=0.9954 right_x=0.3081 right_y=0.0981 right_z=0.0808 right_yaw=0.0779 right_pitch=0.0712 right_roll=0.0383 right_gripper=0.1402 state[joint_eff]: [0.3487, -2.8376, 2.0444, 0.5592, 0.1294, -0.5983, -0.1441, -0.0889, -3.3573, 8.5949, 1.6777, 0.1148, -0.0464, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":0.045,"left_z":0.045,"left_pitch":0,"left_roll":0,"right_x":0.53,"right_y":0.17,"right_z":0.22,"right_pitch":0.2},"note":"The dark marker rose with the right gripper, so I’m carrying it to the right basket. The gray plush is still left and forward of the left jaws; I’ll align over its thicker upper body without closing yet."})
tool
executing move_to over 18 steps (1.8s)
step 311
assistant
agent noteThe dark marker is over the right basket, so I’ll release it. The gray plush is near the left workspace boundary; I’m making one carefully aligned close on its reachable body edge.
move_to
left_x0.3800left_y0.0500left_z0.0150left_gripper0.0000right_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]: [0.1188, 1.4921, 0.3241, 0.6834, -0.009, 0.0036, 0.9966, 0.3958, 1.8141, 1.293, 0.1223, 0.2665, 0.1341, 0.1444] state[eef_state]: left_x=0.3657 left_y=0.0489 left_z=0.0585 left_yaw=0.1078 left_pitch=0.0796 left_roll=0.0251 left_gripper=0.9966 right_x=0.522 right_y=0.1716 right_z=0.2051 right_yaw=0.091 right_pitch=0.1763 right_roll=0.0298 right_gripper=0.1444 state[joint_eff]: [0.6359, -5.2444, 6.1333, 1.3553, 0.0562, -0.0562, 0.1099, -0.8821, -10.1402, 8.9231, 1.6728, 0.0806, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). 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_x":0.38,"left_y":0.05,"left_z":0.015,"left_gripper":0,"right_gripper":1},"note":"The dark marker is over the right basket, so I’ll release it. The gray plush is near the left workspace boundary; I’m making one carefully aligned close on its reachable body edge."})
tool
executing move_to over 10 steps (1.0s)
step 321
assistant
agent noteThe gray plush is beyond the left-side reach limit, and that close was empty. The dark marker fell short of the shifted basket; I’ll recover it with the right arm while the left approaches the yellow marker.
move_to
left_x0.3000left_y-0.0750left_z0.1200left_gripper1.0000right_x0.4200right_y0.1400right_z0.1300right_yaw0.8500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1108, 1.7855, 0.3332, 1.0096, -0.0032, 0.009, 0.0107, 0.3931, 1.8256, 1.2926, 0.1055, 0.2668, 0.1299, 0.9956] state[eef_state]: left_x=0.3851 left_y=0.047 left_z=0.0282 left_yaw=0.092 left_pitch=0.1215 left_roll=0.0279 left_gripper=0.0107 right_x=0.5218 right_y=0.1698 right_z=0.1952 right_yaw=0.0917 right_pitch=0.1491 right_roll=0.0171 right_gripper=0.9956 state[joint_eff]: [0.3487, -4.9983, 4.0274, 1.3895, -0.1245, -0.1148, 0.9011, -0.0479, -10.7829, 6.9812, 1.9658, -0.022, 0.022, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.075,"left_z":0.12,"left_gripper":1,"right_x":0.42,"right_y":0.14,"right_z":0.13,"right_yaw":0.85,"right_pitch":0},"note":"The gray plush is beyond the left-side reach limit, and that close was empty. The dark marker fell short of the shifted basket; I’ll recover it with the right arm while the left approaches the yellow marker."})
tool
executing move_to over 11 steps (1.1s)
step 332
assistant
agent noteBoth markers are aligned near their jaw columns. I’m lowering to the tabletop, with the right gripper rotated to match the dark marker’s diagonal position.
move_to
left_x0.3050left_y-0.0620left_z-0.0100right_x0.4350right_y0.1320right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5804, 1.0286, 0.3096, 0.2031, -0.5499, -0.2955, 0.9955, 0.0826, 1.6718, 0.9859, -0.0044, -0.5503, -0.3897, 0.9963] state[eef_state]: left_x=0.3033 left_y=-0.0842 left_z=0.1132 left_yaw=0.0206 left_pitch=0.1304 left_roll=0.0118 left_gripper=0.9955 right_x=0.435 right_y=0.1323 right_z=0.1256 right_yaw=0.7411 right_pitch=-0.0133 right_roll=0.022 right_gripper=0.9963 state[joint_eff]: [0.7863, -2.4, 9.0325, 1.6581, -0.4469, -0.0855, -0.2173, -0.3761, -9.5795, 6.5026, 1.6044, -0.359, -0.0855, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.062,"left_z":-0.01,"right_x":0.435,"right_y":0.132,"right_z":-0.008},"note":"Both markers are aligned near their jaw columns. I’m lowering to the tabletop, with the right gripper rotated to match the dark marker’s diagonal position."})
tool
executing move_to over 9 steps (0.9s)
step 341
assistant
agent noteAt table level, both markers sit slightly left of the jaw centers. I’m making small sideways corrections as I close so each marker is caught across its barrel.
move_to
left_y-0.0500left_gripper0.0000right_x0.4220right_y0.1500right_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]: [-0.4648, 1.9873, 0.0795, 1.4158, -0.4885, -0.2375, 0.9967, 0.0784, 2.0003, 0.8124, 0.5415, -0.5625, -0.4114, 0.9963] state[eef_state]: left_x=0.3086 left_y=-0.058 left_z=-0.0042 left_yaw=0.0562 left_pitch=0.134 left_roll=0.0267 left_gripper=0.9967 right_x=0.4434 right_y=0.1329 right_z=0.0151 right_yaw=0.7582 right_pitch=0.0258 right_roll=-0.0178 right_gripper=0.9963 state[joint_eff]: [0.2256, -4.8479, 0.1436, -0.2613, 0.6129, -0.2222, 0.105, 0.0889, -6.7077, 3.1521, 0.5055, -0.0855, 0.2271, -0.0073] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.05,"left_gripper":0,"right_x":0.422,"right_y":0.15,"right_gripper":0},"note":"At table level, both markers sit slightly left of the jaw centers. I’m making small sideways corrections as I close so each marker is caught across its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteThe dark marker is held, but the yellow marker slipped ahead of the left fingertips. I’ll reopen and advance the left gripper slightly while lifting the dark marker to confirm its grasp.
move_to
left_x0.3400left_y-0.0500left_z-0.0120left_pitch0.0000left_gripper1.0000right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4267, 1.9862, 0.0753, 1.5215, -0.4679, -0.2173, 0.0097, 0.1318, 1.9713, 0.7376, 0.6231, -0.5262, -0.384, 0.1372] state[eef_state]: left_x=0.3188 left_y=-0.0535 left_z=0.0163 left_yaw=0.075 left_pitch=0.2191 left_roll=-0.013 left_gripper=0.0097 right_x=0.4273 right_y=0.1498 right_z=0.0162 right_yaw=0.769 right_pitch=0.0415 right_roll=-0.0328 right_gripper=0.1372 state[joint_eff]: [0.5128, -3.7538, 0.2393, 1.1209, 0.0611, 0.0024, 0.8474, 0.4855, -10.1538, 3.7128, 1.453, -0.0659, 0.1001, 0.9988] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.05,"left_z":-0.012,"left_pitch":0,"left_gripper":1,"right_z":0.1},"note":"The dark marker is held, but the yellow marker slipped ahead of the left fingertips. I’ll reopen and advance the left gripper slightly while lifting the dark marker to confirm its grasp."})
tool
executing move_to over 10 steps (1.0s)
step 361
assistant
agent noteThe yellow marker is now fully between the open fingers but a little right of center. I’ll correct that offset and close, while raising the securely held dark marker above the basket rim.
move_to
left_y-0.0670left_gripper0.0000right_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]: [-0.3298, 1.8282, 0.2268, 1.0798, -0.3645, -0.2623, 0.9952, 0.1307, 1.7382, 0.8089, 0.2893, -0.5251, -0.3882, 0.1416] state[eef_state]: left_x=0.3467 left_y=-0.0483 left_z=0.0036 left_yaw=0.1004 left_pitch=0.0802 left_roll=-0.0357 left_gripper=0.9952 right_x=0.4219 right_y=0.1484 right_z=0.079 right_yaw=0.7686 right_pitch=0.0174 right_roll=-0.0195 right_gripper=0.1416 state[joint_eff]: [0.1573, -6.2838, 3.4667, 1.1111, 0.1978, 0.0317, -0.0806, -0.1162, -9.6615, 8.9368, 1.6581, -0.2466, 0.0122, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.067,"left_gripper":0,"right_z":0.24},"note":"The yellow marker is now fully between the open fingers but a little right of center. I’ll correct that offset and close, while raising the securely held dark marker above the basket rim."})
tool
executing move_to over 11 steps (1.1s)
step 372
assistant
agent noteThe yellow marker is now held at the expected barrel width; I’ll lift it to verify. The dark marker is clear of the rim, so I’m moving it farther over the shifted right basket to avoid another short drop.
move_to
left_z0.0900right_x0.6000right_y0.2000right_z0.2500right_yaw0.0000right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4103, 1.8252, 0.2413, 1.0599, -0.4374, -0.3092, 0.144, 0.1307, 1.5566, 1.2179, -0.3222, -0.5243, -0.3889, 0.1416] state[eef_state]: left_x=0.3455 left_y=-0.0648 left_z=0.0068 left_yaw=0.1054 left_pitch=0.0939 left_roll=-0.044 left_gripper=0.144 right_x=0.4277 right_y=0.149 right_z=0.2144 right_yaw=0.7683 right_pitch=0.0003 right_roll=-0.008 right_gripper=0.1416 state[joint_eff]: [-0.4444, -5.2171, 3.9316, 1.4774, -0.0708, -0.0415, 1.072, -0.212, -10.1949, 9.388, 1.4921, -0.2027, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_x":0.6,"right_y":0.2,"right_z":0.25,"right_yaw":0,"right_pitch":0.35},"note":"The yellow marker is now held at the expected barrel width; I’ll lift it to verify. The dark marker is clear of the rim, so I’m moving it farther over the shifted right basket to avoid another short drop."})
tool
executing move_to over 14 steps (1.4s)
step 386
assistant
agent noteThe yellow marker rose with the left gripper. I’m raising it for transport and releasing the dark marker over the interior of the right basket.
move_to
left_z0.2500right_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]: [-0.4095, 1.3258, 0.3359, 0.4515, -0.4416, -0.3153, 0.144, 0.4252, 2.08, 1.6527, 0.1162, 0.3229, 0.0502, 0.1444] state[eef_state]: left_x=0.3415 left_y=-0.062 left_z=0.0786 left_yaw=0.1122 left_pitch=0.0823 left_roll=-0.0404 left_gripper=0.144 right_x=0.5891 right_y=0.2091 right_z=0.2231 right_yaw=0.1114 right_pitch=0.2655 right_roll=-0.0431 right_gripper=0.1444 state[joint_eff]: [0.1026, -4.7932, 8.1846, 1.7167, -0.1245, 0.022, 1.0281, 0.294, -12.2735, 9.6068, 2.0, 0.2369, 0.2027, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"right_gripper":1},"note":"The yellow marker rose with the left gripper. I’m raising it for transport and releasing the dark marker over the interior of the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 398
assistant
agent noteThe blue and dark markers are visible inside the right basket. I’m parking the right arm out of the way and moving the yellow marker toward the center, keeping the arms separated.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000left_x0.4200left_y-0.2500left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4095, 1.0676, 0.8654, -0.3454, -0.4416, -0.3256, 0.144, 0.4297, 2.104, 1.6489, 0.1059, 0.3206, 0.0441, 0.9963] state[eef_state]: left_x=0.3444 left_y=-0.0633 left_z=0.2334 left_yaw=0.1174 left_pitch=0.0742 left_roll=-0.0449 left_gripper=0.144 right_x=0.5892 right_y=0.2127 right_z=0.2044 right_yaw=0.1242 right_pitch=0.2288 right_roll=-0.0603 right_gripper=0.9963 state[joint_eff]: [-0.3624, -3.8769, 9.5795, 1.707, -0.1783, 0.0806, 1.0281, -0.6222, -14.4342, 7.3368, 1.9072, 0.022, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"left_x":0.42,"left_y":-0.25,"left_z":0.26},"note":"The blue and dark markers are visible inside the right basket. I’m parking the right arm out of the way and moving the yellow marker toward the center, keeping the arms separated."})
tool
executing move_to over 23 steps (2.3s)
step 421
assistant
agent noteThe right arm is clear. I’m reaching the yellow marker over the left side of the marker basket, using a forward tilt to keep this cross-table reach manageable.
move_to
left_x0.5500left_y-0.4000left_z0.2400left_pitch0.6000
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]: [-0.7891, 1.7477, 1.5368, -0.5381, -0.7418, -0.6235, 0.1521, 0.0319, 0.8452, 0.6865, -0.3611, 0.0834, -0.0284, 0.9971] state[eef_state]: left_x=0.4151 left_y=-0.2437 left_z=0.243 left_yaw=0.1244 left_pitch=0.0385 left_roll=-0.0372 left_gripper=0.1521 right_x=0.3102 right_y=-0.0012 right_z=0.208 right_yaw=-0.0277 right_pitch=0.0417 right_roll=-0.059 right_gripper=0.9971 state[joint_eff]: [-0.4444, -8.8274, 9.6615, 1.4774, -0.3639, 0.2418, 1.033, -0.2256, -1.1145, 7.2684, 1.8437, -0.1001, -0.1441, 0.0708] camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.4,"left_z":0.24,"left_pitch":0.6},"note":"The right arm is clear. I’m reaching the yellow marker over the left side of the marker basket, using a forward tilt to keep this cross-table reach manageable."})
tool
executing move_to over 19 steps (1.9s)
step 440
assistant
agent noteThe yellow marker is over the near-left rim rather than fully inside. The arm reached the previous pose, so I’ll advance another five centimetres before releasing it.
move_to
left_x0.6000left_y-0.4000left_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]: [-0.8429, 2.5446, 2.1555, 0.3603, -1.0111, -0.1085, 0.1521, 0.0269, 0.8509, 0.6796, -0.384, 0.0704, -0.0448, 0.9972] state[eef_state]: left_x=0.5481 left_y=-0.3847 left_z=0.2185 left_yaw=0.2017 left_pitch=0.5485 left_roll=-0.0721 left_gripper=0.1521 right_x=0.3072 right_y=-0.0006 right_z=0.1982 right_yaw=-0.0129 right_pitch=0.0053 right_roll=-0.0682 right_gripper=0.9972 state[joint_eff]: [-0.335, -15.9248, 9.0051, 1.4042, 0.4615, 0.6227, 1.0281, 0.1162, -2.0991, 7.5829, 1.9463, 0.1538, 0.1294, -0.0073] camera 'top_cam' (step 440): [image omitted: streamed camera frame] camera 'left_cam' (step 440): [image omitted: streamed camera frame] camera 'right_cam' (step 440): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.4,"left_z":0.24},"note":"The yellow marker is over the near-left rim rather than fully inside. The arm reached the previous pose, so I’ll advance another five centimetres before releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 444
assistant
agent noteThe yellow marker now extends into the basket opening. I’ll release it here; the gray plush remains outside the left arm’s reachable side boundary.
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]: [-0.8001, 2.9334, 2.8128, 0.0631, -1.0367, -0.1402, 0.1521, 0.0265, 0.8547, 0.6792, -0.3889, 0.0666, -0.0456, 0.9972] state[eef_state]: left_x=0.5915 left_y=-0.3858 left_z=0.1878 left_yaw=0.2744 left_pitch=0.5343 left_roll=-0.0793 left_gripper=0.1521 right_x=0.3068 right_y=-0.0 right_z=0.1959 right_yaw=-0.0096 right_pitch=-0.0039 right_roll=-0.0672 right_gripper=0.9972 state[joint_eff]: [-0.0615, -17.3607, 8.9778, 1.4042, 0.6032, 0.3785, 1.033, -0.1162, -1.9214, 7.0906, 1.8291, 0.0317, -0.0269, -0.0122] camera 'top_cam' (step 444): [image omitted: streamed camera frame] camera 'left_cam' (step 444): [image omitted: streamed camera frame] camera 'right_cam' (step 444): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow marker now extends into the basket opening. I’ll release it here; the gray plush remains outside the left arm’s reachable side boundary."})
tool
executing move_to over 9 steps (0.9s)
step 453
assistant
agent noteThe two categories are plush animals and markers. I placed the retrieved plushes in the left basket and released the markers into the right basket, but the gray plush remains beyond the left arm’s side boundary. The task is incomplete; please move that plush inward before another attempt.
give_up
hindsightThese light baskets slid farther back when contacted by hanging objects, so their original placement coordinates became unreliable. Lift long plushes high enough that their lowest part clears the rim, and re-localize each basket after contact. Drops near x=0.53 fell short after the baskets shifted; reaching near x=0.60 worked better. The gray plush ended up beyond left_y=0.05. A thin plush limb was successfully held at a gripper reading near 0.036, so visual lift confirmation matters even for nearly empty readings. Cross-table reaches near left_x=0.60,left_y=-0.40 sagged substantially and should be avoided in favor of using the nearer arm.
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]: [-0.7971, 2.9974, 2.8182, 0.049, -1.0489, -0.1581, 0.9953, 0.0257, 0.8577, 0.6792, -0.392, 0.0662, -0.0486, 0.9972] state[eef_state]: left_x=0.5943 left_y=-0.3842 left_z=0.145 left_yaw=0.264 left_pitch=0.4998 left_roll=-0.0258 left_gripper=0.9953 right_x=0.3067 right_y=-0.0002 right_z=0.1944 right_yaw=-0.0085 right_pitch=-0.0101 right_roll=-0.0698 right_gripper=0.9972 state[joint_eff]: [-0.3897, -21.7641, 6.5299, 1.6777, 0.0415, 0.105, -0.2222, 0.0342, -1.7709, 7.0359, 1.7705, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 453): [image omitted: streamed camera frame] camera 'left_cam' (step 453): [image omitted: streamed camera frame] camera 'right_cam' (step 453): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The two categories are plush animals and markers. I placed the retrieved plushes in the left basket and released the markers into the right basket, but the gray plush remains beyond the left arm’s side boundary. The task is incomplete; please move that plush inward before another attempt.","hindsight":"These light baskets slid farther back when contacted by hanging objects, so their original placement coordinates became unreliable. Lift long plushes high enough that their lowest part clears the rim, and re-localize each basket after contact. Drops near x=0.53 fell short after the baskets shifted; reaching near x=0.60 worked better. The gray plush ended up beyond left_y=0.05. A thin plush limb was successfully held at a gripper reading near 0.036, so visual lift confirmation matters even for nearly empty readings. Cross-table reaches near left_x=0.60,left_y=-0.40 sagged substantially and should be avoided in favor of using the nearer arm."})
tool
give_up: The two categories are plush animals and markers. I placed the retrieved plushes in the left basket and released the markers into the right basket, but the gray plush remains beyond the left arm’s side boundary. The task is incomplete; please move that plush inward before another attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.263 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3798, -0.0216, -0.033, 0.9996, -0.0154, 0.7975, 0.6106, -0.3737, -0.0128, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4154, 9.5385, 1.7607, -0.0171, 0.1734, -0.0611, -0.7043, -1.5795, 9.7846, 1.7411, -0.0904, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd971c3f953860e660deb3e4ba64a31b614849a832729276577cd01a5a06d87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eef2b576dc2eebd2ea0cfc3470a2f299e6cfb87266e86a29f3c68c3da34debf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce442a602ea6f8205fc2dbdc139c136807ea146e6ac1180b3904d55134e3027",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 6.501 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlKwpk2EaBMTnmcUTVemB4LpS_Qs_OM0eAcPqU3hMTTfIeLRaLqHkfQn7gRbG-1W6BsAFeIjhNkC5UyD2_2kSgCcqkgDJKAqJ2Dpt2VvVcNGccIqTTWFAYqiZ_DN8z_AyxcDySuwXvRk_bgOyLQi-NjMO1C4rvhjfzIP94Yed9XPGq5LINc2z9hAlczz1w6p9UQ9HvauOFDyABZsqZ6c9MkKE6aJgY0MTnpy4srU8X8sbWbYOoqIpWYvIQP1HB_xcRC2usfwSAARxJu3wFA6YIpqIBSVw_ulntYkBRjqAmv3r7misRI4RUbhgvw9_ns9hus70nJHGVG5St69WQ4AVE461i1y1nAUUHtK2fzF_Of7h9xIDf94Se1tvQw1FHhHtSe7861YZ4iANbN2XSLi4c1ltQvdkecHY9Zvcjb7Fw-GVZM-mPexQu-AgC0-rm6ff3_XVqNuVBRv0c87AuzTye-FxVe5suoqAOBBKU9O-t3uLKy17jEmieYDSDVaT9lLeJScit_b3iXSVSoL-wJnCxWEWvEViQVHSGTUTKKYf_FUuzEiWu9fLb66kMs__DZEo2UW4WwtcgO--f4x5HALmNW9JpdAvblaH1dgowELdWLiM7LMvY8zTwgadpRxuu9e7XdX5VNHeEow2mCl9acOWdJUiQ3-03xJMnSn6jX1SYGfzs74w9ba5THlSI6B0i76pY134M3uChVBG2xzahSeEMWTzKdpm_iZXquRxn3qiRx54OVyJ7u-eUsrwWQtEQXJ3hob4mjFn-NPeu6aMjV1dgZzpAT1xiHlWGL_KG478Lotj2ygt6NYRnOLBR4-KBtB9MGxwEX9XS1031YbEFGo2Lkv_51i65MlU92MVsDyvmd8tsL4A2KEtoQ5mJ90UHoXQBmRpXbkfP762SGS0JlRT1J4YZ-Df-YOQdR41zOPgg2fSGcZlAXNC98WHcsKvGkI2bFiWFm5gBgAizHmNwTZ1PzLO8rgiAkR24NlsPqrOeeiB7lkWnc0Zb_ShNiqsV1XbreePDANC-1SVLQEwHgfgHDx7HxPGRPIIU6lxhYR4VznVDg0eLoASUpF7Oxdkvu4nI0kHhhfwog3Lx8HKt0s9G5zf_4JhUNeDIe2Keakis9__nbTzzRJ7S11WA0mEQ_ja6gJG_rn66ECZopdWA3HTcLYswuPJn2PDOd1JD-y4F6tPgvACHkrZvcsEnF_FvculR7RikyjVLmVx7vscvljnxibqHOAUoPVKvXH0iQi4tRjq0TU2nihPSOhCvaNGgKCrtRLqFJip-2AD-e4ndDKJSnKgqJ2bMYNEQTdqEhQ8hMhnjBnjgtukIdc3_PnnEnCgSZzdBJD0u456lOQwv_--Sol90v8TceDedhywzDF0dc63Tv5FGTxbP3g-58xlDlrAQfUzrt3zf0uleGp7zB2mnEvfpkMWUsH6DFwLWF6WogXWL9ThdkoTLpB8X_TPumH8rgKWe2q8RsBOjll4ONEJWyfc09UVmYHdjU7ueEk7WBIsgvLo9Z_Z23Jys3voJXR_eEVM0tC0kPiKJy1bNxECFqoZIX8k5obaypCb1vHVi4zCktKpf-I7382gnIkCGw9wDmmoLS25LPlOPpVFpdszuphBle6dgCI35dG5ZACOf3HIaHcBSwG0T6puL2j7hII-H440VuZQTdpebEUbPJGGoZPAMplUYhko-m-1i7oO_dqutby0x4gGUAABExWMb4HbCwA17dGIznjHYd19ewar2jfpI2vlnI35AIaXNSf_CJm0ljZnkq19mnj1_5Dfl3MDynmJK5d3etCieojyA_whEa3U439Ezo0rDI58pnto-1GNWtVq3wA3jPHvwC-vyoOrMQHC2cMOnn8BeSlXzj_XcE9vmf2N-wEOYTA_3TuXdRioDsaZFE9wRuG0nRMtBR04CrSgcw4YgcvWjFbKYUMQcz3TvDpbUcMONWzC0M4SZ4oleVPCc_EoK_wWr-hPWnM3vDPjueIMpS-0X4OXXJAWf0JinyM4zaFYqotUgmcGvrsRpcDhvng5SF0mOZn8_n4eslcTtCf58gvL47hNFSdKaiXtHK5zSCbuTwTkFQcoAzdQ1I6Z7pHN-ClD9AoRVJCvdiWJ7y02ZdVWru69ZoaKT7mdwykzCpq8dXNEdpmN8q4w5e0ny9W2ykVN3De-udN53WbuCZnpReJFlIKV8SIXV9v4B-iloMsDPvofFUX94KUgiai8HryfxMiT_Q4C24ecE6zR6WtqjG9Cfd-IuZR_aukuEUUNuaQffAzJ44lMLLotowvxt_5vjWRRTGJ0oG9CTnaO4wCr6X4jaZ8-qljBxsuDZNMxkXLVRFoSUSPNpWNAWacFRn8jKCKNfFUm6Z0q7LkyMAlcUI5TM8oLm26brNufzObl61SLSXZKqBpVvpx-vv3BLknOxxAioJtharea7C",
  "id": "rs_08dabef08bb63a2c016ab45945032087d09ed05c25e260e8f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.22,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"I see plush animals and long marker-like objects, with two empty baskets behind them. I’ll put the plush animals in the left basket and the markers in the right, starting with the nearer brown plush.\"}",
  "call_id": "call_jgjWadXUPuG7xft0vxkF8ioH",
  "id": "fc_08dabef08bb63a2c016ab45948fc9887d0ac1847e1738210ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jgjWadXUPuG7xft0vxkF8ioH",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.388, 0.8692, -0.3874, -0.7822, -0.7345, 0.9995, -0.0193, 0.7986, 0.6086, -0.384, -0.0124, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2861 left_y=-0.2164 left_z=0.1486 left_yaw=-0.0129 left_pitch=-0.028 left_roll=0.0143 left_gripper=0.9995 right_x=0.2951 right_y=0.0001 right_z=0.18 right_yaw=-0.0041 right_pitch=-0.0134 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.1624, 9.1145, 1.2527, -0.5299, 0.0464, -0.0611, 0.2667, -1.306, 7.2137, 1.8144, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d68fd08d1f80d517eae122d0649df8c4d2d41402f3793ea24875c620d86054b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ba4cebcabe7d1df1ae18bfcb405fc85cffe97a2cdb631888a669c57990db18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2294b64bdc4e293f06653b3fc9ad8e9c764fad664f9773d29015f9c268b2bfc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.567 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3798, -0.0216, -0.033, 0.9996, -0.0154, 0.7975, 0.6106, -0.3737, -0.0128, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4154, 9.5385, 1.7607, -0.0171, 0.1734, -0.0611, -0.7043, -1.5795, 9.7846, 1.7411, -0.0904, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.388, 0.8692, -0.3874, -0.7822, -0.7345, 0.9995, -0.0193, 0.7986, 0.6086, -0.384, -0.0124, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2861 left_y=-0.2164 left_z=0.1486 left_yaw=-0.0129 left_pitch=-0.028 left_roll=0.0143 left_gripper=0.9995 right_x=0.2951 right_y=0.0001 right_z=0.18 right_yaw=-0.0041 right_pitch=-0.0134 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.1624, 9.1145, 1.2527, -0.5299, 0.0464, -0.0611, 0.2667, -1.306, 7.2137, 1.8144, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d68fd08d1f80d517eae122d0649df8c4d2d41402f3793ea24875c620d86054b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ba4cebcabe7d1df1ae18bfcb405fc85cffe97a2cdb631888a669c57990db18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2294b64bdc4e293f06653b3fc9ad8e9c764fad664f9773d29015f9c268b2bfc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlVS4ZLzLKp6Y-Hzz3MYh1g1YgXRysAhni8w8nm28HVV6ryqQMqaum6ormtLBRXIa7Lm4bvQJd8IgUUGqm3HbUzKeHBenVtRgo7E8toXPWM7cIVBw6NWCptbP1YU9qIaBudVjcu7zwjeaQGo7yel2qNaUyg6bMCokFuC-dYOs06xNK3S2nG3HihiQpZaX0z-iCPs-xqbNT495mOR7m7nkSKx5qrQ_NDhqYKgbq-0nTNwF-KdcGuBQLfD-5IisxVj7-FL4SW4mkNSeQIs2F_75F8KKOUqJho0PxtmKWaPTRlZ-68oLgl_Qxv2IEkU1ucOkGBP0Lvo0I3rrJGOvz4GLCTVh1zGkeruqXiQx6vX2gE8qg-nSZaaXEyi0Karl6ehBrRq3nZ9bEO1J3gawm0YTMmZAQzVXTe1DTB9ZKsdxcCs-VtDxBrVzt_b94bclu8oEaHNeTALT0QxFUT_iG0Ypm5D88IFHloEmJeNsNU1YRsBC_cB3k8KCodzIoukweqfHywHBa77dhqNCOHaAOmjGtxxjuQk5min3jfYtWg1gu34clEIP0dXu5LR53wq1FczrD5Yc6fq07q7vjQzrDOxXF4VA9QpRrnTLuk2bJYDWJQIPMsMSFAGuGWHfqdKS2HwpKNNCtnqLnuChJGi0H7a1xCMxYYzoGBIAijuCk2nMDzz71qbRxmQt4XVH9_qwpLhnVxAjdkbFc5STVg_l-hIxCwn1SCUb6GTsXE5gc461SqG3cPHmdLCl3AowTdOiHK-yFavetA5oM4BhzMx9YBSjbhhwpujy0dCNvO5n9rA68sAZbt5F5E-qYb2FFMbF2tVH5QF_fCviwrjHvyfMNlNJwGDyaAl-OmGMAM3upXs-APogIKDu4pK0WIEgnHurunMbsXDpy9c4rR4v8yslOhG8f2NUlyNFUjRlveVUYb1uWfwsOeI2dg0W_RlGWVDmbrMrwV30Zz2TpP7BvjPAHuctrsv4UVw5QuYlsAqh5Nf7-mso-9d3eiWN56Ds8u8ptWVvGMh-i724XQLNd4WM_fumkcZAuqQziiCPIZLpa2tzsF8gQt3YpADcvUOuY09FVbUu9oZsk0rgG89xIotiLVwZLRpyf7wEhBV9gLWL-hk00pZ-j21y_bFak11X4l7O2vJxz0E8htCARhR4COZHXSoIoUJfeUx8b_ecSSW87dJ59_mq7J1yuI-hN-pxRARV-2tNoGsdvYIeOD_H61n2PesI80T-MRlOi0So040dDUjDLwFBzkOtmWrszCQ4jbb8NBCog05sa9MKKah3fDvKNFUDz85pMDEKmhALFBM3Ox-oUU6_ByKealA5i1yIx9mI6fWjUbJjRjwIXVNgfVGqxmVSQva1BZkfxbhV5mLypfANFLagN-wavL8-oh0lOydJitltbGAAjgLLia_8-iMN0LKxgFhAqFX1sg_YMFVklm5XVQ2jEsPYpUvzAWa6x-c2fXr9PnhD2jIy3H7fg_gv8S1KOusYpkhsuTrNwyKDivfKZ-leJLtxaVoFkD_x7YBYo8IUwwfng4x-RCFeXg1lTzmSzl6qlaErRI4I07kboH93vRkyxjOB2XlLqfV5Wk5qzX8XH46glFYz2eUlzvIC1GXUUpzMzjDESC7IaE2UmGRz4Bz6mH9rYs1Ima8m0xbOhEMAMUeDemCz-8jxRfhbZku2E8gqGBIuKAkNoQtOXjH-BFZDW-J7exDSyL4vHGqLIsMShi823biz08xLSaRz5EluhSoe3c5qUBIox8jNogptd15MYjpSUHTuiIH4ilNWQ1SrNGm9zF8fuC_9BXIYTTYM_yzhnAHr38P9yH9VgV81Zn_7q5LfZ134HsTNdgSLHe69mSmmg0F1MqBcRYnPZy9XeZNJejlxd_YZhaYEArvR9lWnyayBTmgNw3PixMb_SB6PD_JMhPMipajMVKFxZOzDTeuhmn0zom4auTRxCTU01w4nGrs3NcpzCAygZ6HnMmyRUXgCRBlKQcK_ILa6j1d--18pFi2UCodVBmLztaQkGOZFo5y552UMCQRhhKhEB7Ezl2s1OxophTS6RJ5LmYrsc5UiThUflINVfP7ZeldK9AFrJAoY0nPo_JPBxPwV4ykxD4jiea9rKknZOlpGvrnuhCSB52b5ImW3U07iIxnpgP23ju4-wj6Wa5V9kRVF7PuPaVASVe5wnqaDOGogRI76vgBqZX7DVb3nun7plMdiHSmZsttdUqiA44jkymZ9BL36epjb8N9Sr_Ukpt9PhY1TozE91I2MoDhELpxH7ZLbSm09cH0dHeIpUpNEsbzrmbLxIxRU6dQtRo9hpOyFU9I-1ltEqEsFTRL8JdEK9WCbUoGlR1jv3QiG96YSQIOuKnqbc7nj4OC9Q1LqRm1rdLBYI3ywoxFKFCEYL9GJm5YZ7a8VY=",
  "id": "rs_08dabef08bb63a2c016ab459500b8487d0bea518110694c0d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.18,\"left_z\":0.035},\"note\":\"The wrist view shows the brown plush just left of the jaws, beside the larger beige plush. I’m shifting slightly left and lowering around the brown plush’s body.\"}",
  "call_id": "call_mCX20bDKf6V4JKAmhjVW14Ni",
  "id": "fc_08dabef08bb63a2c016ab459545f9087d0a730f984e775dc64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mCX20bDKf6V4JKAmhjVW14Ni",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0092, 1.4914, 0.448, 0.1463, -0.7864, -0.7414, 0.9995, -0.02, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2664 left_y=-0.1819 left_z=0.0415 left_yaw=-0.0033 left_pitch=-0.0202 left_roll=0.0026 left_gripper=0.9995 right_x=0.2952 right_y=-0.0002 right_z=0.1791 right_yaw=-0.0052 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -4.0684, 4.8889, 1.1746, -0.2466, 0.1245, -0.0122, -0.1162, -1.5111, 7.0359, 1.7216, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5989009ef562b739f81d5e8f7244221a60f6fff1bcb76ec045ceac3ee30e14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575a71d38e91187df6f34bd63a535e5bd96c5928f4ae2e9644d4f6239fae4cea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be5f2ba55c5f6ec6b0f5a0f8c13286b0354447bafd758d2ed5ff5925cbc6ccb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 1.854 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]: [-1.0126, 1.388, 0.8692, -0.3874, -0.7822, -0.7345, 0.9995, -0.0193, 0.7986, 0.6086, -0.384, -0.0124, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2861 left_y=-0.2164 left_z=0.1486 left_yaw=-0.0129 left_pitch=-0.028 left_roll=0.0143 left_gripper=0.9995 right_x=0.2951 right_y=0.0001 right_z=0.18 right_yaw=-0.0041 right_pitch=-0.0134 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.1624, 9.1145, 1.2527, -0.5299, 0.0464, -0.0611, 0.2667, -1.306, 7.2137, 1.8144, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0092, 1.4914, 0.448, 0.1463, -0.7864, -0.7414, 0.9995, -0.02, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2664 left_y=-0.1819 left_z=0.0415 left_yaw=-0.0033 left_pitch=-0.0202 left_roll=0.0026 left_gripper=0.9995 right_x=0.2952 right_y=-0.0002 right_z=0.1791 right_yaw=-0.0052 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -4.0684, 4.8889, 1.1746, -0.2466, 0.1245, -0.0122, -0.1162, -1.5111, 7.0359, 1.7216, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5989009ef562b739f81d5e8f7244221a60f6fff1bcb76ec045ceac3ee30e14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575a71d38e91187df6f34bd63a535e5bd96c5928f4ae2e9644d4f6239fae4cea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be5f2ba55c5f6ec6b0f5a0f8c13286b0354447bafd758d2ed5ff5925cbc6ccb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlaA10JyiScbqH3J6SJulNlzKauM734bMbIC2PLkpqVhZFJ4f_jmnlq46nRBsSakLrFAm5L4oQULAGZozB2t1Sn42aAaUotj1qiTxRO-4hlQFbLxf6CAUW5J5wH37EIZC6K8CXva7Z5f3JlhRSTssokPAQyS2Q27-XWL61wUh9gDGDPMV1jee2T_GmqeiLp3DrXLtdRVx4Evj5sRL5SnBha1A5G7XDtKkB91HGIBtJBkQfQu3EruJWiv8v0cAtdFpBUiKFaFhnjjGckBHdG8GaURyJA72fHWU8aecAmH7smS5vgBNUr-su5NESZAGkmMyw99_JU6Y9xf29QOMFVrEOXTIM6AEhG9BTpGUNVRNIqFE-27ZubuieOuhX71Gh6nbypHdUImzreZA4JCgqy-LKjHz4oXE-QDBO3p7tfu1UmPZXE9xSbX8T5iWqn3J4MPvLgPrMgRJWkDh1YfKgtLL-FzzrB-dmSERqDka9p9Z-94tfZu2kWp-NQ4MGhPh_acD3bHre3MGy_SpP6htj4F-AwgBsqO7MXMQDJAOZBkbi7J9-3c9_GClZaNA6zJpS097pnu0-7MXAas43z9eM-_RlrOEX-WelHWxkQX_rLMyC8XnNXvlotTf0PjdXYhLme8pi-Ux0OToexZsN5Yo2e0BBtoN7TIHJzEDOofZdaG8xD0RQMJ6y-ye0XpYQojfLaxE2YqGjj44lNt_5d8m6DjNmlEM2Us3v59Y1ZrBO65W7LNpE3mspDHKakh_2cJGUM-ts-EkGwo8xQaUtILkLFovgK6frr8i6PzYE0hjANGDljrPxlEei_eqCPYsxzbYKmr8rPlUo5lTYAPfx6hEgo5wf7IDJI-kxyiimVis4VaFzB6a637u-OMjh3RRGzLkB64QeV00Av6vVCi7WEHt5ybUa6MUktZTjcmysssxFs4OtV0iJZNz_U6PwKcb-QLKp0cnYVdHK25Y9Ji6qdMT4zrmhBujOmDOucV1WMXksyc-yJkymgBtlqk39mG4OL2s8kx4y4kY6stoOys-ERG4kOUO1Xjie9R97bGnJDzDExr6NskUgiCLKGz9NcACbOCSInnOTqkdKYWL-mcdxtWshSbksjta29BlCvwTkNZwrpml9FnYV8zT_0ZYmo2UJ80dbk9pkpF29pLqnh_7ViOuk80BurY9U_8zhZNsdYadb2u7QICEzfPddL6CbQ71zxMCYOKvNBdgJ1UE0Arv8TYH7volQlwAA-_mg3Y8PuSdgSkYB7-dRaOs8yyHepRpwOO52ULuWU928n2RFHL49AyYQPUP1ngKW_UgHXtVOiEDpOWTjPzxrH6ZkH4XvBLsW85xqZlu8KWoe2g3cURUsFe7dS0VARsmpmTR6yHwdTW0QhXzJqvvGUwWVnuukl1mKII5I03UHn337XcznjZrwEo9hbZofHbY-5NRVMN9-C0GFlieLbJm9qy8y8A5YSRPrQb9pRoNbVBjkEz9gdRVY_rLU9OyBLOyRCPUWOfPuHlI3ms6QYZIUfIeSOygvwUql5onUu48VZQ2-6LyfLDkxen5Ec_8Si9I2u_XOzyTJ0dWvi-Q7It-E=",
  "id": "rs_08dabef08bb63a2c016ab45958584487d094cd8ae1fa21602c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are around the brown plush’s lower body. I’ll close gently through the normal gripper command and check whether it is securely held.\"}",
  "call_id": "call_3aCaJ82BeAzpSscsAumKU1rL",
  "id": "fc_08dabef08bb63a2c016ab45959a4e887d09049d0c9cdbab5c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3aCaJ82BeAzpSscsAumKU1rL",
  "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]: [-1.005, 1.4994, 0.44, 0.1589, -0.7868, -0.7418, 0.1105, -0.02, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2665 left_y=-0.1796 left_z=0.0385 left_yaw=0.0014 left_pitch=-0.0218 left_roll=0.0054 left_gripper=0.1105 right_x=0.2952 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -5.4769, 5.6, 1.1648, -0.398, -0.0073, 0.7839, -0.0342, -1.3197, 7.2684, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2945f4dbc9b6d0afb121dca1d145b622a55f9bbda0e0c9a122cfe00e0525b330",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4886954a33060c523e0df53483a2aa3e02fe488dd27610ea2097c476d0b1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268aa461558d08b5754457f546c99a63d34acbea9399279b31d5d295388e6358",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.93 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3798, -0.0216, -0.033, 0.9996, -0.0154, 0.7975, 0.6106, -0.3737, -0.0128, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4154, 9.5385, 1.7607, -0.0171, 0.1734, -0.0611, -0.7043, -1.5795, 9.7846, 1.7411, -0.0904, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0092, 1.4914, 0.448, 0.1463, -0.7864, -0.7414, 0.9995, -0.02, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2664 left_y=-0.1819 left_z=0.0415 left_yaw=-0.0033 left_pitch=-0.0202 left_roll=0.0026 left_gripper=0.9995 right_x=0.2952 right_y=-0.0002 right_z=0.1791 right_yaw=-0.0052 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -4.0684, 4.8889, 1.1746, -0.2466, 0.1245, -0.0122, -0.1162, -1.5111, 7.0359, 1.7216, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.005, 1.4994, 0.44, 0.1589, -0.7868, -0.7418, 0.1105, -0.02, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2665 left_y=-0.1796 left_z=0.0385 left_yaw=0.0014 left_pitch=-0.0218 left_roll=0.0054 left_gripper=0.1105 right_x=0.2952 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -5.4769, 5.6, 1.1648, -0.398, -0.0073, 0.7839, -0.0342, -1.3197, 7.2684, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2945f4dbc9b6d0afb121dca1d145b622a55f9bbda0e0c9a122cfe00e0525b330",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4886954a33060c523e0df53483a2aa3e02fe488dd27610ea2097c476d0b1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268aa461558d08b5754457f546c99a63d34acbea9399279b31d5d295388e6358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The gripper has stopped above its empty-close width, suggesting it caught the brown plush. I’ll lift it a few centimetres to confirm before carrying it.\"}",
  "call_id": "call_qHlDuWGmZ2CqlRgO2nmKrwy0",
  "id": "fc_08dabef08bb63a2c016ab4595c9ca487d088ac988a671be41c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qHlDuWGmZ2CqlRgO2nmKrwy0",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.3132, 0.5613, -0.1646, -0.7788, -0.7418, 0.1127, -0.02, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2643 left_y=-0.1779 left_z=0.0885 left_yaw=-0.0029 left_pitch=-0.0357 left_roll=0.0155 left_gripper=0.1127 right_x=0.2952 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.2034, 7.9795, 1.16, -0.4176, -0.022, 0.2222, -0.1436, -1.2103, 7.0632, 1.7558, -0.0708, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f868a0938c2786a76e1fc31dc31c3cf79f2d1847fa39cf66276d0fac0c04b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98e3a265fe2f1dc8b3cced849267b1b260282393babc6f64ac4692fe6fd6d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3511741778396b2fdbb254befbf5be4e92c2066a8f51f873478abf9a49c4eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 8.062 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.388, 0.8692, -0.3874, -0.7822, -0.7345, 0.9995, -0.0193, 0.7986, 0.6086, -0.384, -0.0124, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2861 left_y=-0.2164 left_z=0.1486 left_yaw=-0.0129 left_pitch=-0.028 left_roll=0.0143 left_gripper=0.9995 right_x=0.2951 right_y=0.0001 right_z=0.18 right_yaw=-0.0041 right_pitch=-0.0134 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.1624, 9.1145, 1.2527, -0.5299, 0.0464, -0.0611, 0.2667, -1.306, 7.2137, 1.8144, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.005, 1.4994, 0.44, 0.1589, -0.7868, -0.7418, 0.1105, -0.02, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2665 left_y=-0.1796 left_z=0.0385 left_yaw=0.0014 left_pitch=-0.0218 left_roll=0.0054 left_gripper=0.1105 right_x=0.2952 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -5.4769, 5.6, 1.1648, -0.398, -0.0073, 0.7839, -0.0342, -1.3197, 7.2684, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.3132, 0.5613, -0.1646, -0.7788, -0.7418, 0.1127, -0.02, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2643 left_y=-0.1779 left_z=0.0885 left_yaw=-0.0029 left_pitch=-0.0357 left_roll=0.0155 left_gripper=0.1127 right_x=0.2952 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.2034, 7.9795, 1.16, -0.4176, -0.022, 0.2222, -0.1436, -1.2103, 7.0632, 1.7558, -0.0708, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f868a0938c2786a76e1fc31dc31c3cf79f2d1847fa39cf66276d0fac0c04b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98e3a265fe2f1dc8b3cced849267b1b260282393babc6f64ac4692fe6fd6d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3511741778396b2fdbb254befbf5be4e92c2066a8f51f873478abf9a49c4eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFljQa5rU3V6ZLaIbDtAPw91-6La3mdIjnJlOljCtH8cUXBmxc2H2h1nPTAqyXAltfRAByFbFaOUlVcHueyffdwCmIX992PtNCwiOwgHSqFM7fJKDZannA71obMu1c-fMCJqnEs_DTjrsSVFcKNxm3szRd1hfY0A6vAVMi2LIzWYkDgR-ctA1kVe1niHQc90h8VeNdMF__LTkpEN0A8Yl-TlopIjbQiMr4XaA9XlXudZJramaCVmoaaMVQ32Mw9AprwfKJt328S4FSqdE2SelU1Hrw6sLGWUmE-ig2fb7PNs9V7ccMRgUaMlILWOhsxwPVJU9uF7ua-LJwEdkgnzJom8CHJ5n_pJYhpdjjUtpcyPO3XDWChzOnQ_fSOwDhbJobfv1_uKETyFFJbFy-ne6iLK9Ri6OK6-X_ZyYPXEey1JaUbZ50BNrJMW-I3ScFc9oYPsC8qtMMSenSWKBP5zEKyqRPTGkDeMZ0VR7t3-rBSfaOzofZMlUHcpB_cWKBTy4FPCI0e4YSKdUC3oII3tcItpXJVTDY4UpBJDrTgckuGaD0-taOJrkoV7B_3VRmD1PJx8WEuDe6wavvnNfND8vW04GprjDNEQrAejC6vyJNweLr1V5ShKysWiv3C-dzATJL7WOpcwwNLTINNoHcnpst6KrXNf7Vp6rGpsHUQS5InsRsYjcMRz66GVt8antKTu2uJy2WXA73r5OPvMPvEmu8-PQx6upmtY3T8Ax10wj1xnIAwOAN-d4eauJ1Z9L1U6FHQvVghCBMAArKbqOLX4wXjL-aWU7BCiPEfkZ9Elt8z_tdre8twTYm_0yQu04ChY2bHF0GMTBpYiUhEaF3CPRIsmuDIa3xxb6JD-4KDHp6tWdPuN2Erq-xf7PzkdZLNc5t8blTEI7KzvLOYGGeK0FAYKdx9i2JgOxgkUQZQZNHu8QYdO2h-DjQJ4SwGGVAf94FCP9mCoAkfepf2N0f6OJi74phrytoknC_Pr9LIC2rJMWEQVha9OIM0kiuMtmYzcrrBF8eXO3ZgiyNHUe2FjaEl8E81xWfpBnZM0-oEQvlh_iYk5L5dx5DMJWsTq9PSeUyddtwQkb4PRJD-6ZQ-riZDq0F8HGPN1To9LAZaH04xZg8MiJm2eGAsvf54YYhV72WNyZgb6dv1fad5KtbF6411tWe4QTA2PREJnqoku6cyklsXZ8LDiVRx6mIdNMhmA8t1HK7_89hjLx4YsvMV7JMdjwzL1TpxObcBU7lZdro66B7tolAdKGnLMxHyeZwzXnQOG30ADKL3wuPIvr4SCV7vk9kJx241VKYE7CKBJ74ccKQvFhtISYKcZX5Jc6UWwzkvYU3Lb2IMsmQjZGmFd4bYbwNU8JY6doCame35oKQsNQJkDewh9ZdMkvkptNn4zJrZ3Wef90PfgPuZarjpC-v-ZsUhN3z9CKfhJ-TO_RWSbOl9RiOeLA8mrlRl9ZyMO_dMPMJpGhxnIewVS8_VIPimIcIzLO1F_1z2k_hY-awX-_d5YBAeCqnjyb3JkIP_Hcq3bFILu_obayt9xiin4ePGLYmnV5DWFCihy4WYRtrK0rHak-xE4MSQsaxdG8jEMXKxhAKe0b24fUYnCNiaPWtjsMvA52C183BbUsoevDNljkcEw2_6CyqPki0n-waTiHyZ7akw1mm3OBDVlk501PZUBrsNI_mzA0WEafQK_fDLDPYLxShaBEjqrvVgQpQaswA6NBMqCaL_LAHUntRIDtjMPoUGHrIqU4LnndbtPPE2RnDw=",
  "id": "rs_08dabef08bb63a2c016ab45960013087d0993447f19d84e370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.26},\"note\":\"The brown plush rose with the jaws, confirming the grasp. I’m carrying it above the left basket with extra clearance for its dangling body.\"}",
  "call_id": "call_yXI1M7uZXLfYQni0qQ5ghD2v",
  "id": "fc_08dabef08bb63a2c016ab459624b3487d09195ae11a7062b0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yXI1M7uZXLfYQni0qQ5ghD2v",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.7748, 1.6093, -0.5838, -0.4026, -0.3134, 0.1141, -0.02, 0.8078, 0.6067, -0.3916, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4726 left_y=-0.1655 left_z=0.231 left_yaw=0.0079 left_pitch=-0.1136 left_roll=0.0429 left_gripper=0.1141 right_x=0.2944 right_y=-0.0002 right_z=0.175 right_yaw=-0.005 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -10.3453, 10.0991, 1.9023, -0.2418, 0.105, 0.1441, -0.1299, -1.7026, 7.2, 1.8193, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38abdf43e29d5b85d8c82ac94ccf75f96c565121e3994d158f12c4b3230f4274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7dcff8359efcbcb97a3f4b975d188197f868bb738624d7f101295dc7ae9d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5863966b0799b31764dd6b0b02b395f0c60baff9f00db9242ae21ebfc74ff7ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 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]: [-1.0092, 1.4914, 0.448, 0.1463, -0.7864, -0.7414, 0.9995, -0.02, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2664 left_y=-0.1819 left_z=0.0415 left_yaw=-0.0033 left_pitch=-0.0202 left_roll=0.0026 left_gripper=0.9995 right_x=0.2952 right_y=-0.0002 right_z=0.1791 right_yaw=-0.0052 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1983, -4.0684, 4.8889, 1.1746, -0.2466, 0.1245, -0.0122, -0.1162, -1.5111, 7.0359, 1.7216, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.3132, 0.5613, -0.1646, -0.7788, -0.7418, 0.1127, -0.02, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2643 left_y=-0.1779 left_z=0.0885 left_yaw=-0.0029 left_pitch=-0.0357 left_roll=0.0155 left_gripper=0.1127 right_x=0.2952 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.2034, 7.9795, 1.16, -0.4176, -0.022, 0.2222, -0.1436, -1.2103, 7.0632, 1.7558, -0.0708, -0.0611, -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 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]: [-0.4828, 1.7748, 1.6093, -0.5838, -0.4026, -0.3134, 0.1141, -0.02, 0.8078, 0.6067, -0.3916, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4726 left_y=-0.1655 left_z=0.231 left_yaw=0.0079 left_pitch=-0.1136 left_roll=0.0429 left_gripper=0.1141 right_x=0.2944 right_y=-0.0002 right_z=0.175 right_yaw=-0.005 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -10.3453, 10.0991, 1.9023, -0.2418, 0.105, 0.1441, -0.1299, -1.7026, 7.2, 1.8193, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38abdf43e29d5b85d8c82ac94ccf75f96c565121e3994d158f12c4b3230f4274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7dcff8359efcbcb97a3f4b975d188197f868bb738624d7f101295dc7ae9d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5863966b0799b31764dd6b0b02b395f0c60baff9f00db9242ae21ebfc74ff7ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFl6YoXVDiBrLE1F6Gxugm9rEtLm77EN8NVFhyiSDVbZutAqzjBlzEgbF1AtTsQFqkgoVBHI-Tt4bV6DUkStyDlB_gTByBRMf61-cRsz9pg_KfVS-4zhQ99JTIhGaQXv-Bkg7GU8LLyrjCsUi8vWE0uL3MhEATu-j-5qkQKb5urKi4ZdGYpFmmxIXyZ0s_YrPB-wPKnX0xpoGx6SHPPoVNg2AkmLvR-k8D8Eno4_ImKR63WCj0PmtHjZ-tGtAsc0y5-QrdNLMqN2rRs_WQeR6bvW0SI60-irb1Ag5B3QxKj1DzA8__0bNqWVvanFrpnrmlO1FDvVLLA5Zto-xYzsDg8U_vH-tl0AwLsiKWWeK5dhyERI5dVsaIHpLCyTKEA5t3Q1KgOsTqYoZs8-fOUmJdXZIooVrrhN3aRk_jqaIfqg-Cpr9O6xXzOmguB3J5PKyFGX8-g4Un1np45IyLNEUSHPdw5Y3HyQMMeYwcaXCTEHYPk044ki_118owNqQoz5YkiKzSqM63lIVoTKi4kSPO87S11HB1SxPyPPWYYww03Bq6Md3ofLllcV8vYLqAEx5GzhiXKX6HWCTWrke3I7FMwGy5LhJyBFPteeotCYNWcL69w1Mgj_kfKHTusnBwm2dmDnb5pVBITMSGugsXVPCeo6NbqQ8kvcYuhR9MeAMgNAfqmcLHD4RDd1TP4ChGB_Ctp7OBjy91dEMGuauWEf_qGhxGIDSTkTkOnv_K3LJaECzIEenTertTmTBsn8SmDfhAFF99qu6z4noI5zPg54yQuCU48ULG6H6mzSOnszX__Kec9G3HC5-HS3Xzmie6dVw4-Z6KMokkebhfSKgtelPwXD9lKspQW05553h7I7smZrIVCdh_-YPqN_NHRfuhUC-wHtk_ScEuoUwl-BIt1JMifeTbFZX1jwmxEaRhSdSd-J4VpUjlZhdK496MuPzqL_WCjLTAP4DEyYI_eadW0Jw5XTMqaGoDlNzmwiyAakqPgQjz6WcbP8IZxjafFs3QX6Qa05_Bgnw_ISj1yHxEcs80JTVkIfx7PLR-EZhz5sy8AbGd8qabRshrVPHlOWhuoNueeqHh_5UaPuZh6-0shISK5vTCQCKjd0-yog_j1pDmuXWU84tNUIhah9pYFG6oe0mPsbFodQ_n3gIkRzWKaTlaUkvfILT50YAwpOPRsa-AUFTNA_DvlNAwZAcNN-aMaZbLHrE4YnisRWP4sBX1Gk9ciO4_kIiX3D4DYqG5EvuVUbspzDy1x1muVb8LY7ie854bls1-JEvdctn3oglCnckyi0NDCfK8_8YRnB099T5o4fQk5LK2N4TBAohd0ToERQIWUTJapgSz0YXvHElGqT_noohnPN670YfgRTndkHBXwamL967SYh6rhDjJjnJuqFAOlLTmD8YwbZRpTOe9HGr3ScCDYBhLbN9vREO0ugJCXWI_jBsLWmcP8IdYHOdO3RZNRB42V0y0wEpvl2sX7mGa4AdHH0IJ-OAKPofRbHvjyh8ICqXB8FShBa13LXsZHzcLoiqusKC2mG8cnZBJi5QmLuyZ2GxRdkepNDNJGi8R-sFRBtdb191lPR1CsKCOOiMPZHHM4d7VGnJ3gmJUQqEvITCj1S4IDy8GlQ1wP1MFKs4pmouRTnfVkEWelrCeb4Au4UP7m3t20rgfH3J5f4S_Rw-NtJlYYQB0T8eF2ClJiq78W8PiN644txT1Jh55brofBGN0H5XlPMXus_JqDV4rviAuJcK0D0nMtSMqUQuDNWhK3-h_q8WjCoczzkoezhVX_5Hq5ixecoEI1VcZGL4gq_g0OBrKntFZqsEamiINX2XmPdu5kvjwTbpP6mnZwWBdeVw1CKg0qyLrNFmUJwgEdbru8AGFItHl20MRhjFvJYrWHV0gprcdQDqI1lbQRk4fBhuda9JZtftSXBkXCNmlgZFqpL_AlR5RqMkVwBNLEbO3wVcyO7c__N2AD-nDSOxuMULh8OuDcOicjuT68UVteFT7MbWqhtF68PnQEaGj3eRM2f7-rdSNV3UW7UeclMpmJJ-_0KDYrn0rXXnK_Hx8xJzp0Rbi2uWWTWLI8pD7dsRR5T141cTemqTLcwKOMQrpFSTWIvRbmGpU_Urw6J9PVWh1ua5QIsqEIatCtvGDfwzB0ufURKodb4n86wzt1FmDn-siY4hlIlMiPpxzdLh1bJU0c0BwU9S6zMQoD7dHvXBog7Tr5r-o0itJ9QwfcpYIQksxL4sKNb4Anc5w2GJNURLG5MHp_LM_PRvdbzPdDwgRlTGYfVus3bJ0WmqNuctSQYNdn_AXdf9pl6xcndnXRSOPHxC-IJRg9XJIsPuTalFOLl1W5lf6T-rdhYKy7M9cJF3rpy5So5JeISeibaZy2h8Wi_la2jIVgdQcl9oOdJfQKYOh_aQ-XdMXGLDiuTjwBI42v863u0aO-06FDl44eybRG9aeJI_QwoGjmc_NwB5Z0FAf4frmlADSKKmO85YEyx9H_m2XX-pCCOVXn11Kd9oOIlBqq8loxBfYy6NviGj4M6Iju2u1J4xg-OkcbqIlI9DptakMf5ObkWLu9_tPlMafzOgtgSPR30zkor_bbwDByTbg0yqRXqtzOzSmeQuD7jLKqmXwMV3AraatZIRk4yyqPLabKZMUmU0KyzhCynPJKo1EvrpX_rFHKiuLgBCWk49gXdRpKMuuEaB44c9B7dujiT7ERLXD679jiKA88pxX3goUCy5hLXfFVedxew6EZ6EQGIXsV0M36TLfKZg-Wpl-T1JEcBwkrqrss8H3dYF9E=",
  "id": "rs_08dabef08bb63a2c016ab4597413c487d08f662b0de07a23d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.13,\"left_z\":0.19,\"left_pitch\":0.2},\"note\":\"The brown and beige plushes both appear to have lifted together. I’m moving them farther inside the left basket and lowering them over its opening before release.\"}",
  "call_id": "call_XkiiihqjzXZvNZykEkOf12na",
  "id": "fc_08dabef08bb63a2c016ab45979df8887d0b842b66af258b811",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XkiiihqjzXZvNZykEkOf12na",
  "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]: [-0.3576, 1.8847, 1.3357, 0.0708, -0.3729, -0.1539, 0.1164, -0.02, 0.8097, 0.6067, -0.3923, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5392 left_y=-0.129 left_z=0.1787 left_yaw=0.0231 left_pitch=0.1208 left_roll=0.0481 left_gripper=0.1164 right_x=0.2944 right_y=-0.0002 right_z=0.1744 right_yaw=-0.005 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -9.7026, 6.4205, 2.0, -0.1099, 0.2076, 0.2125, -0.0615, -1.4838, 7.0085, 1.6728, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f9199340e1ce66ea9e53d82b663ecd43ce2892124224c623f2fb122550c43d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac1ccbca99eea25be61aba11856df9e3f46172bbea659e5b4bd7c911abc993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4919a689d8ccdb68f98ad08b6518ec4c110beb5ad0af6c2b4a1a309a0c9f980b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.546 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]: [-1.005, 1.4994, 0.44, 0.1589, -0.7868, -0.7418, 0.1105, -0.02, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2665 left_y=-0.1796 left_z=0.0385 left_yaw=0.0014 left_pitch=-0.0218 left_roll=0.0054 left_gripper=0.1105 right_x=0.2952 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -5.4769, 5.6, 1.1648, -0.398, -0.0073, 0.7839, -0.0342, -1.3197, 7.2684, 1.7411, -0.0464, -0.0269, -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]: [-0.4828, 1.7748, 1.6093, -0.5838, -0.4026, -0.3134, 0.1141, -0.02, 0.8078, 0.6067, -0.3916, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4726 left_y=-0.1655 left_z=0.231 left_yaw=0.0079 left_pitch=-0.1136 left_roll=0.0429 left_gripper=0.1141 right_x=0.2944 right_y=-0.0002 right_z=0.175 right_yaw=-0.005 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -10.3453, 10.0991, 1.9023, -0.2418, 0.105, 0.1441, -0.1299, -1.7026, 7.2, 1.8193, -0.0317, -0.0708, -0.0122]",
      "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]: [-0.3576, 1.8847, 1.3357, 0.0708, -0.3729, -0.1539, 0.1164, -0.02, 0.8097, 0.6067, -0.3923, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5392 left_y=-0.129 left_z=0.1787 left_yaw=0.0231 left_pitch=0.1208 left_roll=0.0481 left_gripper=0.1164 right_x=0.2944 right_y=-0.0002 right_z=0.1744 right_yaw=-0.005 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -9.7026, 6.4205, 2.0, -0.1099, 0.2076, 0.2125, -0.0615, -1.4838, 7.0085, 1.6728, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f9199340e1ce66ea9e53d82b663ecd43ce2892124224c623f2fb122550c43d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac1ccbca99eea25be61aba11856df9e3f46172bbea659e5b4bd7c911abc993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4919a689d8ccdb68f98ad08b6518ec4c110beb5ad0af6c2b4a1a309a0c9f980b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmDaWtG5qLWzEKyZlYY0FrhJRDM17yK6KdmCHxlA4xHtDUnVvrQUEKnZgOamEJG9YOy81U81SKLxA-AdRV1k61pAn9FfP-XskByEGPPnbt8M1KxFTxhneLJ3N4qUP8PJ0t0KCUpK9Vn8Jdrh3YLQPVffJf4PchD92Lxj_98gQYTGKOjm9s8nSfYcpYgLOirjrk6brzAyBZB6G22WsL7BC7kC-c9Rh_uShldfILLXtfFkKsH5RfZMnMCCWdcIYDR9z3z9d1uY67rk9Np05utWUjulqZAAbBOzjXwa3lgRM8HXcDwsXZhotByZXLAHP7K40DTtjjv4NPFoqpJQ9MInDqnlbr_oFffcfdYTL2JDR_ywzwwKmRXl5_YJf0aEmOgYawDOfy9ng8LwCtJeSN5MIQa_GzXwvIlOmXKBcj9uy576NOnni-rdjt0pjqW3pdyQXpsqhCpQAj-fhAUje-l0AUIBgzJm69F7wZ13kIP7IiLYfgKyZeUbjIOyNo7ZcrQcOs72aFrP_1piNh_k1wdfPk2K2feBXrADaqHmV-j3BvBbVP7XwjHlljT6xNwkoz31nABwVgg2OkgJJkpECKG1KZ6so5jNecckT2zFDJBMVmnBqAMmErTqBkOervXpf8ZBF4hAyODNE1ZMi5RzrsbWdYK5yE1nlbJG7vgKaZlUqFoettJL9JD1xwicONJxo7nMQNjYg_gRl00sJFgnbeZ09e_wA7aH_TdlLp6IDf8PossDCIC4gO00h6dqu0CFDMbsp8L0rU5HWdb0sj6XdgMTT37ESKHcs1TdspbP0yPK9PRL85tJJrWcKJT5zFNhKADBMSX87DWR4bx1pY9BSuKgmZ_5_t7uVOhVVDENDDLc6uI1GJ2s5Y-FUcICIi_YKhM1ypEcmrb1r7OPNEZixms4O4uAXpyqazo_UN7AyR-7_AYWRxGfMnNOD4vABIH2duOz5fY4ieznqVfhTES28MWKN5TdKR9mbiU_Wd-zSWCe0mS2lt28pZ7jlSiREg1R49kWP_QrI6JyHwn1S0I_1LrT5cYZoAUxfEfNjK8fyIfxSFSaMjxphyMQARbDrObW0XlGVG5R-geEr_AaQlW2H0hcbL9-dglXtvZ5kqkUQXn0zku_9HlH9wDpNpeVq1JXQiGyFVJGtV9XOsejxzW-AV0l-rDCA19VTDwSUXUNuXQM0XBZCy7_bZJxxEUxszldawLOzwdmMrjHNqS2O5O2nVqAfNtY10cabgh_lFEClwDKy8FNmV84l2wBQ6sUij7EPuCW40jU6SRzqaqjilGtvfmpsGuQUv1NP-mI-CwCS91PAv3lsWj7MSfu7oTAAE7yAXsQ4x1eJ_m7CKQiDKekO_TCDri49k-EEPKQ5hS3mZttwRfNkURdWAvBo1Z7GwG5QstfN537UWBOhsSd1WBwxTKM_wYxbFXCIM99cJTEkSPIrhV0Y5xv8TZxtMMG8P_vAXNR4BaGkChghhWxokskr0VQiKfCiyGWOcFqizTJIuhlvSsaeE7nj89e9P33skQ_L09ik-WPUs3eIrCYxUGXz7MXDFAwhcZiTF67qrSuK_tTg3jnoWLk3H4hB3dSi9oGJ-m9fyY7pJ8bjDuRkvfn4JwJOLEA-1iJ13SoLa7SuYSfV0wqrGm3cvpNmJMPkZATBytH3sYCDTPCVObofzlbFmOAYlTFfoniIsqjlJ22xGgelMp4XHrPoM6wNwRdnWWdS5-M--i4WGaTUqV442uSE8GVDmwyDCbt4tf2SmkpLq4GHTazKWQmJ5XP-Vsj3kHN8E6OkHQE7-ADbd2k5HSO6pym6xMAwNZzEHft5wH4t63U7SOFS3bDXYz7fmhd4FTxSNdBt0Cx0ZD_pdZlpZFrbWJf-_0PuAAaqSIgtaw1jujVKNazJIvShNI3sSkusbYiPkBS8Ez",
  "id": "rs_08dabef08bb63a2c016ab4597fd15087d08142f1877a52ddea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":0.14},\"note\":\"Part of the plush load still hangs over the basket’s right rim. I’m shifting it left and lowering it slightly so it settles inside rather than beside the basket.\"}",
  "call_id": "call_wxUdwaz1VeEDh54LjDA4l53x",
  "id": "fc_08dabef08bb63a2c016ab459825ca487d09979b72ffac8797a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wxUdwaz1VeEDh54LjDA4l53x",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.276, 1.8954, 1.2049, 0.2146, -0.3107, -0.1299, 0.1177, -0.02, 0.812, 0.6067, -0.3927, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5384 left_y=-0.0926 left_z=0.1435 left_yaw=0.0398 left_pitch=0.1125 left_roll=0.0421 left_gripper=0.1177 right_x=0.2945 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0055 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -9.9487, 6.0923, 1.9023, -0.0611, 0.1148, 0.1245, -0.1026, -1.5111, 7.1179, 1.7314, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cfe237f957a52675e02df9807656299ed3683424a0c3da2f13ee4eeb5c8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7e9efd439c24bd463a551b83e06003f27887e66e6da54f85d44c504c31d53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845157ea646be316e6a38506ba47359f200bdea06e5387ea54c2500ee245bf0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.3132, 0.5613, -0.1646, -0.7788, -0.7418, 0.1127, -0.02, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2643 left_y=-0.1779 left_z=0.0885 left_yaw=-0.0029 left_pitch=-0.0357 left_roll=0.0155 left_gripper=0.1127 right_x=0.2952 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -5.2034, 7.9795, 1.16, -0.4176, -0.022, 0.2222, -0.1436, -1.2103, 7.0632, 1.7558, -0.0708, -0.0611, -0.0171]\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]: [-0.3576, 1.8847, 1.3357, 0.0708, -0.3729, -0.1539, 0.1164, -0.02, 0.8097, 0.6067, -0.3923, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5392 left_y=-0.129 left_z=0.1787 left_yaw=0.0231 left_pitch=0.1208 left_roll=0.0481 left_gripper=0.1164 right_x=0.2944 right_y=-0.0002 right_z=0.1744 right_yaw=-0.005 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -9.7026, 6.4205, 2.0, -0.1099, 0.2076, 0.2125, -0.0615, -1.4838, 7.0085, 1.6728, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.276, 1.8954, 1.2049, 0.2146, -0.3107, -0.1299, 0.1177, -0.02, 0.812, 0.6067, -0.3927, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5384 left_y=-0.0926 left_z=0.1435 left_yaw=0.0398 left_pitch=0.1125 left_roll=0.0421 left_gripper=0.1177 right_x=0.2945 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0055 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -9.9487, 6.0923, 1.9023, -0.0611, 0.1148, 0.1245, -0.1026, -1.5111, 7.1179, 1.7314, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cfe237f957a52675e02df9807656299ed3683424a0c3da2f13ee4eeb5c8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7e9efd439c24bd463a551b83e06003f27887e66e6da54f85d44c504c31d53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845157ea646be316e6a38506ba47359f200bdea06e5387ea54c2500ee245bf0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmHLQ205AOjcHEDbrdg49SvdGFDB2GMVGAP1B85LzqNH8bMMszHYZCyupDvzx9lAEMKy2lBhDp-iAPenuQ7CaoRvXaD-jltwBBMBl9JRERI7IsJY6ls3Si8lbs-N_OhlUxR3QduaM_bTe60sXdtgVD6tFIUW8vOogr--CaHnv7oN3ZAfs8BQx2V2QMgmGYP2LRuK0SPiZSW7lB00RqOcApvSF8MBddcH9lUe32AkyzDw021caZUPKuM_vuwvYYmBYFHPF_A2-W170yogp5sZvE7DYRwHV-JGlmtsqVuVzFU-q8KltmV7myWRJ95LinDD6ac1YFtP7U7JFIPM7JSIpuOSBKJHDguF30kg3wXET9tioHS3W56Zx9FXIztmP4GLtpXAR_Tcwhoq30jVnEsu4L7feBSx0Zfh8TsLRQRVIUs0tUdULBnG8gW0Xs6y7nPY-BtPuA49e58w8GUhpc53oVpFSbBcrRYXPMoMpUpev74lNdfmUd4is-iqOUVbaxUw9yZKTEYdhEGUzDIIwFvJG12UW6K2IZAs9_cSKiyek9n91ekyBxRoEUkVvdyuPK7CRKtjGbcsOMA5H7Zx_rkuPypRRx4kAM8t8fWHl7HzDAUDE08ZYvBi2CAXUQCggbCLCDHqaez1IHkgBoeICLTizC2gm_bFHwNJ4zLQTpzyLzaTyaxLRZOrbpuC7YBKSRX8hX6ADQiANAnV68_eaGbBDktuz4ksBlh8jcXYknqn68EhpHQNAKgoP8s-jsHiuk-eY8stmHj8tXkEGTI8MxQ80mTlDObmGmkMf0cZbMhKXrfHqqkrm3BOcI4J0AtTxGSTdrQuiutqCsn4vITvpckHS8DP1Vu9I6Wdz77xdcNK3Lxf3Ylk_0Pfa1pkci1HDaVkLDwZBjSJ1lJlihCerNBU4LjXn7Lo7mvqoxn6cP3VdFnnf99g3RFyA7aOhc1lig4L3DO1CLQH_0ZoKHigLcw0uK2KA5RKJELMOFrpnuR2lkxpN4CaWQhHCtj5AyS5UOrQCcJAEJxwHB-QPZBCYat3aS87lJkp0Zy_zc2GoBN5UJRFnJ3uAf-tDw_ratmaMliG0fzcwrrQl8qWUdGyJL6Swpe_cy2M9I-NgJc2pGlyA7DeXbUfriP7Hl5UkbWBErceSKW41K8Gvp6i1KTt74dDbxx62WpSbuNvCO2AbBBlV3AJiP6K56NzkfglAe1c-hjAJnRZ1E4N8dVRGvrf8VVWU5dbTFqrNdTci9S_7HEXFsTzPfvDeAGlVGm6Cxe4ilEER-gRpfzf16X5NI_qHQBOsLw63KNnjO9svJ1LgsfbSkV0H3-eFqPXu61WuXCa-gfvGS9je9B-XV_rAVzNl-1arcp8YIa-Rgp-epwUDy6vI37ScRGTi2s6OHyC2ZKjlRFchh3XTfRspqaVilJNU4GMCQrdAqV6BD78szsIHUJyz2J73w1y_xLWJNw-4yMmwk60k4t6OU1EEspl4GqqBZn_jpRRxNxo__YjxPgLfXrWhEgFC0=",
  "id": "rs_08dabef08bb63a2c016ab45984d78087d0aa01394b1034a337",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is now lowered into the left basket. I’ll open the jaws to release it, then move clear to check where both plushes settled.\"}",
  "call_id": "call_I1ztl2TfHN1Aiv6H7kOwX4M7",
  "id": "fc_08dabef08bb63a2c016ab45986486887d0b3b9cd14350a7f54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I1ztl2TfHN1Aiv6H7kOwX4M7",
  "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]: [-0.2649, 1.8984, 1.1889, 0.2306, -0.2897, -0.1192, 0.9954, -0.02, 0.8139, 0.6067, -0.3927, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5377 left_y=-0.0899 left_z=0.1377 left_yaw=0.0273 left_pitch=0.1064 left_roll=0.0434 left_gripper=0.9954 right_x=0.2947 right_y=-0.0003 right_z=0.1731 right_yaw=-0.0053 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -10.1128, 6.3521, 1.9853, -0.2076, 0.0562, -0.1392, -0.0479, -1.4701, 7.1726, 1.7118, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83240c291f064de1c714fb63fbf46bfc2876ee74af794a9437ef767286fbdad6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7fb23b7d3bbe6abbf05e9260873496419cf29a49464ae81e5b71d69bd6f8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b92746e5e92b0d33217dc7fe94480982a409bd2038f0a7c92689007f274864",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.655 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 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]: [-0.4828, 1.7748, 1.6093, -0.5838, -0.4026, -0.3134, 0.1141, -0.02, 0.8078, 0.6067, -0.3916, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4726 left_y=-0.1655 left_z=0.231 left_yaw=0.0079 left_pitch=-0.1136 left_roll=0.0429 left_gripper=0.1141 right_x=0.2944 right_y=-0.0002 right_z=0.175 right_yaw=-0.005 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -10.3453, 10.0991, 1.9023, -0.2418, 0.105, 0.1441, -0.1299, -1.7026, 7.2, 1.8193, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.276, 1.8954, 1.2049, 0.2146, -0.3107, -0.1299, 0.1177, -0.02, 0.812, 0.6067, -0.3927, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5384 left_y=-0.0926 left_z=0.1435 left_yaw=0.0398 left_pitch=0.1125 left_roll=0.0421 left_gripper=0.1177 right_x=0.2945 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0055 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -9.9487, 6.0923, 1.9023, -0.0611, 0.1148, 0.1245, -0.1026, -1.5111, 7.1179, 1.7314, -0.0464, -0.022, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.8984, 1.1889, 0.2306, -0.2897, -0.1192, 0.9954, -0.02, 0.8139, 0.6067, -0.3927, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5377 left_y=-0.0899 left_z=0.1377 left_yaw=0.0273 left_pitch=0.1064 left_roll=0.0434 left_gripper=0.9954 right_x=0.2947 right_y=-0.0003 right_z=0.1731 right_yaw=-0.0053 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -10.1128, 6.3521, 1.9853, -0.2076, 0.0562, -0.1392, -0.0479, -1.4701, 7.1726, 1.7118, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83240c291f064de1c714fb63fbf46bfc2876ee74af794a9437ef767286fbdad6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7fb23b7d3bbe6abbf05e9260873496419cf29a49464ae81e5b71d69bd6f8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b92746e5e92b0d33217dc7fe94480982a409bd2038f0a7c92689007f274864",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmQi11va_JKc4i1CmcgELcOp38dQzTtn7T88H7nsbAXrrdMLnrQIdQHPun27TY0gsL50uop3ZifKqIzS1zfI0q7l417sOUV4yh2MJBVCa3UbCc29gf6UmtfLEmKfG0wzul4eIWxsbleUMGKa_Se0BWIny3Xp0g1Bg96jUHHUsRs8PZ_eyTJZFAwD1h_3hpetPYQRBMDmqWlF_YV6m2EXvhRO93H1Rk7GPHOV7cAyyc_xISPHtmiMgWcH58jA5vpvipTp8RGjyr0yQ1yCn6c5RFR5ZjIJFIq9apGqItCBin1sRx_dELDP_k7P8BFb1x9dz2TR0ZeF3CmwxQZj4Fvqx5C5TwAJJSgaD0axnYbLLbnbedgqxNJNtsBTpjtDogvqZ6pci_53A_FZyJ3vqhcYMZk2fShHRyzQTwDaisOwq7eAsEnZo9IWtXE-JVb-CoDLWl3JTFjbREkAOR8kNoa3X6hg9gmXisjzCwtUmVGB8RvO2iI4dPCGEn9ejeCJvPwM-GqlAtfo1Z9jldfzBgHVJyu10IeMVpaS3PhcSY1AWpv30qHrnlqE4ShhQS9PnbcJOgG46slP_ApbDkILzhU6uGnnjq_re4lsFFlFnIO3mAiw9S3NiDacfly3dU4XQWAlJFlZotbx15ji_I4y-HDDeNruUrAeP63C0vqC27aJXG01n-BIa64AuxbZfQN8uTMNmAQSvrmzcwb2rHXO_W1qoDQKQSNCC79vhJpuGbedrCST_oPlb6DxYG9lcZiJurFuX5sYRfT2u6L79ispfLWtxOLePuqwLxBxYIYtmV24sSXOyDpo9GZ-UhK4WwCU_OfOfp2kA6BUHw9HOUw-PET9cVrwfWAoMaRKda59ne9-JggHjcoBIhAEZM59HyluxWiZz9NsnOl7CRPFPdjar9JYngk1-UTcU8S7_CfX352AgUGxzP6Ju0pxSuQtQ_1DIsGmrYLqkUUzvPfDurCccXVV880sDrhCgtXovQquOvA4y8vb5FHyvDjssa8DxZiG4U4hGxgvi-4EdfV0rAiD6yHMqhNeHwCWzFfJ_mmy-AyvMsXigqPm3gfueMDZgciuDNXifD8TMTimbZBbtnnJcLmI_OneMHJHjep9shftvTVcZxP8Nxu-AkhzGPbzhAEGkHRxcCEXTCoCnFKkTPkhRmoMqpSb9iqzj_qt4QYi-Yn6pLZ9FGvaouNbDGXBTOiI3zjy63jT-4lqGyZ8e8-xG6oM1qvCVQpWJS56-4AMMVuBraWbEZ9hZKgULKgsyIc_dxBAyDzaOWosPNDPVVuJJaGgsu3YfWqaKvtAT2dFa2UZM3VoRlbkZt0cqd9iN-04wAVZ8M9YBXHdjqthAUQL6JwjLFt1-EJqGrt0DN0OASnGPceYq8KpLHDbabqBW5SRfYNCsIdEI3hZvMPRFdDAvQe1AwNDt3hIA0uo0jfHloqwQJQwhZ32JzOlMQcpKH9_66cRkpuGugkiXlhoRdiC0s5oE2qXg8QjViSu-Q2SWLf2Y42IV9-ktB59RStrc9Ry8vs7aO85Fy2_jGnEkRy6mUp-6ulqIG0JDPeFa1Il2D3-Rtk_brvruq8pe_GFje35DcLDg7IBDGv9go3efTJThLZyCKilSkuLGUwUR9Y08bit-PgaYA-nGhAr2coPE-AfrRNBscnakqz5YWh7ZoOTPRqBjL5RsQe-LjPwGOtPUwqRgUdvV_kE4_ZijZbm-EQtKW53AXcm0br5dZN9oW8b52qcyGCJQSikeZLWPFmB6a2dyiuKXrkKJ6Sjnqeg4TaW5bfSFESoS6wihyeiqZelQMrbfLGiHbgnpz1Cgd353yr6KMtRwcSxh5aFtucgP5aY-BrY_RNEgXanMoC5LgptN5eYps70qS1RgYgN-cZ-ja5QWa9cfmhv-0G_BFcdQEoJjbmmwIi6rtI7gn0jgRiPM6bwLPdQdAwHtNPILVX6GK8Qr6D6Q8mv6bAVKz_6vlkTCZeDZ6UdasQAklloTDc3pK-WRne74PjyTiirmAOWkqeOTlPvDDewvdF4MuVR0V5Ue3VdEpSTdhw_NJlzX888LXyeMBQZpavYDZ8CGsQyG_aNBR2lBBLS5PlZ82egG5PHcoeilNeKR449k8Xy-FLpg5RwqC3Fr-9eZL6NNvDjuOAUgz-7ZNicMDAp3hKWWZqZ5oB4JT_6xu0B8oy_YvPMoIyFrTXUis4qbP5iCQVxC_J-djeJJINeufCCtsc3Dhrnozf3_Pqs5shbB53HhkLH_9n3PMsvAP3BF4xiTX2DZ1cwU_ZEbxt-K3QfOvsocZ-knde9w_8jTUxsxAksUfNQ8lxgx0yYFBIf7xpm4xi4fHi3mFUZMWPu8AeG4D94CkhByuBgDFuFt-bMeUF4YqU4tflapVMemZvqKQzi-gNFWVdFze76FolpDKTZ7cnpdTd79p9ccifMr2xZHx-gBPgzlh1NxPOqtPdwNHoUHb2QzkHgZWvzZBy2I5QMThQtD8ZJNH82FqpgDqP43-m3a0Y3_cJimQqrdDsNiTp04TDvTvrV9MM3DQ_Cy8AzP_sZ7aCBQv3NIRK0Xk23aQifiEHBnbHA2o0lU8x4ekjpO57mnxe5WosS0Hp2_m-SPORpjo1wW-jrrxanCEM0xc0T01AEPIKBbCINy7oxOy1jcAWPzhCsrs3RA8AgA43WL1KDK8PEU57aQPn-rOg8on8eaornG162LYIMm0LiFEwWIrUreeyHJ3vZF8ZHT-09-s2R4E_7FW9cKdhCYutQvBav6VMskDGwEpAG4suoiO0L73pHDRmhL3Z0oVq3-ului4aInsgvzmDN9t-XlPJnf-UKpQxrUgm-F5-W6DbR3u2DwBnLSoF1-r1rn3GCL-UqsAnqEsxpyKBTcUORL6Hdjl-k0dA1dG07wLTyJlXlqx6CTfOsSqtgmBhSOZM53fun2bkDr7BizWwBZFgWAxDkSWh36P4B87LUKFHf8g8tE3ydnujhTSXKNMQfRRnBKU1Cs_auQvA8sNYPKJF1fNwharxryHFgNzrnDVDJw==",
  "id": "rs_08dabef08bb63a2c016ab45989b3c487d097d9b655b232bf79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.22,\"left_z\":0.22,\"left_pitch\":0.15},\"note\":\"The brown plush is inside the left basket, but the beige plush settled on the table beside it. I’ll move above the beige plush to pick it up separately.\"}",
  "call_id": "call_u8DWbYtnVqUYitDyZ02FeQkg",
  "id": "fc_08dabef08bb63a2c016ab4598fee2887d0af1ebb509bea97ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8DWbYtnVqUYitDyZ02FeQkg",
  "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]: [-0.5816, 1.8992, 1.4731, -0.0895, -0.5552, -0.2642, 0.9967, -0.02, 0.8146, 0.6067, -0.392, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5083 left_y=-0.2185 left_z=0.2069 left_yaw=0.007 left_pitch=0.1316 left_roll=0.0425 left_gripper=0.9967 right_x=0.2948 right_y=-0.0002 right_z=0.1731 right_yaw=-0.0052 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -9.7162, 9.3607, 1.6923, -0.2564, -0.0659, 0.1099, -0.0889, -1.1419, 7.0906, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e2d3361ed1bd75b6ded91213a5bd6bb3d422fdc0cfb3589126af9dfe17892b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27299bfe3dcd2b053c7acfbbef6c95941a46006aac245c88e7c70c47f9f0b61e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba39f53a4427945d951c8dcf7742d1fe2fced90425a0ddbade19ed5a1d794d33",
      "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 · 3.179 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 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]: [-0.3576, 1.8847, 1.3357, 0.0708, -0.3729, -0.1539, 0.1164, -0.02, 0.8097, 0.6067, -0.3923, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5392 left_y=-0.129 left_z=0.1787 left_yaw=0.0231 left_pitch=0.1208 left_roll=0.0481 left_gripper=0.1164 right_x=0.2944 right_y=-0.0002 right_z=0.1744 right_yaw=-0.005 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -9.7026, 6.4205, 2.0, -0.1099, 0.2076, 0.2125, -0.0615, -1.4838, 7.0085, 1.6728, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.8984, 1.1889, 0.2306, -0.2897, -0.1192, 0.9954, -0.02, 0.8139, 0.6067, -0.3927, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5377 left_y=-0.0899 left_z=0.1377 left_yaw=0.0273 left_pitch=0.1064 left_roll=0.0434 left_gripper=0.9954 right_x=0.2947 right_y=-0.0003 right_z=0.1731 right_yaw=-0.0053 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -10.1128, 6.3521, 1.9853, -0.2076, 0.0562, -0.1392, -0.0479, -1.4701, 7.1726, 1.7118, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5816, 1.8992, 1.4731, -0.0895, -0.5552, -0.2642, 0.9967, -0.02, 0.8146, 0.6067, -0.392, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5083 left_y=-0.2185 left_z=0.2069 left_yaw=0.007 left_pitch=0.1316 left_roll=0.0425 left_gripper=0.9967 right_x=0.2948 right_y=-0.0002 right_z=0.1731 right_yaw=-0.0052 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -9.7162, 9.3607, 1.6923, -0.2564, -0.0659, 0.1099, -0.0889, -1.1419, 7.0906, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e2d3361ed1bd75b6ded91213a5bd6bb3d422fdc0cfb3589126af9dfe17892b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27299bfe3dcd2b053c7acfbbef6c95941a46006aac245c88e7c70c47f9f0b61e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba39f53a4427945d951c8dcf7742d1fe2fced90425a0ddbade19ed5a1d794d33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmV7ne8K9ZeMh9D326epaLuJs0kZw8ZRLv9B8slarz3hqclI70xsd6U_ruCefC1ffXj2XmKTPbCSnsLeNqH0ve4Djj-Ns9fSpxt5rIEO1yyiylnJJpn9nB9VAaWPfild7Jx4JwPiZocFlS-pPRMjWR-Cm7iopGmMRXOODHshx97PyAl8vSkaOMsv2yaZrTYHIsB1GmSEo5_keqdePJ_oHEHDkfH0MSGQBMAUfUPgwSH1kLaOc1bUr2VohoGT22iq7ohvcxJpRevz5Vby49j-E9gJdouvnRDCc1KBLKJNUtP4ISDCmMWM702qat1vSQoRgLdUzeWL7klwKSsS40qCaa_S0g-9shrUh6eGwvrF2AjAUlmBBCYOjWX7bHjb1NLvaif_fN-nFgwEjXq8cyN6zUxNTrCl0Fytnlul3s5vwjgecL3AjCGf3-8dD8zJOhhi7WoS3KK9zS2l--5zr5tIAt5yL8gmDAaGTeBPB__HzvAsKExj_uOybbG4YTsUCUbjwaGruAn52iTjUIVE8QiQLJFZAVv3qj_mJftukaECj7nHMSxjbkmP9_osXVluxaC8EZ5H5OmLe0tkp1yCxXbvPA4vq_PGQJMC1xvCnvmDvlqD89g9ydZMvzrI9YADbd2N_3rdPtjjfGBqroHEs0J7LavME_uslXf1kTW9sgI_oGNy0Gsvo6_VILuDoYM_b9oNEr0zgHi1QUE4UImP_jGTpsK4ZhgNUG8uY98Y-MnYeps7Lmu9SN6T5bdRl0BUfGLA66FcZ-yjIRZHUYHrAlIkarILaX7_V1PGoME-opWcY_bqbL9Ai2-vfGLYRSfde4iaLzwXI9W_W5REvlqCYy5pW6l_b1yOYKTa_RdM0fC0mihUyOM6NxTxuXgox7nV087gsfg1CsriTuofoV6lsg2HtIQixsxOx04KgH2C8dNQBv8Ws3kqVdMBwc2EKcK6-N_PmyGpSmTcet0w6YJR_2hWIcyJbn5pz2g2HET6PEn-HGM3zlBqtrchuRdCn3peMqgB4AwTat6f-E7KlytEXTvu5noo8OfYgoPA-Uj4BE07BZZNFrJRAVdHxBj9Dy-9aWAdca5YrXrWdfRBvaFh8uUBDewAHWufIR7-Dj-hrXac-XrA1jN93aW6NfR2tKWdIBtZqP6fIRm8tCqJFyRLsEfbV-YpNzMwwPF1Tj6H2FR5K-k75hnDCtTe_bXwbx5pno6Trp1_s6xgReWwMBE7n-csI64XpZO8gdsvcBZ3u3jMvzczXkO1fGBoSKhFSTzpfJxC414Bf_yFpeL-LRju3qdM4sJQNopYfVv759SJEbjJsMFQOw_YxuJw76NbWjvgkHAb_7viaHXyulaL-UpX92Py5yYpPleR8k9JcR5LK6Ut3p08Vzew_L2dayvP5pWWCt_2DxpYqVYm2rAIZMoXXYIvKLQmkQKaenA8iQkiXy6XHa_yVE=",
  "id": "rs_08dabef08bb63a2c016ab45993aa7487d0a9718e46e059f548",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.055,\"left_pitch\":0.25},\"note\":\"The beige plush is centered in the wrist view beside the basket. I’m lowering the open jaws around its torso, using a slight forward tilt at this longer reach.\"}",
  "call_id": "call_zL28SUB10VmE6KBUAiMrFHrJ",
  "id": "fc_08dabef08bb63a2c016ab45994954887d08de43cb87fe3d0b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zL28SUB10VmE6KBUAiMrFHrJ",
  "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]: [-0.58, 2.1803, 1.19, 0.6338, -0.5804, -0.1902, 0.9967, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5235 left_y=-0.2229 left_z=0.0807 left_yaw=0.0071 left_pitch=0.268 left_roll=0.0321 left_gripper=0.9967 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.253, -8.8957, 3.5624, 1.3504, -0.1099, -0.149, -0.0073, -0.212, -1.4974, 7.2274, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53819f7b06075619b9ce5b1ce9e2ad9ba6e55b59b2cbaf6b978ade09f105a3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26eb0760ab9ddd9e97ec11aa1ce08224efff86b9491d397e5b58fe842966d90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c798f4a067dc7c45f99889c683e6a51a7a393125aa6fc873c32392302c1994",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.269 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.276, 1.8954, 1.2049, 0.2146, -0.3107, -0.1299, 0.1177, -0.02, 0.812, 0.6067, -0.3927, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5384 left_y=-0.0926 left_z=0.1435 left_yaw=0.0398 left_pitch=0.1125 left_roll=0.0421 left_gripper=0.1177 right_x=0.2945 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0055 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -9.9487, 6.0923, 1.9023, -0.0611, 0.1148, 0.1245, -0.1026, -1.5111, 7.1179, 1.7314, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5816, 1.8992, 1.4731, -0.0895, -0.5552, -0.2642, 0.9967, -0.02, 0.8146, 0.6067, -0.392, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5083 left_y=-0.2185 left_z=0.2069 left_yaw=0.007 left_pitch=0.1316 left_roll=0.0425 left_gripper=0.9967 right_x=0.2948 right_y=-0.0002 right_z=0.1731 right_yaw=-0.0052 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -9.7162, 9.3607, 1.6923, -0.2564, -0.0659, 0.1099, -0.0889, -1.1419, 7.0906, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.58, 2.1803, 1.19, 0.6338, -0.5804, -0.1902, 0.9967, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5235 left_y=-0.2229 left_z=0.0807 left_yaw=0.0071 left_pitch=0.268 left_roll=0.0321 left_gripper=0.9967 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.253, -8.8957, 3.5624, 1.3504, -0.1099, -0.149, -0.0073, -0.212, -1.4974, 7.2274, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53819f7b06075619b9ce5b1ce9e2ad9ba6e55b59b2cbaf6b978ade09f105a3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26eb0760ab9ddd9e97ec11aa1ce08224efff86b9491d397e5b58fe842966d90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c798f4a067dc7c45f99889c683e6a51a7a393125aa6fc873c32392302c1994",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmZLGihk5jzMlA5dito4_hRap8SZ2-SoD-ZOr40WRvdqwiFZUzwmHJYvML4ulY65NWGmCZAKBMDXZWje9UJ4jj-72CV9-_5ftISY5A11FrTyYQ_De2fjIm_khtpH8w3bGoHrzTJ1NpF7jEOds-MRPo8dwoVFBUOmUOga-2jn_eHxaQ7pj29eGzmLDwSZ9MxN7r0FIMu3IC2DHFXkpbvvmBe3HRbB1tnuStDoz8pcKtUgt6IF4Gvn2ha3FOtRrFkHJu1mYUP4y5WaN-gmINI3zFpN6XRTyDwQLaUFBmtWG95a0XrFhIw8YFJhIP4EaZiNTyKr0goa5af0iaR7oYdTZ-YooX9IoERElGbCX9_2l8S2IE3l3ISU8eEvsmXa6tUz6Ri_b9r-HH8ngxuXuNJtSDRystfv71ilSoT_CBD-7fqD79b8wWqBMiZeE8g9IdEmgWz6pGOc3M4nLPZsCw6iVpqGPCj0syDmlSICpcbK3ht5PBKiv4dS99RMau0y94B0kBLxD3FNNv6b5QlyKWUuvuOsYHAc1nsqEIzIunumi9BTL85DYc43Z6QX1hKSEtt7396XZWXq2RuIPLk4n9gFlXO_geIYHVKP-Q8d5Bxn6rVa4qC32oInXMnECi6RUcPb90N9PG56lX68_SlV6R1pg6Wc74xQksg5LxZbtqsvtlbDgZ17OYJxhMxSQJjTj2RuviM-Of90lQ1ggPXbLM5yz07_Kogk0OT3eXu_tH7ZCvPKDCvXd9c-nJ3u8khOYbg3KurUh0oxOJ5R-6Hmy9MQxkBEu-VbDFeiicH51bosDUwNDiWVTGoiRv6n61aRtjvr6GVW_mOa3DaZEVAQzdcGrBliS9lNPXXR2_OYifUog4HFAPfsmqdkjK1hx8OOT872KMImPbGsdEyAHbDxZXRyxgjozvQ3-gnsFFS5LfG6E0pSAqvLWFuzpsc8EGXHafyCCuClzH9ZNT52psgYojdTh2PJS6dJDHgE5-hJxUIwO5z6pzwV1G1Wc8Gsj4IN9vDnG6S1zC9eDYqDXX4_KMR-Ik2mmYhw8gpWV_cupoYA-M3NWakPg6NZ5Orz6DDgDTw360rJ5UoMuVX-aeeiQ97-uQNpjSy0Tqc9CDsRjC4l9lF5iMfIzkhfJIOno-baJpJdufst2vuS79ZxNy8O1cgNfmTKse_rf6LZler0HqAcprKGgHpKMe66VOsVvqNfAYOzpU70qQ7ruaPLzzhErvwWi97fim5kWE1xy6s5Fl2mZ7XFkMSBNqr6jKneNKHtr9WdRep",
  "id": "rs_08dabef08bb63a2c016ab4599833a087d0b8c2b4d41613fc52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are against the beige plush, and the descent stopped just above the requested height. I’ll close here rather than press farther down.\"}",
  "call_id": "call_gRz8zxmBweRIXWywpN9eFcsx",
  "id": "fc_08dabef08bb63a2c016ab45998e5e887d0828b6fc030c28ec8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gRz8zxmBweRIXWywpN9eFcsx",
  "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]: [-0.5842, 2.1971, 1.1873, 0.6865, -0.5774, -0.1799, 0.1998, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5247 left_y=-0.2271 left_z=0.0813 left_yaw=-0.0002 left_pitch=0.2949 left_roll=0.0224 left_gripper=0.1998 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.9983, 5.9966, 1.2674, -0.2076, -0.1441, 0.7595, -0.2256, -1.4154, 7.1316, 1.7607, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717740d4e43066541cefb380de6ea7dfeeb57671e0bcfbe3bbfd1b5b8d07af63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa931154aef2542fa35deeba6788598db4aadee7aebd48a37127a129281917b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28554d89e462847dc4c2ce771ca3f1ae64f001c5ed6a09c88ff59ba112cae05e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.211 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.8984, 1.1889, 0.2306, -0.2897, -0.1192, 0.9954, -0.02, 0.8139, 0.6067, -0.3927, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.5377 left_y=-0.0899 left_z=0.1377 left_yaw=0.0273 left_pitch=0.1064 left_roll=0.0434 left_gripper=0.9954 right_x=0.2947 right_y=-0.0003 right_z=0.1731 right_yaw=-0.0053 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -10.1128, 6.3521, 1.9853, -0.2076, 0.0562, -0.1392, -0.0479, -1.4701, 7.1726, 1.7118, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.58, 2.1803, 1.19, 0.6338, -0.5804, -0.1902, 0.9967, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5235 left_y=-0.2229 left_z=0.0807 left_yaw=0.0071 left_pitch=0.268 left_roll=0.0321 left_gripper=0.9967 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.253, -8.8957, 3.5624, 1.3504, -0.1099, -0.149, -0.0073, -0.212, -1.4974, 7.2274, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5842, 2.1971, 1.1873, 0.6865, -0.5774, -0.1799, 0.1998, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5247 left_y=-0.2271 left_z=0.0813 left_yaw=-0.0002 left_pitch=0.2949 left_roll=0.0224 left_gripper=0.1998 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.9983, 5.9966, 1.2674, -0.2076, -0.1441, 0.7595, -0.2256, -1.4154, 7.1316, 1.7607, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717740d4e43066541cefb380de6ea7dfeeb57671e0bcfbe3bbfd1b5b8d07af63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa931154aef2542fa35deeba6788598db4aadee7aebd48a37127a129281917b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28554d89e462847dc4c2ce771ca3f1ae64f001c5ed6a09c88ff59ba112cae05e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmdIwWgQ_-JrTVSPZzwZ8XDy-TycYI8R6cSRGbIxG_Z4jriucXRdjgvNjE1uDgBnFJhxFoq-Ab24cfR5OpuH2JJAbBYML2sxMhHD868wJnTqV9TBIO-L5Clr6JFXvlkhKVsM2ICwqkDBh5ja_h3l0-1ATus2zxA9OiCOZAq8raO3mAQTWt2qlfEjhO43tc_1P4Z-VUc9oc9MSHTLkjaNqk9CBebEacDoQrmRQchhEsTdXgj_aDNg8qKglhEbxvrQuI-KKSGfSjdacHdfAsn9KCtaT2g7AboBw_ohR0n2gAOYeXULb6qTDvbGdzmMrD741Jcl4rILckdq7EQttuehg-e7jKSiIdI9iBUKsigLU5qqijNX4bvgklJz12PJ-wCHvL_plgp6aV6-qKkUYF7oN_vVpfvVaYec1CIVJ9hk_PVCQYr1nc_8kdXhkYd6OwrfrFMG5qje7NlIDRF7wvifPyoyuXudUvtMWQ7p24jnM6WV_iqNjofgPk_vMR35eoG33iYDRq_81pBYqJ334ik66IzeY_iM8FAzMPl0WOKAWIeiDdcaK_HHrk_DYiojQYncRyeT5xdNt_ECQalOq6qpe9kpjOubd5PFSu8ome3DnvCk2KEA1bP5z5OCf5roEg6myCk7sIN6AR1aMwNxVrDbcKHoDiYLmk2WIYxqj7wjLfIp-RhOpguwtJgxZN58HGu2-_OqeNHSDyIHXyoy-W1LPHhabOZU6XKmHGlUc1hAZZywhP7zGHV6rYJCzVsEIXxB6OjjiVkdcZRANa7f4DLS5ZVjU6XnIXPE-3a6IIbXWmTksfY9rO5I0_aI-_5nNTXY1bLH9Dshyp6Dhi2xfoSEpVjn_tkgpLeOpkDGN5ocN40ziOS6ythq8S-tB7dPyfJmv0Q6jlEl82IrL7l95IWSOxwI1IrTAleA6AWy05ghPkZyyI_BtnIywvsEzF-cF5obqdQI8DNX5sVdvEL9QuaOGx6G70VHotiFqnrp4cMMLB5bmP7CxGU-CqfWV_tt-lriUgz1LLHHakFM3euB3Py_2zdCoLs2jEo4hAIZtKcfeeECkkb5A8t9IZfCdVEj7WuiAvXGmKeqqc6Hr_zB-W6rrzPV_AWYfLVBJPYtu0HK7Lsos-k_IIHCIHrb3Oqp75BdCS7YEjHW55ookVvAQB7QeHG9F6Cnv_lna70xRHsfKTMhIWW3JHDvezX32MvMgPRB7bXxfQV5Nh8KTN37wucuKOsqGuCR1TL1X_CHDm6eKD5TqB-62rU6mZwX9n7iX1szRwV",
  "id": "rs_08dabef08bb63a2c016ab4599cad4887d0b7f09b895297b32f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper retained a substantial opening on the beige plush. I’ll lift it clear of the table and check that it follows.\"}",
  "call_id": "call_31Wc0WgeoBBl2jFmG35gltAu",
  "id": "fc_08dabef08bb63a2c016ab4599d098087d0869b98f3733d9ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_31Wc0WgeoBBl2jFmG35gltAu",
  "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]: [-0.585, 2.0884, 1.2358, 0.4477, -0.5766, -0.1883, 0.202, -0.02, 0.8165, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5202 left_y=-0.2247 left_z=0.1107 left_yaw=-0.0089 left_pitch=0.2267 left_roll=0.0602 left_gripper=0.202 right_x=0.2949 right_y=-0.0002 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -15.8291, 9.7573, 2.083, -0.1832, 0.0562, 0.2076, -0.0889, -1.4017, 7.0085, 1.7118, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49091de6647460051cb600445fa08f0473e1f474ab182472e5c559df3d6ddb66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa216cf5e7cc1e613f0d9ae24572d568c3f83121138a7e9ace32f6fe6906482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550088cf32f9da63765ac69454cd9c90baa59be1c76023def7f0775327fa8462",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.197 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5816, 1.8992, 1.4731, -0.0895, -0.5552, -0.2642, 0.9967, -0.02, 0.8146, 0.6067, -0.392, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5083 left_y=-0.2185 left_z=0.2069 left_yaw=0.007 left_pitch=0.1316 left_roll=0.0425 left_gripper=0.9967 right_x=0.2948 right_y=-0.0002 right_z=0.1731 right_yaw=-0.0052 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -9.7162, 9.3607, 1.6923, -0.2564, -0.0659, 0.1099, -0.0889, -1.1419, 7.0906, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5842, 2.1971, 1.1873, 0.6865, -0.5774, -0.1799, 0.1998, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5247 left_y=-0.2271 left_z=0.0813 left_yaw=-0.0002 left_pitch=0.2949 left_roll=0.0224 left_gripper=0.1998 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.9983, 5.9966, 1.2674, -0.2076, -0.1441, 0.7595, -0.2256, -1.4154, 7.1316, 1.7607, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 2.0884, 1.2358, 0.4477, -0.5766, -0.1883, 0.202, -0.02, 0.8165, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5202 left_y=-0.2247 left_z=0.1107 left_yaw=-0.0089 left_pitch=0.2267 left_roll=0.0602 left_gripper=0.202 right_x=0.2949 right_y=-0.0002 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -15.8291, 9.7573, 2.083, -0.1832, 0.0562, 0.2076, -0.0889, -1.4017, 7.0085, 1.7118, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49091de6647460051cb600445fa08f0473e1f474ab182472e5c559df3d6ddb66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa216cf5e7cc1e613f0d9ae24572d568c3f83121138a7e9ace32f6fe6906482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550088cf32f9da63765ac69454cd9c90baa59be1c76023def7f0775327fa8462",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmhVqrMra7_dPovojo5k8OmDV9pc25RXFYsI-X_0BTNTEv3pJlSQ2KdI4dk_HTd6ggExXY9WNVQGpkcs3gjzigpyl8fPhceBW40RUwnvungeRmjRc5Mtl92yrVxETahobV7PfYaRCi7DY-tICpKsz9qFXEJelTFiVzX5K2Hj0-Bo96zZz6RLHANqlTQYreMzhbnl8k-u5OKXrOY3FoebDOLAPsvjxFGW_mgQYrhZFwcQx61nqM__5qUqey9Z7Qm8gGMdPVy_xJSrnuFFMLpotzppGtny3JmQKS5ACj3q7KVazV1WgTSC-Bl3nQtoOWdiD6BxzVD3REA-SJ0kwKVMKOFLD7O-zICsz4vrSg4uHQ4sBoxiYtt6ceEQPa4tp0BH-Yjy1dOc8-YzQbZ3oX54rf6W_ikRutvNAZgK8wWY1YegrBXXgjLp3XZl9EYwoSNgkMmeUPScrS26Ba3p3AUjmqJ93xALEavffXC9RXymsHF7Jx3azbnML3_SqcHcjMMHoXPGh6Ld7b5YrZNBAndDMlmHU3_afzlPMzYkDpfDMZ5X-kYMSmrPbQDruS-gJ2agXPEj8H3DgcCMfieTgnFTMJnLuKb0EAqcSwmo6plefXpo1ZrO0XePAnsRoQfnvYa-hmZW77vBFkkjIvlJQnTwentrh0wXc2XYY6MeiqFp_fJa0r5jHPFvwQ78V0AAIoSS8b6rr9rVUAL4C2tyQwupBgouQjSI8Qg6LEWc3LT3fHSW5shV5_wZpDh3WtgLI9QboJDrveTFG4lTPZor0a0_HrM1T58d9oklCtNwHyq78bjMvsFoh4pPuXRwYJspcHFQ-CK1P-3FczYChGkebey25o19_QAXLVSZyvDkHRNCIrM39WWjQnoHlczVkrdn4SOuOnNvriTxMB4QhUhKJE5KE0XJN5W4EPfuENhs-0l58Aj9pG8xveg2Hv9JGUPkvFXl8GBRSVSGgygR7EWfemaSGKHMvuqWIo1ug9OZao0pVkjaUjJ0nAkcL6ifft-rcRSq-wVLlIeBSYLyo8AAZ-NcYt35Qu_A8Yff2S5LayY3kX7nlCaBmlqhIr132nrrEnS4NyaWQB2iYXuJ4-JMHuZE5QzDoBfLKTRjJ_ppILbwuq6_XQAJP9dn2RE7K7hld-_o_pfX0JVgmyOA3Op5R-dictqRmdp_1xWkCqP-H2DR_uP80DzA_hUphqc9ApL00fSGZ387Q9h-1oBXOlZnxsruPvvOtqT2k_BMGAqzVpHxHzZvzzDTP3PxufWVGIfFDvfEjitDJkcZi6J91XoLmYWYkGQRMCxZ6DV3t7SJuuz3mtC6k_lrCNxn0A5XiEr8P_H7bMFw-ziobWkPCjgjWFAfaHK5oSjtf_6eNWzedmfY2RM47fG3DLbEksddu85fMcF_a0A",
  "id": "rs_08dabef08bb63a2c016ab4599fc58c87d09a15fc55c9b59aaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_z\":0.29,\"left_pitch\":0.2},\"note\":\"The beige plush moved upward, but the arm is well below the requested height at this reach. I’m bringing it slightly closer while lifting to clear the basket rim safely.\"}",
  "call_id": "call_bb65RII8d91gzGaVdxod5OFt",
  "id": "fc_08dabef08bb63a2c016ab459a0995487d0a3e541ed98a12608",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bb65RII8d91gzGaVdxod5OFt",
  "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]: [-0.6506, 1.8122, 1.5032, -0.2077, -0.6159, -0.2485, 0.2039, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4787 left_y=-0.2316 left_z=0.2453 left_yaw=-0.0212 left_pitch=0.1471 left_roll=0.0823 left_gripper=0.2039 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0053 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -14.612, 10.0171, 1.7021, -0.3932, 0.022, 0.1832, -0.1709, -1.3744, 7.0222, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359a21d8921ef080861bbf6be636347f4826287f409b29a84db2cd321fbb39c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30330d8cd338376b61d6ab87a675a5a7bc5b9beaf31edf9beeacac0a29e29ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f10a82ac3a05f3e1b71106b655764a586604cb3f59aecadda44de5f8b55db88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.944 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.58, 2.1803, 1.19, 0.6338, -0.5804, -0.1902, 0.9967, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5235 left_y=-0.2229 left_z=0.0807 left_yaw=0.0071 left_pitch=0.268 left_roll=0.0321 left_gripper=0.9967 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.253, -8.8957, 3.5624, 1.3504, -0.1099, -0.149, -0.0073, -0.212, -1.4974, 7.2274, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 2.0884, 1.2358, 0.4477, -0.5766, -0.1883, 0.202, -0.02, 0.8165, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5202 left_y=-0.2247 left_z=0.1107 left_yaw=-0.0089 left_pitch=0.2267 left_roll=0.0602 left_gripper=0.202 right_x=0.2949 right_y=-0.0002 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -15.8291, 9.7573, 2.083, -0.1832, 0.0562, 0.2076, -0.0889, -1.4017, 7.0085, 1.7118, -0.0415, -0.0366, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6506, 1.8122, 1.5032, -0.2077, -0.6159, -0.2485, 0.2039, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4787 left_y=-0.2316 left_z=0.2453 left_yaw=-0.0212 left_pitch=0.1471 left_roll=0.0823 left_gripper=0.2039 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0053 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -14.612, 10.0171, 1.7021, -0.3932, 0.022, 0.1832, -0.1709, -1.3744, 7.0222, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359a21d8921ef080861bbf6be636347f4826287f409b29a84db2cd321fbb39c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30330d8cd338376b61d6ab87a675a5a7bc5b9beaf31edf9beeacac0a29e29ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f10a82ac3a05f3e1b71106b655764a586604cb3f59aecadda44de5f8b55db88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmoTc5I1Y4Zhl-cPApWZfjyJ7bz3CHQU6He0KoamUr5x9e1znZjiLcpId41BOXMXHuPBswpc-NtCeasjGxt_1GhgyV8X0tHhSZLWy0rK8Px3jeuRWqJiPfj1YLJD1MYdkb2EUGvd48BJGKAOuZUB3_ZGKcQbhNJoKAiV21F3xWrNk_EJHb1B275Hz5bex_fxOO3u3M1PYlxVVK9JWS6u4VxJjEDesJ2ZMg8MdjG7Q7nyPPZYpi2bGjpq_AtJlFQwTH_9obqChdw8pjxOfch_dAtv40aci0nX0SFLAc49nYG8uw4b1KkxViALMP9kobe1vmk_jE_w1BbgKuO93a_7GxHeFtRB1BVj6LD9r2WbDYnfE0PGpM50brAKQJ1jDpoAvXoePFvZj3m486CM7MpNjOUqWFnMCOdWPYyp_WY3MB1Q3kYWKIrjzEgnHgtm-ygqwFYIk2jLIVdESalLUJVTo3nC84X-kP2qDCxjWRNT3A4dlDqws1BMplSo054fVkPHvsmbhQPrNUPTZUAtpEgv07VCgY0e46ga67TG2P8tdPGnIlAcJCU8WYewoy7jfcsb_LGR0nRFwi9R3gAnBBgxLM3uBgv_LrlZ4vpW-HYeEnHV6Z1m2Fc2xrbl8LKqKZ4KS4XqiAh0ow6wlH28zG6_f29JX_qCju5ga3WhRn70IlvvC_Vk7VNNkikwn6bldIK1ALNa8Rs7thXOyc2UVoPqHXTJB1Wp2SpmI1iCCU7WsIeTvv3EfjtFoweizQUQNiZB92eP6V5zWjF5zmtIARWQ8eq1yNuFaR3sNPIBrncD07nGVWGrJGe7tB7VQC54JewQitukrNLesVXedhegx1C_9kzY3BuOkGjrhSsT4YqmsxeWKELaY-fVWpejLEI9CD_UvsYaSC-_tGKdyb5YO_DXh35fwmD9Dl7j2CMnatygidByfZ_JhetUXpl6kFqYvDp83iDu01tKST6UCtilKrlQej2hQnL-CigYiY2FvpGL7_biLVb3b-oAWABOiwO_mkrk3x2OnIiV81FzwkP39fscn4dKvWj5gjsVFgK61FpPSXU7QaVZiQWXaoRKI4luO1jrDdP5ncb9sZqQS2QxDWZpQUzLI8Tvjnv5vSqtN11n-RGwMdYsOa5GR203y66xVvODI-pDTjwxCCHcFbVeoZIDgyIWfB4LsbcoMuZos1x6XbXX7zBDiEMPzRKsjGnTikbdBFATJgNAKoq8jMScCRl6xJSJRKoybCxFTUrj0TXEy3bLSUjHoSQZ1C1DaBarwYDSveVBWyMVnRfaxf3q44l66dVc-ae-MQPK3-YgdGCOha5BNd0_39OzaJK93OUXY0LK23v_wNNpODpQqWgOjbQIH7BAn-N_GO2ZKvU5fgZST5E7l_dywQsEkROJprrKxdOTeXwwz6jn7FkVq5qQX3J8bFtZPIvLXLq88bO6so1aST9GWB4OPrgUg7tuX1LsK7d_Pngtm0oaTTVMQTwiZJyt4Zo3lMNve1GKrpz6TY0tcMERe5EagMP3ne09lHjgfVJY5C4kcWGnulvKZP-P26t9QmDyh3diTj9kkWrHBVCuBvWqsKJBbEpKSQI4z3Rkm6hxSLS0p5eNwKBeFluBAPuRUhWLt6DOT42wly_v_hSrXvMcK_GaVWu-EUqvVjOGbs1TA6-mu_PDRVCddEbCC_Z5mMuIWxQnNo21Xl3OHpyau9d75qlg8J4FEh0KyQ2uJa0IdnK",
  "id": "rs_08dabef08bb63a2c016ab459a442fc87d0bc9d00b990a2c621",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.085,\"left_z\":0.24,\"left_pitch\":0.4},\"note\":\"The beige plush is now clear of the rim. The left basket has shifted farther back, so I’m reaching over its nearer opening while keeping the plush raised.\"}",
  "call_id": "call_xdM11PL7sJAFgqUL9oTn6KQL",
  "id": "fc_08dabef08bb63a2c016ab459a6dddc87d0b43dbe1a19c06772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xdM11PL7sJAFgqUL9oTn6KQL",
  "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]: [-0.2329, 1.9347, 1.3594, 0.3012, -0.2886, -0.0212, 0.2068, -0.02, 0.8192, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5796 left_y=-0.0821 left_z=0.2112 left_yaw=0.016 left_pitch=0.3 left_roll=0.0808 left_gripper=0.2068 right_x=0.295 right_y=-0.0003 right_z=0.1717 right_yaw=-0.0055 right_pitch=-0.0443 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.212, -10.5231, 9.5385, 2.337, 0.0122, 0.2955, 0.2955, -0.1299, -1.5932, 7.2821, 1.6923, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb9062e96b12137a5195dda755f2638bf8fdd2fa69a55db074b66b1bdf889a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962548d9598fdd56db31de47efc007625cc0274ab1e564da012f54193b036166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e300f0183ebdb60693babb2d67513c3b22b24000a754cd8b15446056abe05653",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.002 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5842, 2.1971, 1.1873, 0.6865, -0.5774, -0.1799, 0.1998, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5247 left_y=-0.2271 left_z=0.0813 left_yaw=-0.0002 left_pitch=0.2949 left_roll=0.0224 left_gripper=0.1998 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.9983, 5.9966, 1.2674, -0.2076, -0.1441, 0.7595, -0.2256, -1.4154, 7.1316, 1.7607, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6506, 1.8122, 1.5032, -0.2077, -0.6159, -0.2485, 0.2039, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4787 left_y=-0.2316 left_z=0.2453 left_yaw=-0.0212 left_pitch=0.1471 left_roll=0.0823 left_gripper=0.2039 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0053 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -14.612, 10.0171, 1.7021, -0.3932, 0.022, 0.1832, -0.1709, -1.3744, 7.0222, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2329, 1.9347, 1.3594, 0.3012, -0.2886, -0.0212, 0.2068, -0.02, 0.8192, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5796 left_y=-0.0821 left_z=0.2112 left_yaw=0.016 left_pitch=0.3 left_roll=0.0808 left_gripper=0.2068 right_x=0.295 right_y=-0.0003 right_z=0.1717 right_yaw=-0.0055 right_pitch=-0.0443 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.212, -10.5231, 9.5385, 2.337, 0.0122, 0.2955, 0.2955, -0.1299, -1.5932, 7.2821, 1.6923, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb9062e96b12137a5195dda755f2638bf8fdd2fa69a55db074b66b1bdf889a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962548d9598fdd56db31de47efc007625cc0274ab1e564da012f54193b036166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e300f0183ebdb60693babb2d67513c3b22b24000a754cd8b15446056abe05653",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmsjLUPgmDYhX1g4AMIUmgf27eJu1lRQzsAzcaXxV3JePyhL6-BTG91x4KrU4TRgQLzyxO7KGzElYWXCyd_hOzn0LlbLubXRJIgDZuFRj4G41KoV99BU-7lJaOZM97cX21wVSYwcQfM9-JErmGQOoEtB85XtSgUq93nNarYbrsCIzhfSvVQN98xVRS0iducqsyEfD30WNkt79xQ6btx2dQIKJJz0SIU-6QSe2vKC6E-SL0i4JDyGyuoQ2bPkMidWZ_RymKZcwN5BTm-LqB1d8kTDjFEGcgC5FuVMh4frqJH523sKAicPg1IiodyIfEnqlUyGJOUR8Jdp5nbjve9BUe3Jm7E0omi9JUvyC6P2-nBJvIgpaEm-UQCuz0wXRbujsGFy4AoJIYiE5fGHzAuTsCRx_a0QHCilp34xqZNXvCe4ArNNNyC4ilHWcBYvz0AM-wKT7Sl1RwKn4bXXdktZxno9WL7h0HWwYE_ImJjqBHc3DrvssRbmhCZPDUw7qqCrxRB3PtlEPmQr7nyf0aH2XfiB2ou5xnYPCYlK8LkDP79cUBIpkUO18JS8-spNUeWGLxxV3UaX4K1h0OrDHPdTx71X5NSNaPYZNKU7dFKVml1KFT1EssJrUWFneOWPNW0ngFwIcL397JrC1tUoUPNFDHZHuccqSe9UlcyVxeWPRG2pCO61omsSLBHuwD2II5c4wbrX8UIpLBG-xu_P2K7QMLUrwE0uGJCnCvjDPTwyNSHqCSlZFKsHg4mPThhlLPUyvugUkeWzvO4yAV-2nbwKQ8GYKntP38It-sGz5ICzgz_n9SGkq8IjA9sYsyJAI8VdySxIqmmF4Us7It_SQBdBUOo0uSWyDLCCzB6s4Uf7JyY-Wy_NgJFengrCM0AHwSMvLzc5a3-0aKcl3uMM0NSJf9W1V4bdhW16WbEzi1WMYR7ck7RYBz2z-8S3OXpPVmkCNOHcezLgOqsJrxWHE4J7DJtjVZTrLZD6Jy65T79QQdDZjk39dDfQhnPC42Hrz7DTyikL2twNRPZ7Jdp4APyyflJ9kHWMW4YoXx5JkEYQRAM7UgPHhQf7NxLXxEw8biSE9N-cSGLIZwL98lfDnTHlwEYpdrHryK6auimZGrErR-5_Lwe8AlN1nIGMaAuIRkV9XI411bc4Po1xa-X4_v27r7VEzPCyxg21xTigWOFzRntOPFEZ3NFeUxcgJ5ipGks6bPho7ejVw8MldPLhcT4WM9PG3uGs6M5no2pF-txSD7HFENlVmFBBZig7aLihiVnpYZMKxJLCrOTGdAcqLPfQTBmr9z8geYEEEL-YBBhe3fHOd7jOrRj0WIBx8h7XJt7fTncs7yzmrSAyv7mqYFem7cyVw==",
  "id": "rs_08dabef08bb63a2c016ab459aae17087d09773523a964076d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The beige plush is positioned over the left basket’s opening. I’ll release it from this clear position so it drops into the basket.\"}",
  "call_id": "call_TJAgvaWD6JmAUupUoSvH2Ciy",
  "id": "fc_08dabef08bb63a2c016ab459ab8a7c87d09dfc0445b764b731",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TJAgvaWD6JmAUupUoSvH2Ciy",
  "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]: [-0.2352, 1.948, 1.3571, 0.3004, -0.2871, -0.0277, 0.9952, -0.02, 0.8192, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5802 left_y=-0.0839 left_z=0.2024 left_yaw=0.0148 left_pitch=0.2843 left_roll=0.0781 left_gripper=0.9952 right_x=0.295 right_y=-0.0002 right_z=0.1717 right_yaw=-0.0052 right_pitch=-0.0443 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -11.8769, 7.0769, 1.8437, -0.1294, 0.0513, -0.1392, -0.0889, -1.3607, 7.0496, 1.7216, -0.0171, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1b4b02683f2a30f76d3187a4695b8d7b19559d68aa21e70bc884522873b40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd38ac227d2457cd0943bee84a2205fc6bd25b39fe4c4b4c398f8fd83f393e36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60125e1835c6c7ee1072f82e78f2a6ce7760075226a1ce4a8b1fc19d4c5930b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 10.14 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 2.0884, 1.2358, 0.4477, -0.5766, -0.1883, 0.202, -0.02, 0.8165, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5202 left_y=-0.2247 left_z=0.1107 left_yaw=-0.0089 left_pitch=0.2267 left_roll=0.0602 left_gripper=0.202 right_x=0.2949 right_y=-0.0002 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -15.8291, 9.7573, 2.083, -0.1832, 0.0562, 0.2076, -0.0889, -1.4017, 7.0085, 1.7118, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2329, 1.9347, 1.3594, 0.3012, -0.2886, -0.0212, 0.2068, -0.02, 0.8192, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5796 left_y=-0.0821 left_z=0.2112 left_yaw=0.016 left_pitch=0.3 left_roll=0.0808 left_gripper=0.2068 right_x=0.295 right_y=-0.0003 right_z=0.1717 right_yaw=-0.0055 right_pitch=-0.0443 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.212, -10.5231, 9.5385, 2.337, 0.0122, 0.2955, 0.2955, -0.1299, -1.5932, 7.2821, 1.6923, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2352, 1.948, 1.3571, 0.3004, -0.2871, -0.0277, 0.9952, -0.02, 0.8192, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5802 left_y=-0.0839 left_z=0.2024 left_yaw=0.0148 left_pitch=0.2843 left_roll=0.0781 left_gripper=0.9952 right_x=0.295 right_y=-0.0002 right_z=0.1717 right_yaw=-0.0052 right_pitch=-0.0443 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -11.8769, 7.0769, 1.8437, -0.1294, 0.0513, -0.1392, -0.0889, -1.3607, 7.0496, 1.7216, -0.0171, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1b4b02683f2a30f76d3187a4695b8d7b19559d68aa21e70bc884522873b40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd38ac227d2457cd0943bee84a2205fc6bd25b39fe4c4b4c398f8fd83f393e36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60125e1835c6c7ee1072f82e78f2a6ce7760075226a1ce4a8b1fc19d4c5930b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmznfS34dziL_g6utkD17UhjUj3Qm38JcOLewcIn2_Ln5N4PiYq7Av4D81kAska62Rrp2lk-XT4HDnlYC--3KoD5E2ocr8xFT2vcoRLIfS1qgq-4Prj82TFN5YsTJyUhNtETa03sg6XdY_7DgxulfbOpJ0-BBEkWIlhf4jMM8R7N-ZQj7yiYK9PjyDe7x5CDvO_Dy3RZ85iIdXrKEsWi5tLa-fD1EVaENIS_NYtjIus7nThn0uCghiXixXlBDNHRI_QyUBV5gvIhXydmmYveGjgJx64pc3Bj7E6Z1sAdRXgalR52kyUSyrL8vk5cpz_nOGdLGZwF5LArKcGqdPsVoulpQnd03lJQ_V81AAt__d1jLbXz-KyA34nSSvSLC7PLVutOVxfkNlx6JUE3rNs7CYOSj3B4kQAfCfjopIM-D6syh7EnafU45KAD0d0wtgvurxCfriFuLDYgaKZSgREuSE6wcGZi1avhHYqLZmTeDTHlmcFW3zrXp6xlJv7KM4nuXFJwFgWtGncbKb_0UMVyqk9vMGTkea0I2ZZjh9xzKvSECKzXl9Bj0nIoy-FUDcU_yO1ClIWUwSCz6WIMEJ-e1UpHN8Oc7g_7nv8brywqMGuAvfzuIz4GWtMH7kelX7XLheh0E1JDACX6IjVKOW73kJxtcm4nwWe0PnB9BHixU7v6feDuixxXJW9sRkICyEueVF4NjM3fnQpsBn1ZB5XueFjkqg8ucoY4l9ySBvfrLLYgfdSV6sDrzf3q1Ynt-kw7miN1VTLXp6dJKV1WjK-pA9_US41YEJdxGb4DkhR5zfYEWYfy6uDXcBrZySgUw13u3hkeaKM4Hswz6IRdrQ96PHjKn9qwIwwz2OrmdnWzyQzKtSEgKe4TnrUVEj2uJzO7cZCpApv0qOBegM8kyT1DVv55J9tjAReVT9Viahhp5aazfQO-sGIhtAKKCLIYbkHa3IZ4WEWLq7sR2rdaqhtMUs2xaQnainoDiiCbwnvSY6uyooJuisQqTuJB7PQIoNsnZgQxS2O57dfBHt4_CKoYddITHB6KRQgJyKV36iIfPRbTmghofuPBEhDZE9ybe2MR5dPweKjlpraKgGHwjgo00g-Xl2UlJEjXnM5vapwXgOs-hAmibdCBYsBLhvR9B1nvMQKMxtXGRshlprzY0QyMtB58J1qWDgHwgfptRwILNf7inySTeHgV7NjyIfLkdkvHUUiCxBryXRG6ScVNJOTaJUUplKt9AwQZK_uu90esxSnAB1n2yqlp5d0a6j0Ixb-ozm8aczThm61v79w3iOJiacdgEQaq-LagIQ5arQvw3il6cq9YmxpebWmWBCsdxdyEBXR37WMW_QaQwIbgqmOKvnnZDBj1aqEm0MqHTHIhTXtgtPwahTpU1RpVgvegzbpKWAl4hAPmgydkJgd4uT_-Yq0g1vyxg5opr249YO--IYmc_wAZtxAQg6pMnGtac49X3yn2PUZKK-IV3ozj8GgEOOAZ0aASDkeiQA-PlgEYpq-xW8JP9SZ27p5iKFHy9GuHJMAVF9FG7_bKjqoXFRrENrVzJgi8nzxuXa5ws3GkzXQTI-t-stVyrc-chMbWtYN0R76w2OWUeNnI4U4QEbOI5U5NUeGmx8mcagQHuY9NeysgCpSxYd9UFwEweSrU-fGQb5DbxkydIUsKZczTKepsqvFkOnQAbvJzX_PABP-Wnl-ZMACXdIVtTwWOW1REWuiHGe_cdyPPm28NcFL3KpLDERCTh90GbKvzNPcQ1X7WcstcXl2ZmDprc-tQKB-8ozdlqgljF1FNls3RA3AKcA-Y8CAaPoa4VNS4da3O2owergt7ncJfKwpy1H5J0l5m_sNj1J7pIeuDmKVp_8ilwzY4BW6GlBURw5Ken1mxShwcyyJ2ILdencI4HwZe_m2YHxMsnf-Do1m1pH910KsF7eu2wL2rL9sCyZ3JoDSFlQaLlPvvGgy_3brloAIdGqddB4QpceNM3PKVW0ALzflczLiNl39nI2awf1aHdwA0vRrK10yL6niKVbyrTOxzncu3zLc8ckhaFlUBz5yn6ac0_p6ZgD2p1y70FlWjBl7CKe062rZxNxtuwTEt49nPKMzIKoEBQahYKyVs0pGCNzliKzoTurdyDjZSz6Hupmo8cTgy0cHLyexslyRg5z3CbtpX8SNLPaLX5B35wT4NlBGx8M1VbLQBzA8P8N8pxPorwE2CgZ0FFw5cRIOOR-Rak9e0Nj5wOxdUPUPkPXEGbjsX62fzxRPA9IjUuus4zd8pO27xIRqDi0STzsAlwPyF6FTQYrwPUQ8",
  "id": "rs_08dabef08bb63a2c016ab459ae467087d0bc83ad77c274e76b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.005,\"left_z\":0.18,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0.19,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The beige plush has dropped into the left basket. I’m moving the left arm toward the remaining gray plush and the well-separated right arm above the blue marker.\"}",
  "call_id": "call_MMKa4VAn0MfPOoYjbXWQe4Yv",
  "id": "fc_08dabef08bb63a2c016ab459b1ca0887d0a1dfbc3cee5c692d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MMKa4VAn0MfPOoYjbXWQe4Yv",
  "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]: [-0.0547, 1.0416, 0.6872, -0.1707, -0.1261, -0.0093, 0.9966, 0.8612, 1.3121, 0.778, -0.329, 0.643, 0.5488, 0.9992]\nstate[eef_state]: left_x=0.3506 left_y=0.0066 left_z=0.1883 left_yaw=0.0402 left_pitch=0.0421 left_roll=0.0721 left_gripper=0.9966 right_x=0.2935 right_y=0.1847 right_z=0.1336 right_yaw=0.0344 right_pitch=-0.0938 right_roll=-0.0433 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -3.0291, 6.9128, 1.7851, 0.0757, 0.1392, 0.1343, 0.335, -5.2034, 8.9915, 1.3748, 0.5153, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0b885ab89d801e34c3556c571c1ab254c7f048fdc98bbca78895dbc6dde458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e37d45ada0c3a9e0fccf62da47e777f0c2de0b636fb32a2d7844288369b1c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5d23c054c1b2e179da22c63265b047fd700444687d609a9bffe08fa9978592",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.46 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6506, 1.8122, 1.5032, -0.2077, -0.6159, -0.2485, 0.2039, -0.02, 0.8165, 0.6067, -0.3923, -0.0116, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4787 left_y=-0.2316 left_z=0.2453 left_yaw=-0.0212 left_pitch=0.1471 left_roll=0.0823 left_gripper=0.2039 right_x=0.2949 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0053 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -14.612, 10.0171, 1.7021, -0.3932, 0.022, 0.1832, -0.1709, -1.3744, 7.0222, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2352, 1.948, 1.3571, 0.3004, -0.2871, -0.0277, 0.9952, -0.02, 0.8192, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5802 left_y=-0.0839 left_z=0.2024 left_yaw=0.0148 left_pitch=0.2843 left_roll=0.0781 left_gripper=0.9952 right_x=0.295 right_y=-0.0002 right_z=0.1717 right_yaw=-0.0052 right_pitch=-0.0443 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -11.8769, 7.0769, 1.8437, -0.1294, 0.0513, -0.1392, -0.0889, -1.3607, 7.0496, 1.7216, -0.0171, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0547, 1.0416, 0.6872, -0.1707, -0.1261, -0.0093, 0.9966, 0.8612, 1.3121, 0.778, -0.329, 0.643, 0.5488, 0.9992]\nstate[eef_state]: left_x=0.3506 left_y=0.0066 left_z=0.1883 left_yaw=0.0402 left_pitch=0.0421 left_roll=0.0721 left_gripper=0.9966 right_x=0.2935 right_y=0.1847 right_z=0.1336 right_yaw=0.0344 right_pitch=-0.0938 right_roll=-0.0433 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -3.0291, 6.9128, 1.7851, 0.0757, 0.1392, 0.1343, 0.335, -5.2034, 8.9915, 1.3748, 0.5153, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0b885ab89d801e34c3556c571c1ab254c7f048fdc98bbca78895dbc6dde458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e37d45ada0c3a9e0fccf62da47e777f0c2de0b636fb32a2d7844288369b1c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5d23c054c1b2e179da22c63265b047fd700444687d609a9bffe08fa9978592",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFm-5ExhI6sShhjegE0u2qPJG4lVW7XfLyVdZh1zXJHElXTZ5K-0PfmW7ZDr6HVOy5eya3SMuAKUzbrYuiBZpbEwdzfQ6cd67HYvpFoVbrDO9BGTD3l0-S7hhw2zvmJX3upzarB2ofUBVsAVXijqHpRhxrVK4lzunWG823y_fuTVVqhrv8i-JupUrSTlt54Epzw3p-RDODd8MfTIIIe78lgDaSFE1QOj8kdppN6r6OhY6OiZ6c09l6yWHx3lubc61gor_y7nZvKZ0ECcTJrd_6JJcGT6ie3tUjiwT0eMfBw7WDux0k6AYyf-On-xx6EoCBaPT64Km0D7ZnCv3N4z0RP840bfWa8SHl3EPY8cDNsWaREpbNkIhDChwpbRKjcX-Kr85h3PUgoHq82tFtUUrHMOgJIJ1gve8ljhGaI5sPcPpmVTOFl2iLmcOxx-EoCIbHxYB1WrUWVZhxTM2v7nv_OsDCdO2OrR_dDpne-TAE0-8JsF8W-7NmIYnhSnkJwGrnUqWnuvj4V_fi3-UEltUFaGTmI8ikKRaqXvp8hhNP6nRUOB6UhnOEHAdUoNPTzbkpYO0pb1a3MKC6Dx_IsZDsAxiWazHXsXUdStwUTgoNa_82kxdOR2OHEnA8rX0xqEZmgleZzeRprjGCPioYrxt7exbyU0y5ASFNpkn9MprUVyFAqCls4VEW7Vp9r0bL8noDPeuEqBktOpKXRJ-dh2w0sYTzuroehGCkKPF_tMSVeFoKSVRNZViEztRdIPywzglAz9-ZczqF5SIRA3CcVPoIH3EI2vvHvk-x9LNk9sME-n2dUmG0U4O_vd_awx6ra-e4sWS2LaPZQueiriWIRF8DXiAK4KzodY-_PtmD86aGxvHTroocKl3G6-rUst8JalF-GO6nx07sDOm8qvyDlvIBZsX4_MDLzSFQzuOHzYIihCMPRCMT1eok9GDW6Suqwhi16MBeUEndKZLduY8D0grJqAq40WfeShDBk2XfR6VHhgMYtMggiSPi0qJnl8oxqgU2J21jCa7-KOBTx7MlXcS88OQXfzRAI0ZCjrq-hPADQ08e4nevoOSXFiUjquOq7AeqvKt3p4D3ThdMUKppnVkkiT8gXZObxmTMaWQUQ4o-p6isJ1HixggaDFGrse2vtZ4mmmj7D6DLabDJga8VIKGwL2q3CR8p2ZBNAct32YDl5boc7dS9KB9rzVGfFWd8_H7K5uOQeugZuTRwB5W-MqookdEkOV-HaU5S8KM3Da5Lc4qrZ9lriz17qTh6_QblPWQx_8OZJErXtR5XHNFb3NPy7H2oI1b8hfvpxkdx6jpmh5sBst0iaFWayXpuXAmn7tdaTZ5Ywh-dTOu0uDAjZV5rFZW_2tesAVPkzzPi22lG3W2RGGJmG4MdOSbwUWBb0mXFfHMWeuU1xwtVp4J8TkdB4-8Lm-odPpRuwtPA-W4k0sKSOVJbNVKrJuFXjlSzfVWCljVm5NeDbr25uu-L5q0dzEGhC035Hr1vUas3in6gIOM7CJq7GEuQdVa-U1uJayP7mOGfDHjrrr31HhMpFIVsx5PUP0IePxf2SmGZU-HHXb4kBrdTaX0lQSAni2UksNAWBJQHW1gdoD1jJ1cU4rBVZhTCU8WijqcXdrf407NM8bAbps1z5O4QO6qq6cleH9IlLudeLBUrD3jF2IY4eSnsKUGhRqaUc5siUKD_gqm9Bj5NyiXaRFego_1qA3VnS6QDPHYbgf1gcvcsSghpVC38Llu_-p8uNISKo0iT7ELjaOL1euSHOEMhZC9W82wg8MzGUyCmZWjjtYq08GDdw2d8IDcKLVB5OvIlDjzBNrks1fEtZBcyhAnzIUzklItsANXqdBPDOAUkWTvuuI78lGquQP-yuxZ4E27OvK5_AoVlT5mS6g6e-aNwkv7ocsROo8ZI9HfigwJy2w5BWz2LlePxUeUOLpremm8NewaSElqyv_aiGvIJS1VXY_zOKsz8SZ3qjyh8atbCyt7m0fhOC1x4aOY0C99qPeK9P2MHqCcO78D4_xNiMojPRybvt5T29J2WcvvGhQjAxtcaQbTW1cUfP4PmP9yKEhxX9H8OZyx_5km3I5Z11HNlp_I7YomEFOkAHxjiT9hfbsn5M9tSJ-JAe_VCXnEmZRL18CveVJmhx_N_oKWCiiZa8vEzbtFL1ayt7Q11B1toAvHCJFyihys4yRFzia4SHlf7IQIWn6eCWGRxSsmT7pBQnoYw3mn-LC1iSh6SMrDCagEK1c99SumKdQ8XM4VD1Ux-Q7Pr8EXQBX6_9r5fejofgnJRwYHu5uOztLRE7Ugg4OZ6LKFrVZ0T4if8lMBVQvQddo-CHxpnLHgfNIdqJ-CRH_nAcbXHUGRqDIdfT_D17fvn3N8OESSWQHyTKYiSSX0-Tlj-Bb-7BtB1LKavh1WDriUz7Ivru_Mbp8cLtRoVjUMDxz-a_vFc4M2dp9i0wtvFX3-T2-uoDi3Dr7Bt_gIUqOreSap1AnPsY6vO_r2aC_REePIWsidxalGfC36lVtP99HZwIrM6vuXBH7qtl3MuCY64i9EDewdO8ikZPPJHagVHvrhD5nnDC864pfWcCjlug43QZ4IeEJlceWE-LEydf1RmN9hLAxN9iq30hjqrcrxykD3QcqLMsBLtIALoFwJaXj-uEnBKWmkc2u5REGMfOFXFemn0Wj-RNwebUs2vEq4WvT3KgQqFhF4s3whDQm5pq9tskX82-bREwnfRSyEaWPjSv1DsXFbuzMop1qKKxx3PfYxf2uXc_WponhddUOaULJeep8p8FZJ-0weyY84XbGjedvsARMuq0JbNUYTB_L6aHCe3e-0cF8ux_uOflzCHD2lx4QWiikeaECOpHXnBByIzRIF3v3yZt7Wdh57S988Zb-fVknM47c68YdD42Z3ObWy9egxysbfAnZs_NA4wVqlATf9BiJaUzbN5RoskVyTKyZU565SYIt0g==",
  "id": "rs_08dabef08bb63a2c016ab459b679bc87d09718eefc4c167e02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.015,\"left_z\":0.035,\"right_x\":0.295,\"right_y\":0.207,\"right_z\":0},\"note\":\"The clear view shows that the beige plush missed the basket and is resting against the gray plush; I’ll recover them from the left side. The blue marker is aligned under the right jaws, so I’m lowering that gripper to table level at the same time.\"}",
  "call_id": "call_7pf1YCsNngfsHjdFW84VxsEP",
  "id": "fc_08dabef08bb63a2c016ab459bcec4087d08f5618849d0b04e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7pf1YCsNngfsHjdFW84VxsEP",
  "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]: [-0.1371, 1.631, 0.4103, 0.646, -0.1951, -0.0422, 0.9967, 0.9062, 1.7302, 0.5739, 0.2817, 0.6823, 0.593, 0.9992]\nstate[eef_state]: left_x=0.3823 left_y=-0.0146 left_z=0.0338 left_yaw=0.0333 left_pitch=-0.0007 left_roll=0.0863 left_gripper=0.9967 right_x=0.2997 right_y=0.2078 right_z=0.0137 right_yaw=0.0281 right_pitch=-0.0778 right_roll=-0.0363 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.8308, 3.7675, 1.9219, -0.1197, -0.149, 0.0024, 0.4444, -4.465, 3.3162, 0.5446, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f44eed68c77241aab6d037eb857d3de92a6f31bf6381eae43bcd81c8be4baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20f9bd5aa3896a62b253c46627c636526d1833f40b4bc5deff6aaff18725019",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87848c26ea5cf13fa3aab601b5d7802ccf04f420e9cd833cfffaba456ba0b7de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.385 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2329, 1.9347, 1.3594, 0.3012, -0.2886, -0.0212, 0.2068, -0.02, 0.8192, 0.6067, -0.3923, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5796 left_y=-0.0821 left_z=0.2112 left_yaw=0.016 left_pitch=0.3 left_roll=0.0808 left_gripper=0.2068 right_x=0.295 right_y=-0.0003 right_z=0.1717 right_yaw=-0.0055 right_pitch=-0.0443 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.212, -10.5231, 9.5385, 2.337, 0.0122, 0.2955, 0.2955, -0.1299, -1.5932, 7.2821, 1.6923, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0547, 1.0416, 0.6872, -0.1707, -0.1261, -0.0093, 0.9966, 0.8612, 1.3121, 0.778, -0.329, 0.643, 0.5488, 0.9992]\nstate[eef_state]: left_x=0.3506 left_y=0.0066 left_z=0.1883 left_yaw=0.0402 left_pitch=0.0421 left_roll=0.0721 left_gripper=0.9966 right_x=0.2935 right_y=0.1847 right_z=0.1336 right_yaw=0.0344 right_pitch=-0.0938 right_roll=-0.0433 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -3.0291, 6.9128, 1.7851, 0.0757, 0.1392, 0.1343, 0.335, -5.2034, 8.9915, 1.3748, 0.5153, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1371, 1.631, 0.4103, 0.646, -0.1951, -0.0422, 0.9967, 0.9062, 1.7302, 0.5739, 0.2817, 0.6823, 0.593, 0.9992]\nstate[eef_state]: left_x=0.3823 left_y=-0.0146 left_z=0.0338 left_yaw=0.0333 left_pitch=-0.0007 left_roll=0.0863 left_gripper=0.9967 right_x=0.2997 right_y=0.2078 right_z=0.0137 right_yaw=0.0281 right_pitch=-0.0778 right_roll=-0.0363 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.8308, 3.7675, 1.9219, -0.1197, -0.149, 0.0024, 0.4444, -4.465, 3.3162, 0.5446, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f44eed68c77241aab6d037eb857d3de92a6f31bf6381eae43bcd81c8be4baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20f9bd5aa3896a62b253c46627c636526d1833f40b4bc5deff6aaff18725019",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87848c26ea5cf13fa3aab601b5d7802ccf04f420e9cd833cfffaba456ba0b7de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnDi7Q_Jev4W4-_ivOevAWc9TYhrur45SH5LueAIg7P80CEn7Ztql3tnJm7pYgLjs6tdxr8NiN36J9efizHHcMW0KbwFr8DnKd7tNFUUUMzu09gqt0tgrZ0ta2gNkaXMEaPGiVA-XPqEKeA52wXIIdgNSbhflwOccTKwhZ8BawbGFvCOLJz3w3yHmLxbEwCU8z_hJNlWBrt3RvirxHt8z-6NjN-zEYQi001KJbl5ZDcO1ryABF_VV5wzCRx1PtJHRP2J-SbVupQqi9iGM-ViAsc0UlN5wscFIklhl1QGoMWpIhrz8WdkFDm8asEViKoko-Ih8uGgvZcswsqREIA7e7xDucHUi_63oRTV9we2NJ-ortZsNWbz_WirjCAHz4W8_vFS9aNnRY-2Rj3RCWGPQ24qnIi3NiEbhPQV2DXtfRimzVo0pvhERAQKoga8MxIw8hAzrWZpCof2MqvK-F-hV0Fpt6Tiv6jyEG3FpOFKTR-j-BOXm5CXRkFheUBwj1mSNWCCyJMthAUdCXKcbaRxxZMCNPppLVynyULsO-dtkWsKBZ-MDmcrszJkSZq_LED3yJCtOmToBZ2kuxtMhvZXFOEFHLVmRR3J6AuWIf83iUzkw_rwJKm2EfutQTehsgT0Z8kzvqhicSuffgOZBZijFz1uzYqfItAOIup10jbqgccwAKhiiHkFWePNvYTvm7gSZbcSPeQgttZNjn-KzdSKIqklsr68yissBqt2tzYSzFDiGfp6wlAr9iTwfgParuN_RH-Z6J4Zi-uhFmxmw8o9FHI01QwS6pirgbYlfGob0N8Cx_DlVRHYPdN-oQ9gW9h3auGc3J88cd1sxZ-Qr7nsao-0LUotWRn9q9O9_brQ67u_JMea4CUdfs9Se2D6hkDyivRkqwPBAgelVStmOziBHMh2VeH2f1TpmMx9DcP4dO9AtPbnA2yqfUyhYJOpW_fPhtaFY-hj5Bbyl0to2Y1nTaScInaAKzxCumWhz6d6txta1aiV2If7yD8JgCzDXa43TKqa0nqmRlflktqJEq3EWPk99TwsahL2yM838bMD6fpa-UEDxfndJ_pWV9dy8AGDY2WBSq9gqvARt9QUTt9_-ojlbIRCM9GH7A7tfcXL08-a6xiEbCKaBAvkQEq13hARaPxOXgjWijEJqeGl1Vg2Ggj08WApDlEjDaT6iOYi_yn1EHwqLWjLxlFe2RCdbQz8hC2nwHGcOcVYgnN1-xpUqE74wCjw-dpZaRMA0qq9CrKuPyg-wyGOamFmEBl1pBymlFUkD8NEW9vyeZHReQifEmXBlJtbsiUg_zi8SEV68PWDcqQ0g1yhD-Wyxs4Nrf5syaoCN8rwaq17B0JYHx-rmj1R2iOMtX5TjEeKTQJ9BpDU0z35-5o_rMo0GC1cDhQTTais--Yy-LbhufmQ-3kKxUd24UJWieowT2FZ5_vlq3bbUo=",
  "id": "rs_08dabef08bb63a2c016ab459c1430087d0bebbf1f7cca3c02a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":-0.01,\"right_gripper\":0},\"note\":\"The left jaws surround a plush limb, and the blue marker lies directly between the right jaws. I’ll close both, with a small additional descent on the right to catch the thin marker.\"}",
  "call_id": "call_62lzrNy41iiYKF2toTV3tLh3",
  "id": "fc_08dabef08bb63a2c016ab459c2675087d0b0c173eba346ed88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_62lzrNy41iiYKF2toTV3tLh3",
  "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]: [-0.139, 1.6547, 0.3927, 0.6441, -0.2031, -0.0448, 0.0353, 0.9051, 1.8046, 0.5636, 0.44, 0.6983, 0.5869, 0.1405]\nstate[eef_state]: left_x=0.3739 left_y=-0.0127 left_z=0.0193 left_yaw=0.0397 left_pitch=-0.0422 left_roll=0.096 left_gripper=0.0353 right_x=0.309 right_y=0.2154 right_z=0.0091 right_yaw=0.0219 right_pitch=-0.0218 right_roll=0.008 right_gripper=0.1405\nstate[joint_eff]: [0.0615, -7.6239, 6.0103, 1.707, 0.0073, 0.0562, 1.1941, 0.0068, -4.6701, 3.1932, 0.989, 0.0122, 0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2501c27ac8d3fbb73e1e327ae5e84c227582a6419fc4633c80df34121763b14a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe54700684dcd0ec6a61eefce2b5813bc53a01ccaff316095773bbb26051ecf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d593039dc8804c86c729828f4042788f59ae6ea2015618a00184529f975047",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 8.537 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2352, 1.948, 1.3571, 0.3004, -0.2871, -0.0277, 0.9952, -0.02, 0.8192, 0.6067, -0.3923, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5802 left_y=-0.0839 left_z=0.2024 left_yaw=0.0148 left_pitch=0.2843 left_roll=0.0781 left_gripper=0.9952 right_x=0.295 right_y=-0.0002 right_z=0.1717 right_yaw=-0.0052 right_pitch=-0.0443 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -11.8769, 7.0769, 1.8437, -0.1294, 0.0513, -0.1392, -0.0889, -1.3607, 7.0496, 1.7216, -0.0171, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1371, 1.631, 0.4103, 0.646, -0.1951, -0.0422, 0.9967, 0.9062, 1.7302, 0.5739, 0.2817, 0.6823, 0.593, 0.9992]\nstate[eef_state]: left_x=0.3823 left_y=-0.0146 left_z=0.0338 left_yaw=0.0333 left_pitch=-0.0007 left_roll=0.0863 left_gripper=0.9967 right_x=0.2997 right_y=0.2078 right_z=0.0137 right_yaw=0.0281 right_pitch=-0.0778 right_roll=-0.0363 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.8308, 3.7675, 1.9219, -0.1197, -0.149, 0.0024, 0.4444, -4.465, 3.3162, 0.5446, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.6547, 0.3927, 0.6441, -0.2031, -0.0448, 0.0353, 0.9051, 1.8046, 0.5636, 0.44, 0.6983, 0.5869, 0.1405]\nstate[eef_state]: left_x=0.3739 left_y=-0.0127 left_z=0.0193 left_yaw=0.0397 left_pitch=-0.0422 left_roll=0.096 left_gripper=0.0353 right_x=0.309 right_y=0.2154 right_z=0.0091 right_yaw=0.0219 right_pitch=-0.0218 right_roll=0.008 right_gripper=0.1405\nstate[joint_eff]: [0.0615, -7.6239, 6.0103, 1.707, 0.0073, 0.0562, 1.1941, 0.0068, -4.6701, 3.1932, 0.989, 0.0122, 0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2501c27ac8d3fbb73e1e327ae5e84c227582a6419fc4633c80df34121763b14a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe54700684dcd0ec6a61eefce2b5813bc53a01ccaff316095773bbb26051ecf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d593039dc8804c86c729828f4042788f59ae6ea2015618a00184529f975047",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnGVuB-bA5dD6qC06AoWXNb7mh8xBGswTMZp2-WFBuC0h6nF9mlPEiaU5tezdNBcjoFkPqQqlo_cUR54sQ4bujT_1QVqJ7OZ-O7DARLiw0p6-b4mO_sOcAFWDtuNvwuzxSw2TleKhCGei-7iGlaVE7QsdQEnysywWjfG46x0UpDy2AHV-UQZFD8ly83p54Xlfa7-B63qKpGdiZ1WqqfxHzogIgBu4pX3aEpU-NHwzPqHuoefWpy6JjLtNLzjMCwaW0yL_4bCuktXBjltXl_8GmgjcmCtsGziFa8wyk4yPNEG12_4GcGMaIY3Z64nACOxQXij5WpBfOhCd_-iuCD4aJ1zHe0XBqe06g2PNGHZ5rDdyaaCQ65dqjnHt-3K7NApd_XjzMPiLbDwFnp0xIDURMQEy1rt9SzC0knUGKM1copTP_htfhlIzxuE4pPtUydD8TFkJzyRKqxlcBiLosynbjbkX4z0U2r69V1kf-dEXRiWdsvqDdPcZA6o2C6-If19ZyE2hlqKsf7V5j94YeskL-ZC6TSQdk7bEp_BxWhYuUUbyMRyAS-uA29lTs3Z5ChJEdQE8ETdfL4Wo-ECYOJKxzEJzHkTYlZ0cxrEF6MbU2WS2Zy4qh3PsfNexN5YQd8f8pAND_zA33F-Lf_DxN9ljN4-ySP58Ko3Oz_VJCMmaALoNu616bbO14UAUMISwq7t9maBFXqZJCH-R1GK-46iKrh9dRWj3Z7reWSCbHJlT4P7QGu-5s7c8TGNk07KjG2UoIY8I8C4bg3AKMLHBAhs-wKbBUm_2qzgg412xuSeHEFf3nHds9FDIjmzMuEsGxHh5jSyrVip__h0g4J_2-DZ7-TvcRE63KKFM55kn6mCkR3HNPDS2yJJ7N6mJXJ8dD2IppQdxnS-WesKYfwW-3p_-HVTLtMo8C99d2gNPWsQMbIzF2XS79l9eupulyCq1jmQgmmbrzOzkqdbEToUjBBQbksU4CN8DSibjwTZMAspK4OgXn9WSDuH4WzuaYWPjwVQqxeiMvwmNm3-hK0gtFyTgiakM30uJ85ByPEXNtQArAiuVdYBtbT3Za6B4k2i3atT2-CjtuK5gKU-lynbf1Xi9lhsuYQ4Ob2WVg8GgD5edIossTdp2RVVghF75f9D4iGIosUWykDrCfomJrbQ_8iG6dxTsQBfbPdUaupVDF0lpqb0mh3AiCifqgtht-o4eUjEQrCaHMH7ehwG8lS6ewPdqdr-8uPydJl0_67Adagq18SOww=",
  "id": "rs_08dabef08bb63a2c016ab459c58ff087d0ae90aece4825b331",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_z\":0.08},\"note\":\"The right gripper width is consistent with holding the blue marker. The left close is nearly empty, so this short lift will check whether it caught a thin plush limb or missed.\"}",
  "call_id": "call_aK8XpMh1h7mrnCKZFq9z8TMC",
  "id": "fc_08dabef08bb63a2c016ab459c5ce2c87d0ac3a8a67ce49d3af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aK8XpMh1h7mrnCKZFq9z8TMC",
  "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]: [-0.139, 1.3926, 0.4881, 0.2829, -0.2028, -0.0452, 0.036, 0.9031, 1.5791, 0.6437, 0.1566, 0.6853, 0.5835, 0.141]\nstate[eef_state]: left_x=0.3714 left_y=-0.0124 left_z=0.0749 left_yaw=0.0396 left_pitch=-0.046 left_roll=0.0962 left_gripper=0.036 right_x=0.3099 right_y=0.2182 right_z=0.0693 right_yaw=0.0313 right_pitch=-0.0147 right_roll=0.028 right_gripper=0.141\nstate[joint_eff]: [-0.1026, -6.2427, 8.6632, 1.9853, -0.149, -0.0513, 1.0232, 0.0615, -7.2274, 7.7197, 1.2625, 0.3834, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a497582256d996f5057b865fbb5aa534e4954469a92a55c569f4c0f566080c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1414297654659b883d8449fc6cd25038edceb1623437ced24103868bb00c091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4bc88d3119db108c0e6a4f56221015bc83c36573d4cb2a23cf2126d2697d79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 13.17 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0547, 1.0416, 0.6872, -0.1707, -0.1261, -0.0093, 0.9966, 0.8612, 1.3121, 0.778, -0.329, 0.643, 0.5488, 0.9992]\nstate[eef_state]: left_x=0.3506 left_y=0.0066 left_z=0.1883 left_yaw=0.0402 left_pitch=0.0421 left_roll=0.0721 left_gripper=0.9966 right_x=0.2935 right_y=0.1847 right_z=0.1336 right_yaw=0.0344 right_pitch=-0.0938 right_roll=-0.0433 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -3.0291, 6.9128, 1.7851, 0.0757, 0.1392, 0.1343, 0.335, -5.2034, 8.9915, 1.3748, 0.5153, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.6547, 0.3927, 0.6441, -0.2031, -0.0448, 0.0353, 0.9051, 1.8046, 0.5636, 0.44, 0.6983, 0.5869, 0.1405]\nstate[eef_state]: left_x=0.3739 left_y=-0.0127 left_z=0.0193 left_yaw=0.0397 left_pitch=-0.0422 left_roll=0.096 left_gripper=0.0353 right_x=0.309 right_y=0.2154 right_z=0.0091 right_yaw=0.0219 right_pitch=-0.0218 right_roll=0.008 right_gripper=0.1405\nstate[joint_eff]: [0.0615, -7.6239, 6.0103, 1.707, 0.0073, 0.0562, 1.1941, 0.0068, -4.6701, 3.1932, 0.989, 0.0122, 0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.3926, 0.4881, 0.2829, -0.2028, -0.0452, 0.036, 0.9031, 1.5791, 0.6437, 0.1566, 0.6853, 0.5835, 0.141]\nstate[eef_state]: left_x=0.3714 left_y=-0.0124 left_z=0.0749 left_yaw=0.0396 left_pitch=-0.046 left_roll=0.0962 left_gripper=0.036 right_x=0.3099 right_y=0.2182 right_z=0.0693 right_yaw=0.0313 right_pitch=-0.0147 right_roll=0.028 right_gripper=0.141\nstate[joint_eff]: [-0.1026, -6.2427, 8.6632, 1.9853, -0.149, -0.0513, 1.0232, 0.0615, -7.2274, 7.7197, 1.2625, 0.3834, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a497582256d996f5057b865fbb5aa534e4954469a92a55c569f4c0f566080c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1414297654659b883d8449fc6cd25038edceb1623437ced24103868bb00c091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4bc88d3119db108c0e6a4f56221015bc83c36573d4cb2a23cf2126d2697d79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnP85v-NAF_g1wRFRSLMfjkABf6XqiktAId0qJtgjlrN9o23IbPCQAtid6SGlv_0xuvbyZPs5JM3BG7G6v6mBKArY4VC3D4NCEwDFfOJN01VZgHh157zolkg-FLKFQXQlF8Tog_2g-pg-KuMgts_elUkVA1XF9sOt7tDCowSuHqINgphxQcDc2OJiHXZOLhSvkZOZwSMZD5BqSzCMtcBqkfo8vvcI3U60Wky2WVPq1nmFYAfOU1M5aLzryJZrloc2ArhhrJCT86lFlOUB2Cnig0UrzOFFBeQozkbXJSYxxnAcaW4JYRxPSLpkFqP7VerFP7RYUV1y1piYvUra_n0zsOjb1wsRkSrj6lI_5gI1_uMEg5sElwM_gDsEEEtK8l-TW5R-AGu3IugJct2Qkwwpsij7cJmeZYlajwBhlIUZnW4m-PYkJdPuWYk3WZIDYZKcvP6PMxD6OgWYjxJXMtijj0HrDaZoZufuAeLtcwDiqfd31TlHfW8zh8zIPTQMC7gvVUaHgbdnagyPjOCnw064kgsZptpFtZ1FZq69ODwlU_yVYoxozwe4NrHlrHQBkDPhDIesgONyUk4RP5tZl5nMPUFkBovAJGCnd4r-QKrPj0hUNJ-8BMNchpEG5ktzMl-1esxhPuQAQ0U6E0Ga9cUITn81077m4gDL4VWvrvHdz-LbSFyISjsItdXdu06t7lzc1YHjuxBrNovNcQ6tkdnOwLjPvaDkQQi2g9wbIw0jX3HAAPO7IkIGWy3ZLFobCrvrC-kdOTB0qS7SaAlmJSZXaRACt74HMEEJPukl_AdD1aEcM8gOsWTVQo492qEohON7AvDW-OGh4NhHQztx4AeyBJ8NWM07N5xeK2IbyNOIRx_rZVHoijO4XqAKDwyWTuxCxuVGlhzg-22HkcyAzZQq4YKpN9zPtpcP2GrD75iHC__S-nAWknVyQ-6wh2ZdeqD95KW3zYYsFfaQvLiqKuSVfDANmhD8UknzwxwuTH4VMA6LojEkSlAenh1v8uc2Xdc75IgsALS60BvTVOcL8fY3sC8XdzErrORb1qrkKALj2fuZm_CMGFKycEjIoFHpU88sS0fhBZxs9PJnU_8M7JEW8IUI9o6MHp5Z1hcFtvXumCLPRLOBlhH9hguAp0vkfwZ7E_DCKohthAKIp1n4uu4BqLsciG-0Ws589VNOtMM4Ysr-hJQ5qaOX_p6lkgFSa_CSXMQdtlKmmufb4lq7zyhWdjNHfxryRvjN9QalntBUatxbgT0vmSTXQLj1HDIS92wqcN4uDpTRh85loAg5RXhIbFKQCudcmz4PEjrIaeCYguM7307lxK-vFX3GYMLfAYgVjtCUrqt0Fpebl5CL8ngLxmUF6W0bvPQKWBEClakOKnj2jnQ8IfWqiol1h3mymAyuleDPCQMVx2MqvDThtrwQGYzDHwHW-UpA_Ouuf9wNgunRgqynohtiFKYXWHP5KhHDEOUAwrLW_vo0dG5Ine8qfATINwSrBwqdadfzDoMH3Un4h2Zs1JpR2dEqcGy6LlIiAgzD1EnSl_nXRjVgmVQ1Ymvwtq8IaJuHjI2rfQYaUwqKnx1bLJUTHwKdz-A4hIDt610KJAO2dtQ_YPQcI47AIJbI6kvRakKXpneSDj9dUBknSpTno2ic8wLUxd0PJl6oh1E3qyJbYnPk0196c2NaTpJVV8q0i2jH0K-OvyECMaL-rC9VaUKApQjX_mznYF7wLxYf7QYtmYkUk8kUX0kTD9kefPRRceYHwlzLJDKd2ROTuVnsPCLTibFZ84Nwt7upxi8NrhG7lOYGH_JGY0jj8QGWz5y6tjvgmalHIYvXfYQa7CW9N6d73brNvzyV4Hi-N4kDSMjUgnSDv1SUAYlKLF_K2JADwknp5Kx52cmjawApQQej4CKkCiXpEtaOvQG_7Mx5Zqe72g4mHB5v1DL3m2DEd7YP7Dy9wLJrm3ghQSjQxv5s4YTB2MRlxfGJbZhWTPTgB2V1twfgTQ7-BMl-mH6yJy2n9v2Qu3vgxFPQ88YOrY-R1CazWsQw79N9mEPkJRoqsDAsExeR_ZrlfkIwls7sqOndxWImB2h0D6H_w58gpAEDSEF3zxPpKPcxBd5YI_OMU5HLnRqBNqLNT0BDNrCp1gl7AdIqXnYVgyOq_hAOxMnYXRTxtH0yLtt8FRKaJ8z_0DeNbEhGznWM162DH_WaUlO2swZn-Toel4LU7lpshPXr_o5k8sgLBl4Gdq4XYdVD2kcTHtU3ks7-b4i7ZgDPlx16tQBTVTgGe1vMf8wgGkvibOdSypHy1Y1otykImBQ-O0JYOrcJC-zO954aL29My0oIRhtkTCrEaKTX3QqQkpxt0ScB-cyJrBWoqcu2UP5nVqzKgMiPVWEmYwfEhLroOwuTLZelxD4vAUp6WEsL4jJWxv48SrmOmjkgVtu9qwBWlBItVdJAwzJny3fqoGOiiu9JNdQeA-EvPgCUtUGNMyUwq9VNUvi593vXZjbDVo2uWc37hlWgvG5TQLIQ2N3Meig15eksunR9R-iFwTI9irYqCIyoUApCz8wnvXtO7hhSTX0Ekz1vMRanR55ydgrByQ-hsacfqOh19oqv2LJRcvkcc7ZshSSS2gUORYkasBKeGALh1plCeLS4y7AsgWrgUk1RMYHiYQN-0Z4k7XeJZXUXQNzSpjxK-6aR4kkudQiREAneg27mQeuA5Ee5XtHOc69UbiN2PccV_HwOMETy3o3kwx64NVmtrWdKW-UfkzTCk2sGu3C0TNmj8NAxwAsMqQ2IIzxelTOVrzeNKWjr91V03vRk17Yxuh4S6HiHogQ8PzgJMRBvKjA-p61yS-trAQy1LVJT32-HwgKCoy8so=",
  "id": "rs_08dabef08bb63a2c016ab459c88eb887d094145a60ffdaaf8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"right_z\":0.2},\"note\":\"Both objects rose: the left gripper caught the beige plush by a thin limb, and the right holds the blue marker. I’m raising them above the basket rims before transport.\"}",
  "call_id": "call_9gqf1yBWO4KVrdNoePoce66o",
  "id": "fc_08dabef08bb63a2c016ab459ce9bdc87d0b565e8c3b9d6cff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9gqf1yBWO4KVrdNoePoce66o",
  "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]: [-0.139, 1.2114, 1.026, -0.4896, -0.2024, -0.0528, 0.036, 0.9031, 1.388, 0.973, -0.3908, 0.6693, 0.58, 0.1467]\nstate[eef_state]: left_x=0.3708 left_y=-0.0124 left_z=0.2212 left_yaw=0.0441 left_pitch=-0.0982 left_roll=0.0994 left_gripper=0.036 right_x=0.3092 right_y=0.2209 right_z=0.1774 right_yaw=0.0441 right_pitch=-0.0409 right_roll=0.0119 right_gripper=0.1467\nstate[joint_eff]: [-0.1162, -5.8325, 9.8667, 1.8877, -0.1343, 0.0024, 1.0281, -0.212, -7.3778, 9.5795, 1.4237, 0.3834, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647882fa845cfd5d04c85cf9b8cf65ed586a9b5044740f75f9a830cc1b3d3ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ec8db1c779d369170eda60ce111219cdca8c658a4d894c8324ae81f5309742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867e338580da700d3b747e9a17054aac948e3f998b9573c32cc3db228bcd6827",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.626 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1371, 1.631, 0.4103, 0.646, -0.1951, -0.0422, 0.9967, 0.9062, 1.7302, 0.5739, 0.2817, 0.6823, 0.593, 0.9992]\nstate[eef_state]: left_x=0.3823 left_y=-0.0146 left_z=0.0338 left_yaw=0.0333 left_pitch=-0.0007 left_roll=0.0863 left_gripper=0.9967 right_x=0.2997 right_y=0.2078 right_z=0.0137 right_yaw=0.0281 right_pitch=-0.0778 right_roll=-0.0363 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -6.8308, 3.7675, 1.9219, -0.1197, -0.149, 0.0024, 0.4444, -4.465, 3.3162, 0.5446, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.3926, 0.4881, 0.2829, -0.2028, -0.0452, 0.036, 0.9031, 1.5791, 0.6437, 0.1566, 0.6853, 0.5835, 0.141]\nstate[eef_state]: left_x=0.3714 left_y=-0.0124 left_z=0.0749 left_yaw=0.0396 left_pitch=-0.046 left_roll=0.0962 left_gripper=0.036 right_x=0.3099 right_y=0.2182 right_z=0.0693 right_yaw=0.0313 right_pitch=-0.0147 right_roll=0.028 right_gripper=0.141\nstate[joint_eff]: [-0.1026, -6.2427, 8.6632, 1.9853, -0.149, -0.0513, 1.0232, 0.0615, -7.2274, 7.7197, 1.2625, 0.3834, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.2114, 1.026, -0.4896, -0.2024, -0.0528, 0.036, 0.9031, 1.388, 0.973, -0.3908, 0.6693, 0.58, 0.1467]\nstate[eef_state]: left_x=0.3708 left_y=-0.0124 left_z=0.2212 left_yaw=0.0441 left_pitch=-0.0982 left_roll=0.0994 left_gripper=0.036 right_x=0.3092 right_y=0.2209 right_z=0.1774 right_yaw=0.0441 right_pitch=-0.0409 right_roll=0.0119 right_gripper=0.1467\nstate[joint_eff]: [-0.1162, -5.8325, 9.8667, 1.8877, -0.1343, 0.0024, 1.0281, -0.212, -7.3778, 9.5795, 1.4237, 0.3834, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647882fa845cfd5d04c85cf9b8cf65ed586a9b5044740f75f9a830cc1b3d3ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ec8db1c779d369170eda60ce111219cdca8c658a4d894c8324ae81f5309742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867e338580da700d3b747e9a17054aac948e3f998b9573c32cc3db228bcd6827",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFndUfMTSNho-EwdBGK-369QIdu6UZp_p7an8J8yu0MLjdsrEFU3BtH7QzXvPJuKcQPMt59oF3_mjuNHM6kMeaqhz810eSRksKE2gxYTMccLYq7x5vQsAOfoc2xpB42yl4vgg_z-Ym9XRFLmKbzFl_jyKhjYFSx5Mdy_gzmh2pGdmA4rvB3CXpjFtoaZJNizSlSVhKpna54fJ7uw4da5GBlI1lUvVG3BbsAJNwvOfgX7axNlJBhXq8dvy-mREjP6dS7-Igvb535bmy4W9R_pilQFPFQgdk4o7GYz4SqqCQUTmZNv3_3Ed1rBTtbOA43ogte6y6WFXO0Q0WZM7aDzsLVuED1_YoHzqlzs3XPPMlEUymAeWOQtmoJtYsK9XfSGvGyKz_YZ1CxBS5egQQ5rT30M9xLpIfbZmqUD7Vyg3fW8D7YkQ6aZlA_VtweP_shB5r2zs4S9KHhB39nb-_hOTghhd_8FCj0qChCCkIiSTvtb2kKJOZrdujqT8h02E3_FRO3-9s7g03nKni-3D8VmnBrhhYX5ZoWN1xWFkduOw6KGfsCt78PM6PjfO81fpIvauP0ArJgHlimcy-6FdK8z7zQGyh3nakmSIzFL1cBWStrJ8vOeR4UAvu8VrUQFaO3uCGVaRs5f2GlCwFW1-24nbVcmUbZx5fh0HIEhdP4rGHuwRsMoFvHDitseTAdkq5dioLa1PVDFU664DEP77oGSdFdTZKeBisdMrRVzqHXEY5x3olsfnGWPAcyZ1Yur_jzmSbSmg_N_JwzpaDoJy0OlDdtpc5yjXx5kfGJQmsuH7xKAOYmbr6Bl_nQUVH7pb4F5iIyvdDGgLUv_27kMNBk9zT7NJT1uYI0E-gvW2e6cd9chBAt7vxCxvPZsAPpJu2Y3Umze09-usoyj_XftXWUQMLx-0lZL24tlnhqVgfdPFnnPDamFdT3n2XpReI-ZR8wLMUlkJIiVH-nbsGoPL6VjjIBL_NooPHFUxn7eu0VeDsJa4qeMFhVtII0z0SaAohJKe5Cnlxc8amKcpcedrHWQulfGswBcQ_cEJ6PBfFICAWb9fC2ieuAPPy2OoGEDxD3IfUrazxG-RoRjyPLksDSWbOR4Lf00u_pFaNA1-q9BhiX39kTWEGr-IAvj3QjsYBNApOPL7eBqcbwFLd6QNnWXgb7z872KzPW3fEE9ZKdpwflU5pBnnjUyA7kwOY_5yoyfENqsd9HzlKXoDHFc1XUMxIYevQ_Ee6x7BOU0FaxFUAJr3drbh4HpfUWHUaTqOkUHVnSkb-3UO7hMeMmePxCUkFEWOtzyTL_z75pB44yF1ZCG32DV7z5zxXKV_4VDd0I-OfDQSmxgD6ozMF1JJwDNUy8TsESndJ_DNqnbh_zNUelFD5XN3rvXLDLYeor2uBaWFvdDJvgxn1ffMZvYmwiMH19YpuHz6tBY7hjD2ffAV53cHMIfXbYdXzjKl4p4ErpzprIwTQx-0MKH-iF07eLaN9aiuFD6IpWxs7MW9NCXgUSdJgQq7G7_8yvpazj-0VxeC4RKAk4XPgV5RLxcnBSKBJQ4yqyTGMb-FvDQVDqC0WbBbs0sMm4EFuqcDiQBBMJVhVjkSe3vwE-rdyzdetp8FE7y-hLfF8OdwiwpiVPrU8CIEzb2drtz3Ni3pzGfnTTNIoOGkhf3Xp6q-p9VU8F-UI_0vNlHCWzn_Bxeen287li2yHBF96Tdbyj5YlW-gLCkjR1KyWM8SZ_kP_Y9IFMsnqTelw2WTwtY3yVP7mCtr7mFi7fScf80TRTvrp7qI6sXvFOGl_ATit9dHNMpyvIRXdQ-8TU8qasKEPze6qGVZrBKQT3UGPNIQojAEti0eaxp72IPBcqY30xWhqRQLLEni_Vpo2wi89TFkPr_N8ag19QGL5-YasIqMrxvrW8cZnS7O509bRK0z3cAzoYS2RolRApcB6-f6ZDXDIOPAtCD5god5uXxprELwtbB9JOspTfWnWTMt7BU_0W8ENFvnnhvEa63hEEwZMwS1-Qn3Dk3MG2fBs8p_I_Usi2eyh_grNECLE4h9fs7TykjyF-D8bnR2uzli59X8uJGtDIuJZhgVRy1T4GiHs5LPwjIFR4f_ENNnz-9lGo_pvnKwRWLWoU_zYfxsPVdlMgLH-6-CFOf3jQ6XbUst2kBw1gyHi45rAmFLdgqUhwR3thk9q9ZOovxw-vXzgWrKKMMlyW-ll3A_6ar1Vmq2L09-3PcW3UI1tgn8ngHznhjwUmxTrjiw1I8Ozyneg28Dov6HT1OMGStlEhBJNXk0pdPbdrrrgsR_EdfeGAYas_6JTFS0KNjrAG7LH6ISI6ksT9Hpxov7hhfQ74iQh3C2rPrUgvtwnSQe1_7NQ8gKEWOkptN0A2Xp2wb7lYKTrXwQWM1LfLjoqidZa2YFUA9cDrvuOVeGfXeQCPgQUFNg62TUPVYymv6h-So2d2CSo_qjYsJf51H7-X5rCL66xu--qJCJnCXEO-5vJCmTkj0HsnGHOqq540ODBBSqArY7sPAf4Fvy7wLiAJHipANZwohGYbWAOiSXY5Svt91twCAwaFb3Q6amykd_uyIM6Q6TPMPDlopHpfgacMBIBQa-gckVm1uGmQHPlrpxQvsfnWYQYKUdKClFcOYCB7rSaAo72n0WhzhF_gnyGb43zQWvjqP9uKCLDz0riXFDb0T3tjHz7zC4eS0C-O8ezkm184KAvxsdR2uTmCq0-eZRw0caelsYXn0x09rjbb4xbi36XDc_0VEJ5-RIGYye_LwoQWqrgm_EDMeIzEP95a4o8sEJakMXfe_bN31MKpRC-0FdWsOwxnyFRMJEmdczfm5aGPS0-ZdiruM2qBYGhcjdhzKwV02H25NIQiqLpp5ao8PVkV8ZL9TGr_KBYYcWCA7cHPyIfr1TaXitj8Ftu2gnrfpu9XJX82JN_og0FSLwtdbofaLtQdNJ4Ijw9Hih-jmvGwHgjd3d1OqQFgltm0gkmZZFABSUdZoiDEq81PHNOQdr6LExPBwiWMF2IbJUiu-RZ_mSo-FygVeqgnsDfUbCUQJL69PeSdh8sLPoBHnUrQqSIDiyJC7qiKBqVISRc7as-tnOvGn7jdprvkJHCmGTTiXJ5TpdmTEbqZn4O0PF98khMXQTaIDiecWfjPwWYbZendfB2rGbRCHNG2Yqt413cTID4mkwbwqsKaAqFUIjsxV5ne9LUz8fWHXKjAAIvvRPmnyWlwaL8LeLRNYpl5CjhGsAqxP9IJkECe8ldXxCZZ4I1bQt11x7fxJarwQtzFidCj4bnrMzXBHwqzuwQBesRnn8Z-ZhlW4K--YWwD49aXuYK_4t4wlrMvr04gnxgoUTQnzHUa9Fbu4gSrzy54mrLEKVCC7RcJJAoKgkJMNRdzebVN4MjfonHKsIDYDatHp4a62Q6kGZh0sw6LYVwU1YQT7Sy_jUmjotCOASxKVfS3qh6lcrzgNniqDHt8Z8RLmrY4k5f-huzq1OzDOjHM9-J0bryk6GwVebh9OLDBlnB03VvOSQ1yloQWEdyQZDg8vQPKSXXVw9k0xaBa5dhiQB8TZlgkNqK5bvpiddBjNQFwB026St61iL_NETJWQbaX5rO7Z5CV5vZ-6aITDVSm9Rw4oeI4MT7nAJ5YDsQyrbn9RsGo2oSDvfQce_vHW9yujcntilgcdQBzfvwETQa_FKqGPN8wJWdiElPwNuUhkJLAMP1bprlY1etDj-5JZ8AEbm1BrssEvMF1xNXt0yjhnNvP_vnWym_bBFxiz3vX_gNqd0Dx2c1oeeZxaxsHDBJtz6MXjKzScagk1RCtKCM8gdRejboMdjVbgq1aawOezzLJI5CaSNuRxL2uB9MLRJlocmhxrpdwugFgm6aYuPo8dnYFrl9dhgMrImW7QZN67AwUmAnFsY7Ewn38DJS9-STXFjT4PK0FatU4gqRuddv6r6u3zop9IshqhWDXFt1buwctwkfWmlxwpFmzT0qRmudmhtweLukn-Dj_k_wdhOahvHPk8tBumT8k4PUUe393W3QnFyfYHPJat829lSGpOjtidmW4A0akY8nFcouFNp2eGMyH0j0hRbHp_jM_SyRA3lq9gyWai",
  "id": "rs_08dabef08bb63a2c016ab459d20ea087d0822c55ca94606ca9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFndyMkWeFrbXyY3G2EADwwKAFVmcjrholSIcTZU-fU7WL-MQxW6ZzC4KsvlibwswqsSCYYZ50ek0LkUT1k7ugnjNid4Gcp8yQeC7Emvu_RMOmVa4CAo_boeM-S2vaCPgxYKSRg_4cc34G-bxML1epQIgQpq2Nl4GdvMKwoCSiGoh64vLdEedRRgInzW20WkKP7LLahq_SMmlqlK7xndOB4GTUB1brK6bQ9zuIkoSRYK9Iid7ITzWh-T3qri_qAKe5s0C9WJGjHy3qxCePzxEASXR8vQ8a3X2_y2wNK44x6EKgWUHE9dLMP-DvLVPCtaExnkgYUA0J9KLHOjv8XWm3i8yt9C_7_4XUKu8etUduFFRJqGbJof8gNO474vm3old4Yhj8DvEF7FtBvtzgjExUYgJfA6cjZ8baZloH8QF5Un9-xoTT-wH7yRznXGMfVU30wn5YHWnp-lC3z7wS1M1jico8tY-rgcpZ_MWqrglYwN-de1SerpnqlmgmPS4GUyDk6-mMZVWfHBy_Kt40fX5pZZ0DaGhErKiGNnqhXSWhRd_mlNW1BAHCNVaHYLh5SvAt1ira8sIbsqPAdZYitkTNHTqMkJH6IAuic0yIXWppHNzwTPShuDdZppROakHNQd4l-EYZwA_PpluY8dEz-jIKzmM11NB4JKoqTv7kOCiVQNrnH7MAjiCjYl4M7h-f4ndeZ8artU-RjScoRknOFQDtARyHhpzYmVxV2J-veF19uJBRvVElpRRaoovbOTlEWrZRfgk56W_d1FYvrXUEtHcR8mAu5fsxiCyGgSR7ebYf2lqhrtR1z25RH1e9P27yyg7GMLQnpu1wW0wS3B1iwn_Aqyty54AYrjarpmr_MWWeDk-gndYtwaEbR92SJfEowwRfXsUa9Bo-8xbhfgECSWcDBx1FG36US047K-EqpTNK25lf3SrRsurrs2yp0vZT6RYLSxxTX14seBqSKhJGHkqw0wPXMoyEdGEC0y-6OXv-02Q87pH_nB0q5OR-TltYVK_C-43F5bAwzj_fZuyGsbSbcniCYTNvzSzCGABQgu2b94hKNVp615z9emr7I8gK2gdCN6PKUlcU8ZC_IScriC_SVeOSqagSp_bD6B42lv4Ppd-MEr6KV2KgPkh98esOQAEv20f4A2CAY6EiV-9VI2E_vdDauflFgINnmlMg4yOwxwy3Bdmx4y7oB9pjHhSH1MXfQJpdCg63dJD0O2uGtQx4MHPIyucVD3SRlK2v2hjAhemOjjKGwtx4Cwd_ed-0X6wNphmUsFcLha82OmmllpS7V3RBahqI_L6a2-JWpDl5IuqTwtAu_gwiZLyeexrN-OzqalGTYxWBML4JopR66VvlE-OHvYDrl0BISYwBRUWAC63wrcKMmFrporUWb4eHSWz9WK",
  "id": "rs_08dabef08bb63a2c016ab459db719887d08559d7b3404da9d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.1,\"left_z\":0.35,\"left_pitch\":0.4,\"right_x\":0.53,\"right_y\":0.17,\"right_z\":0.2,\"right_pitch\":0.2},\"note\":\"The clearer overhead view shows the left arm is carrying the gray plush; the beige one remains beside the basket. I’m taking the gray plush high over the left basket and the blue marker over the right basket.\"}",
  "call_id": "call_27sQ2Lmjs4cfCNmJwZ0xUPjV",
  "id": "fc_08dabef08bb63a2c016ab459dc65f487d0aad73d4c62cd65c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_27sQ2Lmjs4cfCNmJwZ0xUPjV",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2722, 1.9728, 1.8114, -0.1463, -0.3676, -0.0254, 0.036, 0.4191, 1.8439, 1.2579, 0.1188, 0.342, 0.1452, 0.1467]\nstate[eef_state]: left_x=0.5949 left_y=-0.0964 left_z=0.3039 left_yaw=0.0455 left_pitch=0.2744 left_roll=0.1091 left_gripper=0.036 right_x=0.5158 right_y=0.1688 right_z=0.1744 right_yaw=0.0476 right_pitch=0.1224 right_roll=-0.013 right_gripper=0.1467\nstate[joint_eff]: [-0.6085, -12.6838, 10.1812, 2.3663, -0.2027, 0.2613, 1.0281, -0.4444, -9.7162, 9.812, 2.0098, 0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8eb4a235d3600aba629cf0894c0937f6207b646767dbd524ffd9d60b795390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c94c923ce0192ce878e4682b6c0c8e0dc7d0c21aea3cc0db85701adf9e21001",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab4ba5a7c5e996b5bfe0dda46e5b7f605cbdb35d0100bf33d22fc533f1f5da7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.695 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.6547, 0.3927, 0.6441, -0.2031, -0.0448, 0.0353, 0.9051, 1.8046, 0.5636, 0.44, 0.6983, 0.5869, 0.1405]\nstate[eef_state]: left_x=0.3739 left_y=-0.0127 left_z=0.0193 left_yaw=0.0397 left_pitch=-0.0422 left_roll=0.096 left_gripper=0.0353 right_x=0.309 right_y=0.2154 right_z=0.0091 right_yaw=0.0219 right_pitch=-0.0218 right_roll=0.008 right_gripper=0.1405\nstate[joint_eff]: [0.0615, -7.6239, 6.0103, 1.707, 0.0073, 0.0562, 1.1941, 0.0068, -4.6701, 3.1932, 0.989, 0.0122, 0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.2114, 1.026, -0.4896, -0.2024, -0.0528, 0.036, 0.9031, 1.388, 0.973, -0.3908, 0.6693, 0.58, 0.1467]\nstate[eef_state]: left_x=0.3708 left_y=-0.0124 left_z=0.2212 left_yaw=0.0441 left_pitch=-0.0982 left_roll=0.0994 left_gripper=0.036 right_x=0.3092 right_y=0.2209 right_z=0.1774 right_yaw=0.0441 right_pitch=-0.0409 right_roll=0.0119 right_gripper=0.1467\nstate[joint_eff]: [-0.1162, -5.8325, 9.8667, 1.8877, -0.1343, 0.0024, 1.0281, -0.212, -7.3778, 9.5795, 1.4237, 0.3834, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2722, 1.9728, 1.8114, -0.1463, -0.3676, -0.0254, 0.036, 0.4191, 1.8439, 1.2579, 0.1188, 0.342, 0.1452, 0.1467]\nstate[eef_state]: left_x=0.5949 left_y=-0.0964 left_z=0.3039 left_yaw=0.0455 left_pitch=0.2744 left_roll=0.1091 left_gripper=0.036 right_x=0.5158 right_y=0.1688 right_z=0.1744 right_yaw=0.0476 right_pitch=0.1224 right_roll=-0.013 right_gripper=0.1467\nstate[joint_eff]: [-0.6085, -12.6838, 10.1812, 2.3663, -0.2027, 0.2613, 1.0281, -0.4444, -9.7162, 9.812, 2.0098, 0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8eb4a235d3600aba629cf0894c0937f6207b646767dbd524ffd9d60b795390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c94c923ce0192ce878e4682b6c0c8e0dc7d0c21aea3cc0db85701adf9e21001",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab4ba5a7c5e996b5bfe0dda46e5b7f605cbdb35d0100bf33d22fc533f1f5da7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnklsW-JwrexXX1hjlpw1rM9R7Z8YHk9HfwYa0mvUH2JMMfXAnrqFklko7QdMLQ0fC6ea51gTEqf6JQtt-PdBDs7WMvEsVy85CTcXm3puCqRx50zDMjJVqmVQZKAjFAslQnGWHs2j96ZvCiTZljN4Wunc1ciu2s1j2bNE2zH57Y4rp8W1CAOoUHj1Tiy0IafJKB5QcqDHSiwaC-k6GOpBX7isnIxSKY2Fe_er_wy9BrrAt3K3CJ7d5ViGaU_y_d5ysimDS6OQ2ikMkDWE0KjNeIJMroeXUj31nGcvSTRklJo0_91b4ri2wiwwluIkPg_KCmCOCi6P69w5f_WUyuauA5yYoWnNQjRH0sCBD7MvSdzVWhvTigxEfz4T0g16TQ06ixfilrkptulnnP1Lms2JUSE73FaeXAW3WA6u28r2cBHOaXgDf6ZzZ-_RRGX5cmcXs1zhB26eWQWY3LPSKJpv7e92-jI6WHE4oI2GCqd-XyizApOMmtgZMPdW2J0F34XcnxAWNTzYj-M-xnQrBrVjpLiVLqInEaAsFD5BnlTCzEmKWkLPa11tyGZrqASN3DimdFvqFmedhwZJImVel-luOkfhVYkN25BZOx8G1MyAEbxU9QCyLFD4-ONeLR78f1X696M_Flbzu3PG818U7VcGM6FiUUNMNC30Iq2haSAzr1MPGQqgWmbR18A4UXZYx16Ydhfe6PnzQJeZN8Zas5xO-BctlS7eP3qCuge6o8GNyAdbUExOR4-lSoJ49JVtEFKYmY2WOTHJlPaz5YFalIHetso3LB9PfUg-YnJbXgOszJvG0hMGQ-KH_dgJ7xNiYwS76xyQBHqY9JAHCAJexLZF1IuPcK66sMYMd-IvnGfQH2l4DiUTjoyussboY3MGxL-CLtJ87MSCPMPsTIB0ll8enwuCzcz3M-Y6yJak9kn3eY133nNGL_R3ELdU4UlRT8GYxxG9H_fV_RdknQ-cfoQOIz1SBbC8obtvRR9mgxHbkZiGmQYxMDC5f9x07IUc4rm4sc416OvaBfGLQFHLrCeSGjMqo2Gf9KqQ4yOj5cLjZhz3XvDQFbgpFqYAnm-RnUv7-O_WOBhfAfKIB6IcFQiQ-Jx156TSqPqote4Y3OgDfdre9aaAi-2YwmlRY1iMpNm1jovlQBqjKPeuf7MeGCB_fnCcggWkW9P4KYhHLQicfCdqjmtuPfZJ6E3FmzVjMDErHypPMqQl4Ko2rv1ff-turSjs_ntdQwWqmjL4aVwqgtMvuAmkuJLrnHz8wlm-tb1r7H3CacLv8a-z1zG_bD6HDxib7kCkzdVvfbB6i5S7dnO69_guEym9pN-STQPnuu06yDo6WSp_U1CaXn3JmYx_VzVuUXMA7hpnEpixgERkqhFEFlCAKHkf-5k7VeVSQNDiF_rE3tDaEysrgHe0bpRLYfGKdANNwCQAjCqh9CCE9s7E3J_lxcfDbb3mcC_ap1dVCdcmYryTXzlDzph1menZSUavLu0b71fgwb4Juo60BV13HwlLEQhZVcUBxtlI7YHA5hvHZ346OlJWu5Bz6E3KYkNJHz_vjput2KLifgyRNTnIqHjm70V636Qj0Qf_-Qqe6cMRhIdf7udSBl2zjcif3i87uQWmUChV6NXY4aHAr5l07HnkAqHxHZDf_nAj5U1smrYd0ZLDl2J4saQZO2eJAOUmeNc60CHkwNFVXNtvz4ae1Omnt-5axPnfpkt47_XD4qQIX5NN63g3Tgpgc1n8xJkEbtPwa3uiPWVgmqMZHRY6I=",
  "id": "rs_08dabef08bb63a2c016ab459e10b0c87d09b50925dd7f2a9ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both carried objects are over their assigned basket openings. I’ll release the plush into the left basket and the blue marker into the right, then inspect the table again.\"}",
  "call_id": "call_BdwxowFe6TAor703bcKGPHIZ",
  "id": "fc_08dabef08bb63a2c016ab459e3393087d09bd66c954502764c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BdwxowFe6TAor703bcKGPHIZ",
  "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]: [-0.2737, 1.9888, 1.8076, -0.1486, -0.3668, -0.0338, 0.9953, 0.4129, 1.8561, 1.261, 0.1162, 0.3294, 0.1371, 0.9956]\nstate[eef_state]: left_x=0.5972 left_y=-0.0981 left_z=0.2922 left_yaw=0.0461 left_pitch=0.2538 left_roll=0.1077 left_gripper=0.9953 right_x=0.5175 right_y=0.1683 right_z=0.1685 right_yaw=0.0569 right_pitch=0.1092 right_roll=-0.0191 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -12.8889, 7.4051, 1.8974, -0.1343, 0.0122, -0.2173, 0.294, -11.1248, 6.5299, 1.7851, 0.1294, 0.0073, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671e0b3f6283012bc027d728c8c9328095f1a1327221b974051df05b1bfa5ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4692c740a17adb3eaac6c32fb9b54440a28c9ec85b2a25e00031797174356f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503432382eec7863b6c1ee2c0f5c143570a6919a472219d29d58a9ad2ec65764",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.987 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.3926, 0.4881, 0.2829, -0.2028, -0.0452, 0.036, 0.9031, 1.5791, 0.6437, 0.1566, 0.6853, 0.5835, 0.141]\nstate[eef_state]: left_x=0.3714 left_y=-0.0124 left_z=0.0749 left_yaw=0.0396 left_pitch=-0.046 left_roll=0.0962 left_gripper=0.036 right_x=0.3099 right_y=0.2182 right_z=0.0693 right_yaw=0.0313 right_pitch=-0.0147 right_roll=0.028 right_gripper=0.141\nstate[joint_eff]: [-0.1026, -6.2427, 8.6632, 1.9853, -0.149, -0.0513, 1.0232, 0.0615, -7.2274, 7.7197, 1.2625, 0.3834, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2722, 1.9728, 1.8114, -0.1463, -0.3676, -0.0254, 0.036, 0.4191, 1.8439, 1.2579, 0.1188, 0.342, 0.1452, 0.1467]\nstate[eef_state]: left_x=0.5949 left_y=-0.0964 left_z=0.3039 left_yaw=0.0455 left_pitch=0.2744 left_roll=0.1091 left_gripper=0.036 right_x=0.5158 right_y=0.1688 right_z=0.1744 right_yaw=0.0476 right_pitch=0.1224 right_roll=-0.013 right_gripper=0.1467\nstate[joint_eff]: [-0.6085, -12.6838, 10.1812, 2.3663, -0.2027, 0.2613, 1.0281, -0.4444, -9.7162, 9.812, 2.0098, 0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.9888, 1.8076, -0.1486, -0.3668, -0.0338, 0.9953, 0.4129, 1.8561, 1.261, 0.1162, 0.3294, 0.1371, 0.9956]\nstate[eef_state]: left_x=0.5972 left_y=-0.0981 left_z=0.2922 left_yaw=0.0461 left_pitch=0.2538 left_roll=0.1077 left_gripper=0.9953 right_x=0.5175 right_y=0.1683 right_z=0.1685 right_yaw=0.0569 right_pitch=0.1092 right_roll=-0.0191 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -12.8889, 7.4051, 1.8974, -0.1343, 0.0122, -0.2173, 0.294, -11.1248, 6.5299, 1.7851, 0.1294, 0.0073, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671e0b3f6283012bc027d728c8c9328095f1a1327221b974051df05b1bfa5ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4692c740a17adb3eaac6c32fb9b54440a28c9ec85b2a25e00031797174356f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503432382eec7863b6c1ee2c0f5c143570a6919a472219d29d58a9ad2ec65764",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnqfq23eofW1o6y969WWG3EspaRzBDs17PMJkeggty5vjprWQfeOa4yrfiKWRSn3WBBSbeO7630Bp1imF019QwhcmaZb_2CzMdtYZoC3a_kdZltnx2wjFjIEdg4o-KARulnsCVkdMwAolu4LymXL-G2YMHEoT47niDCZuQy25TY43okAzFqeDnQY-HIx0D0vn-CNtdOTpT_nDCnG1qF12t6kRzA8Pzh69XBcY4kx30GeUWcIxP3E09BQDSY7Qn05SyNCN8BQbFcfSvR6wkvn1b_v8DpnWEUd65K6Y1RG_00EiRMaDPZ1uiYyLvT-2CXzWLoqxEuXgkM9F9gLtwtc39M3EkQWvXfVVM6h2-QrbUWJGInV5wLH1gD3zlg9m8mc-Kgg4k7KDMqQD4B-u2EqM1W1CH0Rm24YmFWY7SJ9t97E8osLafIFOKi6YcpGk7in5KHtOG0FGziBX00QgLJBno7vmHySqDXtyhpytQwY2r07wJke6UsJJxq5sMBRALfB4UEXBQUdHI-snwKyxoMHyUUoCq7Z9DwW9hKTWv2Mf7mn4ZQ6HHOSAYvQUmcDL1IkPBENVlPIpyMH1gKPHV1W_an09wXhvr7eSqzzOw7e3Xk5tVcVK15dOim-12Ti1Uq08pzkKEob8EAeS56DkEHkdc0X4H99x2IPmNbiuVcFs6U99rUTxKIoNlNoJz4l65cCLl32OKoYra_WpiwPN46btwQTvMQbV50VAL8NQo90UwRuypTgYmCmbs8ICjzvzKRei9jAN8M2jg3m7X_IaMuT2nWgIQZEZUpenzfhCvjltyjsjSWlPM-1cDLt3Yg9wxGJN4XEp6VT7WZF0jQT6Vxblb61AEaeaUEz2hlfCkD1MhG-M4hryriP2ifiG92maBV9aHvwd4TKMPIOzz4zm5wXebAq3ehemZ56T6gZtXcms54eHhZRUICCo7DnXnzje8zmIrHm3oNRUP8iO2VwTecwZnwAZwXjHY_7b_x7QhunjLDM3YBER9HJTsqdc1wPrZ8YJYMD02rpC_TVfJNRmPWA3ZgHz1lliKeDComgRmt0yQLlw9iZrR-YuS9RaHNhacMpsRuaGPXNaun-q9HroVPXKnXkSGzvpH3zqAROqZb1PWWdN8wNXUk_ZKN3nOgRERnxUTtMIhtcBTXVOnCIE25BVhrNb7qdvuMeTnHyAFcUN2v9vMykXb6WabgaLnIL8A5OdGXE4PXA6DJjmIZASqMYvTaRn9Iq2R2ps72IfGYV9oCFPAOI1KPDANj1Hh_cRz7hkpWrQo-gkCivivv6hItDt84Q4yz-p0gAaDLHYZGzKFOPLnI_-pGKzK0xMxCo8r6GAe5m2DKv0ck0azpl9mC_mWHB_L5Fv0vhAj0Z6HFvH6RHXJkcaUOGMa3JA6DhA5pSi7d7CnnH2mOEbsZuGKidG6912gYoYwhnSIBPy82mot01q-vOlv8p4DRwPFO3rpAgK8_2J5d3hwpF9KUNtPTL9HVnJ54ZMzgx8LcrAUxkOWkD56ZX0mqvbeAj8EkM9GinOOqCyb30Aaoo9PXM8vDiTLF-mh2kUhkP6W1Aa96zmMbkjsNI8cCUT_02z-M_Z4nWeMALbudOg2h5At2uwPBX3zTVuN01rjozu-2pCMfBU6MOl_wLSkyV3M6cCYy8Kcs-Mp47_GQ-0bNyQbMP5f-MRnEt1YCFHewNHDjTqnEQ-UWQXNrqmxryXqa-msKKqEVc-dwQcqmk2fQHx3Zep21CcM7HgovPWn3fCV0orBqJIQ9hoCi9KFKOSV334b-uEmSB22YnFhrN1MTVsAv_w7VEy-smL2vQxXmOkU9POHrcBgJS44euvB12wcFcWEYyFzZ5N95MmxOFL-LZVeT88Pb_8yaK2mSaVRtWyH3z_iOYKFo8QY=",
  "id": "rs_08dabef08bb63a2c016ab459e6f29487d0b37a93264d758345",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":0.01,\"left_z\":0.15,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0.105,\"right_z\":0.12,\"right_pitch\":0},\"note\":\"The beige plush and blue marker are now visibly inside their baskets. The remaining items are the gray plush, yellow marker, and dark marker; I’m approaching the gray plush and dark marker with separate arms.\"}",
  "call_id": "call_1Y2NtkDlFoOGcZ2cLvbOUlZe",
  "id": "fc_08dabef08bb63a2c016ab459e963f887d0a77911709d419a5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1Y2NtkDlFoOGcZ2cLvbOUlZe",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0929, 0.7704, 0.4797, -0.2501, -0.1993, -0.0212, 0.9967, 0.551, 1.0576, 0.4633, -0.0124, 0.408, 0.2417, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=0.0114 left_z=0.1581 left_yaw=0.07 left_pitch=0.032 left_roll=0.1008 left_gripper=0.9967 right_x=0.3057 right_y=0.1098 right_z=0.1223 right_yaw=0.0771 right_pitch=0.0096 right_roll=-0.0161 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -0.9641, 7.2137, 1.7167, 0.1148, 0.149, 0.1294, 0.6359, -3.2068, 6.8581, 1.6337, 0.3053, 0.1099, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68ba36b0bf674f682c67a01e1f92150fc009eb60f1f630fe25bfb52939546c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5fe8345d059266e4a52d331134b6ffe099a33e5a8c6b866fbb2cd541135fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd55229f5300654498c458ed86380dc6a6356a8cdab90641ce52986237014a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.384 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 90 changed as sent

message 94 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 1.2114, 1.026, -0.4896, -0.2024, -0.0528, 0.036, 0.9031, 1.388, 0.973, -0.3908, 0.6693, 0.58, 0.1467]\nstate[eef_state]: left_x=0.3708 left_y=-0.0124 left_z=0.2212 left_yaw=0.0441 left_pitch=-0.0982 left_roll=0.0994 left_gripper=0.036 right_x=0.3092 right_y=0.2209 right_z=0.1774 right_yaw=0.0441 right_pitch=-0.0409 right_roll=0.0119 right_gripper=0.1467\nstate[joint_eff]: [-0.1162, -5.8325, 9.8667, 1.8877, -0.1343, 0.0024, 1.0281, -0.212, -7.3778, 9.5795, 1.4237, 0.3834, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.9888, 1.8076, -0.1486, -0.3668, -0.0338, 0.9953, 0.4129, 1.8561, 1.261, 0.1162, 0.3294, 0.1371, 0.9956]\nstate[eef_state]: left_x=0.5972 left_y=-0.0981 left_z=0.2922 left_yaw=0.0461 left_pitch=0.2538 left_roll=0.1077 left_gripper=0.9953 right_x=0.5175 right_y=0.1683 right_z=0.1685 right_yaw=0.0569 right_pitch=0.1092 right_roll=-0.0191 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -12.8889, 7.4051, 1.8974, -0.1343, 0.0122, -0.2173, 0.294, -11.1248, 6.5299, 1.7851, 0.1294, 0.0073, -0.1538]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0929, 0.7704, 0.4797, -0.2501, -0.1993, -0.0212, 0.9967, 0.551, 1.0576, 0.4633, -0.0124, 0.408, 0.2417, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=0.0114 left_z=0.1581 left_yaw=0.07 left_pitch=0.032 left_roll=0.1008 left_gripper=0.9967 right_x=0.3057 right_y=0.1098 right_z=0.1223 right_yaw=0.0771 right_pitch=0.0096 right_roll=-0.0161 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -0.9641, 7.2137, 1.7167, 0.1148, 0.149, 0.1294, 0.6359, -3.2068, 6.8581, 1.6337, 0.3053, 0.1099, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68ba36b0bf674f682c67a01e1f92150fc009eb60f1f630fe25bfb52939546c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5fe8345d059266e4a52d331134b6ffe099a33e5a8c6b866fbb2cd541135fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd55229f5300654498c458ed86380dc6a6356a8cdab90641ce52986237014a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnx5vcV5OEMbKHfhBEi9VWoedXEOLIDAJ7LH141Zk7MH5SJxzP_IMlqUP15EywJTSZm8qF2F0gf4QUoqOyWsaMKzR5vkZXcTmRh-82JEel0MsAI9YjEHNZfkFhoqf36qV_-X4-fVl72hHTQz2INKaglP3TQEGxD3ztRxKyHHLYCoRCcN3EY3m0TxO2-Z1U1GYz4cbHP2FD64Zc4TgAKNmIjvu2HPQaCtvQZ4Nckzxz3ABCN-ZB7jiV8xDPxy1X7K0zkYHOXx4x8wF6CjfMAGOcKOhJmIfbbLZYRst-X8TfYbKja6JAJZ9n8StGr16xWYfbK3WoLc31UoImwuKQ5xrW12_XA9aGrzfCN4HK02LEObFxGnnkyW6RXKs6xUtag3cssfHiUgsaU6vAX8-iIDeymET_kyOa8_6ah0fBdv7fb4oCJvo9CSOsUDdRzVn2yKgZpxCkhhr3I8rtyu5xdQ1ZKkoIMbQL4FTmm1uaZ6mILcI8hbAOU2ybuv-EOhgZ-nIJ-sjB2pkMBfLD7vVKhwTWmITLeqA0cZAHG-jIasyg8rLsrxlDcW-kU3fqCyT5HqxG046B-4bTF6qDmmL1JwZ8UPgTETBm2GimwADg6k72FbXBGPz0Owvds6QtKINU87wW-jZH5fFxwqgMLUWC9AJDopyyCz1NnXu2ASxb6dvXszu_OxIKgKRZj36YuVvoYmWv2XfYFjuB30Zg4OeKU3pLCwL9OqOF3tbow5ImMpOATuLOQFINUmr51F3RGu7t2I7mZG1sdgQ-iOzsdSzu0YMEMwyBuW3bmfp9PstaWUf_PZ_vmmIiXwi_YZZe5VDv1tUvkAnW8H12Q6D8WAbhM7eic2nl4aMvyJHIxlt-aRQT3HK7-NvYLE5vdckCShSv8_7UYKXw0m2h8iVInmaYf1ySPYYFfp-6vADUrzcV-tZ-R8TGpnRUxdoIDtPy_UOzgHOG2lJR8HCKcTjYuGx8MKYvt2pGpmE5Dyw81MW63HxtHF30nnMn9hZ8akZoQQEPrfWre22xZlqG6dusme96Co_6lMye0TzSloaaT5552xNT_Vlra_6eoAL7j-K1Ak8Im4R5CKiKXWMhes4Kpm5cXLVln64i-29lz5_M4DVd9t9-TEmxFKfDC8_43bZRxCvuzy8OWsgzvH7Y8vWeQ8056W7a-5lcxyh6_kAeAjQ8l-kx2i80KIlq1EuiadH0uuQMI3mVIM-9O3bc0dtja4ypLqiI5k5ujIFbfiva0ny2U1nu5obvq9Lt1Z_3Zva8tCDvuMB3_OkmYfzLUzlJi-J5Du9o7bfZ36o6Ta8hTgx4PWCIx7O9E1g6UZu1iiz980OQFZ6NZ-xPKNgSTif-_pvk1_3C9QebPLZK3S9d6_6Ca28bKsXTR0MG3w7ZXBfQTqSvLti1ZbbV1INBSFbYez6md69Kl_ynOHyACkV8EEKKoL_y3FWCpDOFyR7uuyt3Cqy4fNV1KJ01TRqPKFozAc2CBQEBWA3Mnj4A2VavdGVAzRbdq1lMCG1XTbYyG3RRwoZRWncmXCR_JzkMDWbL6LGN90Ryjbw==",
  "id": "rs_08dabef08bb63a2c016ab459eeb65487d0bf364d118252bb2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.03,\"left_z\":0.025,\"right_x\":0.3,\"right_y\":0.09,\"right_z\":-0.008},\"note\":\"The gray plush is slightly left of the left jaw column, and the dark marker is slightly right of the right jaw column. I’m correcting those offsets and lowering both grippers to grasp height.\"}",
  "call_id": "call_gGgWNYYeZBoBYfnZPiYOLILM",
  "id": "fc_08dabef08bb63a2c016ab459f0215087d0a620c240b54e6059",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gGgWNYYeZBoBYfnZPiYOLILM",
  "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]: [0.0307, 1.2259, 0.0788, 0.646, -0.1375, 0.0654, 0.9967, 0.4767, 1.6745, 0.1493, 0.9874, 0.3485, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.3003 left_y=0.037 left_z=0.0442 left_yaw=0.0956 left_pitch=0.0618 left_roll=0.141 left_gripper=0.9967 right_x=0.3116 right_y=0.0971 right_z=0.0118 right_yaw=0.0615 right_pitch=0.0581 right_roll=0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.294, -0.9368, 1.9897, 0.3346, 0.4371, -0.4713, -0.0024, -0.7453, -2.5504, 0.9094, -0.2662, -0.0024, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b836f99f23a3f4729ee4283ebe93106d58d25159394648ae4a1fc8072738a625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e998f6c2b64b9d7f765d953c137ee4e69c97cd8fb87d5829cc88997e5df85ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dd267c285f8f913d9f7350be301a26819ffc7906624b8b4e4fc8f67e83c98a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.036 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2722, 1.9728, 1.8114, -0.1463, -0.3676, -0.0254, 0.036, 0.4191, 1.8439, 1.2579, 0.1188, 0.342, 0.1452, 0.1467]\nstate[eef_state]: left_x=0.5949 left_y=-0.0964 left_z=0.3039 left_yaw=0.0455 left_pitch=0.2744 left_roll=0.1091 left_gripper=0.036 right_x=0.5158 right_y=0.1688 right_z=0.1744 right_yaw=0.0476 right_pitch=0.1224 right_roll=-0.013 right_gripper=0.1467\nstate[joint_eff]: [-0.6085, -12.6838, 10.1812, 2.3663, -0.2027, 0.2613, 1.0281, -0.4444, -9.7162, 9.812, 2.0098, 0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0929, 0.7704, 0.4797, -0.2501, -0.1993, -0.0212, 0.9967, 0.551, 1.0576, 0.4633, -0.0124, 0.408, 0.2417, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=0.0114 left_z=0.1581 left_yaw=0.07 left_pitch=0.032 left_roll=0.1008 left_gripper=0.9967 right_x=0.3057 right_y=0.1098 right_z=0.1223 right_yaw=0.0771 right_pitch=0.0096 right_roll=-0.0161 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -0.9641, 7.2137, 1.7167, 0.1148, 0.149, 0.1294, 0.6359, -3.2068, 6.8581, 1.6337, 0.3053, 0.1099, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0307, 1.2259, 0.0788, 0.646, -0.1375, 0.0654, 0.9967, 0.4767, 1.6745, 0.1493, 0.9874, 0.3485, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.3003 left_y=0.037 left_z=0.0442 left_yaw=0.0956 left_pitch=0.0618 left_roll=0.141 left_gripper=0.9967 right_x=0.3116 right_y=0.0971 right_z=0.0118 right_yaw=0.0615 right_pitch=0.0581 right_roll=0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.294, -0.9368, 1.9897, 0.3346, 0.4371, -0.4713, -0.0024, -0.7453, -2.5504, 0.9094, -0.2662, -0.0024, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b836f99f23a3f4729ee4283ebe93106d58d25159394648ae4a1fc8072738a625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e998f6c2b64b9d7f765d953c137ee4e69c97cd8fb87d5829cc88997e5df85ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dd267c285f8f913d9f7350be301a26819ffc7906624b8b4e4fc8f67e83c98a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFn1VwLyj697XKH7W5lgdTNhQVfeEeX0zhwsftd700POMWF5ge6oumgnFB0ji_ImxePqzxJ0vO1BO5a9bJXpanPVuLYyXozt0py8-zCmei_3aGIXs9i8VhzKeKg6rkDIcjsqXw8Ck8aWgGr7Aq72eBepV1Ofk8DGCM3S0D_yTaFXcaFRjv-3CuPZKK1aTLrcEaX-y-KluBUc2lw0cI6V4YQWNXPdKGISb7DefV3MoV0hR4-vis7HYRVF7eQondTsJaA8r_nPVAqXlJ4JMjRWOyQGekp2ghfLdw4jXeyVoHv-pHAg0M-DRRzfbGOmQn8ez4XA6Zg5hrVGAsu_MUag63Ar8uAK-n5ZfCCywzztv72SynlpYFqkQWFsTFfSKERoSg3QsLkXaxv_8W2RtIOU6M5IFEYjk4iaSYmN6vu8_LWE8soBA00uixCrXvZbIsP0sSSpI651fuh3RqlJv6IdfjSm8o17gh9sp8p2Ap8y52U4Izh3k1pl9dCcLR_n5TohsIbA2ZqpnwCgWNdPTZjj-_DJ6Ovd_ZZRh8iX2MihfrufD95s5ZuWTAsPKinRbvekfQIw02GQZLMgX6ZKgjGA019HkzNhiqFIUt3lxkZQgJeahd7nk5h1K_4P2VDvWsNjBsNBGT4_RF8R0_3_rNx018Tp6E0NIFuCXdUvF15cy9NfO-AeF7fbHzlDAxc_VpOXMxnU7hUqH4vUpMuaw4IAeGgy26jiPaEeqUhCIZbnjRkYCwYPd6YFhL7xIYDwXpZXDAeUlMI5F6FZFr-Jfm8_MlFeZeundX_DT4yGskcRGTQ_Fh_m_dQsKit82jgKV9c03kucwtQbd6oVnsu2L9xSDj69hw8rckc6TnAeGgINAGZRKbraagBycPACGDmFzSgZ65piTWMBjdFgqFvqO6oQFpdoM3fI6EjnthkaVnCVjS2LXToqCZldC6xIgrX4vK0ZnLqwtLr8pqAmGZI1RRiIoehpzHlRV-LwM3watSIPf3tQ0xlUToekm0T3p1dRsIewMrVrXbJ37Dwktez4FjccAgN2jBfnQMuK8MVUiOmkH3Fl0KjtvFe1e_NnBjvMeDMQDE8xVovDEv3hdx-77UhMFMTTfJC26Yd4i2CixphGqNAMKLVGnAwvaMWSbmz-yXkA_QqG-ZIoFXq1HvzqVXecXJMWczoUH7_pvqpefnH78JjsdxSG3GOeO6ammB1lWvC_jTgv03HhwGRChDuQSKvkxEEolBc02PLBBi6YKlSN75WSGjxdvHf_-p1-ZnSuzCxXn3zZVkiM6XzBIZa9vGNIqPZ3yXOVyrNe4-t7--cal0gRa-9fDyd0b_1KdpYctfnI6YxLSM9B0qaq-JwGkMN53Eqem-9lcoWmOiMs0H9taZeW7H5rMHZzBimEVz1QqF9kENs1WeIykIos5CaUhQBjj7gZzQ==",
  "id": "rs_08dabef08bb63a2c016ab459f4259c87d09301bd2e0f74b53e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both objects are between their respective jaws. I’ll close on the gray plush’s body and across the dark marker.\"}",
  "call_id": "call_bNQLVt9XSg78TvsS3MFr5VxO",
  "id": "fc_08dabef08bb63a2c016ab459f4ad5887d0bd86bb1901adad4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bNQLVt9XSg78TvsS3MFr5VxO",
  "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]: [0.0334, 1.2209, 0.0731, 0.7219, -0.1558, 0.0727, 0.0105, 0.4736, 1.6806, 0.1383, 1.0206, 0.3355, 0.2173, 0.1351]\nstate[eef_state]: left_x=0.3065 left_y=0.0413 left_z=0.0604 left_yaw=0.1106 left_pitch=0.1368 left_roll=0.1503 left_gripper=0.0105 right_x=0.3109 right_y=0.098 right_z=0.0134 right_yaw=0.0711 right_pitch=0.0703 right_roll=0.0339 right_gripper=0.1351\nstate[joint_eff]: [-0.294, -2.0444, 5.6274, 1.0818, 0.1148, -0.0806, 0.823, 0.1573, -5.2581, 3.9043, 1.3797, 0.1929, 0.0024, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8f4dbce2faec61b5e888dfe18662e4fe124b4f4b849b81d3d7a27ad4bdf889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f69d78155f54055adcc1c86d44ada2f79fa35dc170ebaa6450985fba026f1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dba184efc20f2ba26ce36717fafa188ff4ee9c6b13b67dca1df092206b6113",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.339 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.9888, 1.8076, -0.1486, -0.3668, -0.0338, 0.9953, 0.4129, 1.8561, 1.261, 0.1162, 0.3294, 0.1371, 0.9956]\nstate[eef_state]: left_x=0.5972 left_y=-0.0981 left_z=0.2922 left_yaw=0.0461 left_pitch=0.2538 left_roll=0.1077 left_gripper=0.9953 right_x=0.5175 right_y=0.1683 right_z=0.1685 right_yaw=0.0569 right_pitch=0.1092 right_roll=-0.0191 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -12.8889, 7.4051, 1.8974, -0.1343, 0.0122, -0.2173, 0.294, -11.1248, 6.5299, 1.7851, 0.1294, 0.0073, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0307, 1.2259, 0.0788, 0.646, -0.1375, 0.0654, 0.9967, 0.4767, 1.6745, 0.1493, 0.9874, 0.3485, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.3003 left_y=0.037 left_z=0.0442 left_yaw=0.0956 left_pitch=0.0618 left_roll=0.141 left_gripper=0.9967 right_x=0.3116 right_y=0.0971 right_z=0.0118 right_yaw=0.0615 right_pitch=0.0581 right_roll=0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.294, -0.9368, 1.9897, 0.3346, 0.4371, -0.4713, -0.0024, -0.7453, -2.5504, 0.9094, -0.2662, -0.0024, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.2209, 0.0731, 0.7219, -0.1558, 0.0727, 0.0105, 0.4736, 1.6806, 0.1383, 1.0206, 0.3355, 0.2173, 0.1351]\nstate[eef_state]: left_x=0.3065 left_y=0.0413 left_z=0.0604 left_yaw=0.1106 left_pitch=0.1368 left_roll=0.1503 left_gripper=0.0105 right_x=0.3109 right_y=0.098 right_z=0.0134 right_yaw=0.0711 right_pitch=0.0703 right_roll=0.0339 right_gripper=0.1351\nstate[joint_eff]: [-0.294, -2.0444, 5.6274, 1.0818, 0.1148, -0.0806, 0.823, 0.1573, -5.2581, 3.9043, 1.3797, 0.1929, 0.0024, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8f4dbce2faec61b5e888dfe18662e4fe124b4f4b849b81d3d7a27ad4bdf889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f69d78155f54055adcc1c86d44ada2f79fa35dc170ebaa6450985fba026f1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dba184efc20f2ba26ce36717fafa188ff4ee9c6b13b67dca1df092206b6113",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFn6sNkyvyTrKaSH4qbo_E7sF1Z5XXPAfeaLuhGN0Hfkh7dEEY7cHAlDWx2ai20qdCgqCWfxcTntAFEd53ufhr30fz69tueAMo6ZZjwpF_Pa7WgSONWAzVvuBYZ4PPXlhAVLqr0JCKJq2SLGxjGTtOO9PKjg7B3EfqL6v95UdzBTMMlHrCAEd6tMdjF3iFNop4oD66cKd4PIt0xlyKrx3DxebRMVYvPi8j_-DRKTVwChale0cUtOC20nY3E_kQheOEsCIsboSQ18HjkTkpAihowmvXPo4c16hyaujaO-WHId4WaTkvlLSquEj-JKTctB-4ZbEm3QJ-0_Px-_LTqnpzoCIlM9_EGFSUtU7pjqV0x61CP7m1CWBSr1PCC0YajdIXR19Akq-G_CzRvJSlozkOz-E3NpxvNJiUKN-TO3fsH0Fh28ISxkfqmyYLJ4kdUQ44esWPplbNj9J6zqXh-LSG8Mix-08Zjm4aKMzeUJxArzDwM4txBXStqi5khKHy5XuULE3Na1fRLAK5ZZZcxpnSPw2QeIyTuwPVnmuhn0rldORoK4OUyUdtVolsDWSS6IrX_pWcAQB2la5uJztXYpHI1apmlefF2BA2Hx1il3tVJp8dpOT1S-pia21qAe7ceWnfQsBPkUxqevpK0ejb39cvksbXNgx5cnnNCZz3i6M3qV6JUM5Rw0MkccGtMvZEpM-IvgpnE10yyYkXfwPmesUd4YPiyWAR51Vk0rFc7CWC6ptVMM33P91N-alb0Z2AvG_kCbV85YnDsp0D-RryoRmjD0z3V6hgXCKZccHIe3ruPP_yLJYjTEH2i8L9RAOIPDPIpJ07uWxjZ13rFzvfzqRdVrxEUTetoIniHze180jfRhZ_CyQOybZDrzhkuSqI_-jyRK19j6zPRRioPb8pmGhGIjdQx8QsLzY2weYvmtXsDQVWxBDADVfZOzK2aOn_PCIKaxkH6lukFeUS9vu2T6cB3ELxR4nNZa-Y81lAVPU_ZeFz0INngqg93iw_32SNdp9j4nAd7e_S8RYjB_o3CqeUuSGYw419s2c-eNviUPtMdRzMwg8nkY5T1ICk7M13asVoIvUDyPeJyMHYHkAR07GuEonFsIa12AhajzgifsCKJpMNkHiYIJpivdVlcTfFVqYJ0rA1315Lqgb2p3leQfkQJg5SAGMrcMtuz5p1og73I5lAN4hYJeWhPL6eCbihsPOUUJhr0oIi42-X5u-Y3rqS_R9ZNEycq-fijrKTl1LhK6O7oUv6tku4vQ9pFxn4qd6xr0lfMt3TYwZ81Lxo10jhBThZEVmHZSXapZuc3_wSRbNbwb2-2FvLNa5pKa0RkFLIqjskhmRAPRnyc3GaLLoI8aE5jojQEyC-72X1c26VIILFo=",
  "id": "rs_08dabef08bb63a2c016ab459f896b887d091e257ab499e6f2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":0.005,\"left_z\":0.015,\"right_z\":0.09},\"note\":\"The dark marker appears held, but the left gripper closed empty beside the gray plush. I’m lifting the marker to verify it while reopening and shifting the left jaws toward the plush’s body for one retry.\"}",
  "call_id": "call_HC0D6uaWQdsbVp5NKC8VN7lb",
  "id": "fc_08dabef08bb63a2c016ab459f941ec87d0873d494a3a922481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HC0D6uaWQdsbVp5NKC8VN7lb",
  "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]: [-0.1905, 1.7603, 0.0818, 1.3499, -0.3592, 0.0303, 0.9954, 0.4736, 1.1576, 0.2535, 0.3851, 0.3275, 0.2169, 0.1402]\nstate[eef_state]: left_x=0.3327 left_y=0.0027 left_z=0.0455 left_yaw=0.0877 left_pitch=0.2491 left_roll=0.1678 left_gripper=0.9954 right_x=0.3081 right_y=0.0981 right_z=0.0808 right_yaw=0.0779 right_pitch=0.0712 right_roll=0.0383 right_gripper=0.1402\nstate[joint_eff]: [0.3487, -2.8376, 2.0444, 0.5592, 0.1294, -0.5983, -0.1441, -0.0889, -3.3573, 8.5949, 1.6777, 0.1148, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cc13b30c6bc18825ec5b507a8b9fe5bfa6c148f538e028e7c56df69ef07e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad495407a17f9c97abb21b86f337106f7058f461b9cb18872acb4e3f96d8b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c100946fdf0b776a7d5c320b40b032d746b6562d584f32c55c726b2ed611b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 9.946 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0929, 0.7704, 0.4797, -0.2501, -0.1993, -0.0212, 0.9967, 0.551, 1.0576, 0.4633, -0.0124, 0.408, 0.2417, 0.9963]\nstate[eef_state]: left_x=0.2935 left_y=0.0114 left_z=0.1581 left_yaw=0.07 left_pitch=0.032 left_roll=0.1008 left_gripper=0.9967 right_x=0.3057 right_y=0.1098 right_z=0.1223 right_yaw=0.0771 right_pitch=0.0096 right_roll=-0.0161 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -0.9641, 7.2137, 1.7167, 0.1148, 0.149, 0.1294, 0.6359, -3.2068, 6.8581, 1.6337, 0.3053, 0.1099, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.2209, 0.0731, 0.7219, -0.1558, 0.0727, 0.0105, 0.4736, 1.6806, 0.1383, 1.0206, 0.3355, 0.2173, 0.1351]\nstate[eef_state]: left_x=0.3065 left_y=0.0413 left_z=0.0604 left_yaw=0.1106 left_pitch=0.1368 left_roll=0.1503 left_gripper=0.0105 right_x=0.3109 right_y=0.098 right_z=0.0134 right_yaw=0.0711 right_pitch=0.0703 right_roll=0.0339 right_gripper=0.1351\nstate[joint_eff]: [-0.294, -2.0444, 5.6274, 1.0818, 0.1148, -0.0806, 0.823, 0.1573, -5.2581, 3.9043, 1.3797, 0.1929, 0.0024, 0.9939]",
      "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]: [-0.1905, 1.7603, 0.0818, 1.3499, -0.3592, 0.0303, 0.9954, 0.4736, 1.1576, 0.2535, 0.3851, 0.3275, 0.2169, 0.1402]\nstate[eef_state]: left_x=0.3327 left_y=0.0027 left_z=0.0455 left_yaw=0.0877 left_pitch=0.2491 left_roll=0.1678 left_gripper=0.9954 right_x=0.3081 right_y=0.0981 right_z=0.0808 right_yaw=0.0779 right_pitch=0.0712 right_roll=0.0383 right_gripper=0.1402\nstate[joint_eff]: [0.3487, -2.8376, 2.0444, 0.5592, 0.1294, -0.5983, -0.1441, -0.0889, -3.3573, 8.5949, 1.6777, 0.1148, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cc13b30c6bc18825ec5b507a8b9fe5bfa6c148f538e028e7c56df69ef07e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad495407a17f9c97abb21b86f337106f7058f461b9cb18872acb4e3f96d8b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c100946fdf0b776a7d5c320b40b032d746b6562d584f32c55c726b2ed611b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFoBrKMR9U9gPKES244gcJLjLLCAeWTzZPbkXWGj7V5YFM1C2a-J5zhK90F5pjgJpQFl-GdtiGWl4nRBrOOz7kv5ZuBIlbFI_MoajzBaamVOU7dS2q1HwN-VxhbjpwzBAzcXkFzsrWGLLcnac0oBOaPRQxJnO5akMoI4wlUO6DgU-miS5qRzTz8YGjdFNmhzlm973UyK1Nea6VUVJyxfAh9Yj8op-fr2gvhpGHWnJ7tNb3K-ujBF-WNQeLuOO-2xp4dCPdMcf0ld55md-39oRiWGzK_CBGNqz0bdUv2pZF8YIWVAKRcNlcj91FRlBD40rK6KPt307M9OgxvVFnzHHuhPZOWMOx_Jn7yJtWH_iMuX58qA0G0TFXVTw_oEaWN2JeYSRWLfAy2f7sxEMoDH7_g2q6d3TWH5uDJM7V6bMyoKPI80ISODeKRAbPVAwK7y5r5iIuineCz495yNJ2yNOC4ag_NMh9NVDbujbGrWHLWfhQFssgjn7LXYwdNsMqvHrq-e9-DthiyG4IDRbEshJxJYEkdIbfMmMbCkpEVzE67_bh7LL852bWWf_cLPbVDGhz9QrNSG8mirgxG6iAFP5ft1RgbzaU6eEGuuZ3DXeMSdBkj6FVpj6JwQZY_Hue1ZqvoR8h8H1DOVx2Lgts-ISn3X6hJOzMJ2nM0Bqb8PFu7vfXX4WdwAqaRtZUtLIiajvgvP8Sf-de8AkmYl4NnFjZJYCXzN_I6tBShGLXtEzJ3QTUJsrwoRlbhqvZ-uB4-oa9zO3OIW3vHVsjwXQAqDZ5zCA7uMLrdAYJXd5IJu1sNbdDVHOd3Wuh-LdjIny4aRNjwzwgwr3G8senv3IHNCwD6XNM4K87FKE13SPYG6W_nwPRZTl9anUEQLZSmUwOimhHmcZ46__c_s2uzL5e-M8PTpx5NRsn1k6jyImx9PoaILamTgTaZnWDsO5HxiY6LsQLLXto82Qr7fa6SGt5iM92HQGPyv_OSyYnl06_SMYDZ28ZpVOBPufeE4Tay0VMZy_FcIuezFa66b3gnw4_anQLZkB5Ew3-CTscd0lp68PH5ADcIC4gtLB25-CqNgm2WYkN1DKdUjh3Mb6jFFmElxGDVQC4gHTv1PsRSHmaXj38dlJF2CpHAX_wtuTBl8G4Ya_BYLKe_eoSV6ubf88dACkhWxrt3VnaqwyWUAPshrLB5xw7U4-21gKGl8iPTlU1zwvO5kk9i3CpLHsJ4I-ZMsOzA49wk-Kd-hc-lHK-yB0ZW3-fT4M_XUfmbWoG5tTytxe1HKjHC6yUfjLRRBFFpj05aLS1xIgb-wnIPyp2eqtfqUmRomSA2mn1lPs-Myo_mzy2UFku21UjPeC9O2dtDgXEy2nBdPy9sLk0niYfOyJsRnvQ-I0LpJ9DUuG60aCT4QwfvyG0L1-7PvTNEA4-epTSwFYo_mRr4-4VnVRVdaA_z4AeTz75X-Jo_997wqhYqoHg3q8YuhZkJB06HzTMtZ_Y96QakUNzdZ8Z4YL9ZNg_CpqVivpNVtgpJtgASdZVr-xgmCkGqC74rx1ujxeiWPIZWI1NjpPcIw6cPImL1Tqd05EC-4Ixuftg_6XXcZwGIsk3wW5Vs6gEbZF_h3EwGQ6VuIYUFP-CM8TMzMWeyipNHphqngYo3pF3fGzZQY-ih4HFfcH_8Zdr-wucqMXeabgO-KQ2bou1hM8gWEnN7Lho7t2OcE9WlgPmm0qe8pwq5ltMPI6uceHPUxz2iN70YhMN1ZxdjNtkPeSJiUmiaZxDzBsis-Ttz4lOMYHombuV48e9MipV59rIhlBIiJhmvhPU52ww5vC-Szpums04VS-6VZ4GJef_moeMn7tRC40PnF7e_PH7Jk66a5FiDfAnsaRqWYJ0abyu9bhz7OVh3F3tcq-sRk-QP9ue55m6PDFm6Nkbd17SEZm2fcnVZIGGijwzXSuU_d3pOa43npDy_7uObUfGaQxbZzK50QO7SAROaBNsFwmCk1YGzmWMTBE3yUb1-GUjxSyJRONW4q_oqKsOX1_H1vsvQoNwi8j_Nl5DOTm_JBhjmq7oV73EfUEJtF0ZfEJLZURHr-CWKzqt9oMNv9ny0CCLQZ2NXwNHBbHMLpX3OW",
  "id": "rs_08dabef08bb63a2c016ab459fdbd4c87d0a761dcd17438e89a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.045,\"left_z\":0.045,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.53,\"right_y\":0.17,\"right_z\":0.22,\"right_pitch\":0.2},\"note\":\"The dark marker rose with the right gripper, so I’m carrying it to the right basket. The gray plush is still left and forward of the left jaws; I’ll align over its thicker upper body without closing yet.\"}",
  "call_id": "call_PdskiaRyO0RdGbhrbHKfbFwJ",
  "id": "fc_08dabef08bb63a2c016ab45a0017b087d0bff50102d52e9207",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PdskiaRyO0RdGbhrbHKfbFwJ",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1188, 1.4921, 0.3241, 0.6834, -0.009, 0.0036, 0.9966, 0.3958, 1.8141, 1.293, 0.1223, 0.2665, 0.1341, 0.1444]\nstate[eef_state]: left_x=0.3657 left_y=0.0489 left_z=0.0585 left_yaw=0.1078 left_pitch=0.0796 left_roll=0.0251 left_gripper=0.9966 right_x=0.522 right_y=0.1716 right_z=0.2051 right_yaw=0.091 right_pitch=0.1763 right_roll=0.0298 right_gripper=0.1444\nstate[joint_eff]: [0.6359, -5.2444, 6.1333, 1.3553, 0.0562, -0.0562, 0.1099, -0.8821, -10.1402, 8.9231, 1.6728, 0.0806, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97693940873e2ce9ab72f1e04e78e2914f26549d67cee5f7b16e35e20bb447a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5591e86f7459482f1c48959e447702654f74bed7eaa319a77e2d2b5a6ce987c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c97d8d6851ccb5d761643063a6a8912828861882129541612f7c414dd03efc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 11.24 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0307, 1.2259, 0.0788, 0.646, -0.1375, 0.0654, 0.9967, 0.4767, 1.6745, 0.1493, 0.9874, 0.3485, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.3003 left_y=0.037 left_z=0.0442 left_yaw=0.0956 left_pitch=0.0618 left_roll=0.141 left_gripper=0.9967 right_x=0.3116 right_y=0.0971 right_z=0.0118 right_yaw=0.0615 right_pitch=0.0581 right_roll=0.0252 right_gripper=0.9964\nstate[joint_eff]: [0.294, -0.9368, 1.9897, 0.3346, 0.4371, -0.4713, -0.0024, -0.7453, -2.5504, 0.9094, -0.2662, -0.0024, -0.3736, -0.0122]",
      "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]: [-0.1905, 1.7603, 0.0818, 1.3499, -0.3592, 0.0303, 0.9954, 0.4736, 1.1576, 0.2535, 0.3851, 0.3275, 0.2169, 0.1402]\nstate[eef_state]: left_x=0.3327 left_y=0.0027 left_z=0.0455 left_yaw=0.0877 left_pitch=0.2491 left_roll=0.1678 left_gripper=0.9954 right_x=0.3081 right_y=0.0981 right_z=0.0808 right_yaw=0.0779 right_pitch=0.0712 right_roll=0.0383 right_gripper=0.1402\nstate[joint_eff]: [0.3487, -2.8376, 2.0444, 0.5592, 0.1294, -0.5983, -0.1441, -0.0889, -3.3573, 8.5949, 1.6777, 0.1148, -0.0464, 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 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]: [0.1188, 1.4921, 0.3241, 0.6834, -0.009, 0.0036, 0.9966, 0.3958, 1.8141, 1.293, 0.1223, 0.2665, 0.1341, 0.1444]\nstate[eef_state]: left_x=0.3657 left_y=0.0489 left_z=0.0585 left_yaw=0.1078 left_pitch=0.0796 left_roll=0.0251 left_gripper=0.9966 right_x=0.522 right_y=0.1716 right_z=0.2051 right_yaw=0.091 right_pitch=0.1763 right_roll=0.0298 right_gripper=0.1444\nstate[joint_eff]: [0.6359, -5.2444, 6.1333, 1.3553, 0.0562, -0.0562, 0.1099, -0.8821, -10.1402, 8.9231, 1.6728, 0.0806, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97693940873e2ce9ab72f1e04e78e2914f26549d67cee5f7b16e35e20bb447a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5591e86f7459482f1c48959e447702654f74bed7eaa319a77e2d2b5a6ce987c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c97d8d6851ccb5d761643063a6a8912828861882129541612f7c414dd03efc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFoNLNDjDCj-IPjBUvWj9eOqi6ANi6H6_3Sb_9IL4W15r4019MztZXshpEr7eRcsBNvDt7QlvvArqrhh7vdQZSn_i6OoE1RIhO7WabF-e6H4mYFBEWxvSYPfHMNzyaBtqJU_X1zuuCAqmGeb2TWzaiM4KqVVCjP1vD0fi1_SBmC8LWy6FT1WFdjpxpY9XEInafbcSk65NPieoLH1dlOVjznMJJT_5sbIofUY1PE_OxETIuvt6ck9PTbyqhia4tR8Fi0KKmOgHs-dwYLfggD5ROk_bgLmBE4kNCr_NQ3nWQsvEE4GNj4kjHbZDEgc9SdbJLmBTYZI-CpF73yLYoJiutLjCITF_7OtZg77izL-gXYcF_G76MHhKQQpCgKek-Z7DCLcYkeOE72u7-a8X_uGf-xjbGCFcaBBx4bGUeBSqzbf5nDl4P84UYDiLW6D5CaxQPzOJVOaaX82v-T_aod37wVaOPi_F15Ozy53mvDxHsbV3lPRVyIXVRQv14W6dFZLmasYud_Ze3rnyYddOkShz8whGuWsGckwFV7y7D93wHTrjzll00rFVGaYQf4pU7xzWV7owk0lU6s-lSi3ZjnRbDHAOt4KauAe8JYEuXgK7A5urMV9nMS1_eSiX0gqj56L1VBKlySgSHXD-8FkxbzBVjQZMOYHJp7VC0xJh3ntk4rnuC0v0JatG5X4tdelb-CfY8cmINns56qb2vUiW6qnjaUBwbOe7QIM8iJkKRWDunegpbNr7Zh7bBnwK05MRG9_D_JXqbMZbog1F22Wd_BXTCjKdCQrO1GV8lt0rbmGBLeTPSZ6zFbupKjAJipq_DX_KaQL_gojmS8Do5QfleBoWHSvY9arRRI5Qo5ildijtlYbgCapgGVlzzgEld9sBCPLJy8LNSdVl5yCBnNLANTiqcMv-fr5KIjQQJoa-RQlYzP0EAROn0UI-nB8O-nkPMpdVM5b51zkfzNZ1bgJf0dgNj1n-gM0mKt8CJezdmGwkgXHApV1S36cClwm7BGf4xcSbdB2ha_94qT-uPdk3m-73mBF8ZtiSY7DcFlCTCE_FSDfp9iFA1UwwzlpuG8rLVnvjHlacDSKPEEGwWaQO1aEVbyepIHE6VlS-n9SgWUkglXvuohTCGoxH2habjgyi71mloysh5jczND3PlFw3tSUndGTg7Ssho21KheeHCu-9nkdUvWIL-7_QUlrTZzeau4pQIT507u5hlNIxFkz5__SGPtRIh8llwSTbHUInSW9YvkD8wUj1Sc1THCBaZpYfHHMs-Dvtd3_n10WxJ1D7ts7j8fcbU1Jq8SNRuBW8MuXXTkQKcVnrIPDhrDN6R-s1uGFf6q_gB14BhNGhlVxO1yQAWhKucOjV9L9wpoQDOtuxr-99xPTYUE9mlU6MJTFvsh0KZ1xzJaKAbTnObpyXRUJwmJ2mqpcAe3S97N1hdXY_rC-VYoMcdhzoLZirNHIqegmzs85M0tGeA5Ka6rbgPxzcfaYkuhJERPflPXbPBwxaLAQGD8d6pELLtoLL-kioj5RadpDk87a5mIfg9Pj0U4-fFq9TBLp--HUq3DFUPghGMsOwJS97lhz_A7xXabbLm2pg31Hh0WnE138l5aPkNWi2mnc_k2lwtJIy4ANNnIX5mUmT40EdwyWf4uZEUvVoTeq3X34QpSPreOet-gxmx6fL91waBpp8ZjlnwyLgMG52dcYijURCiZ8QYPU6KKVbO0Gux-RFMTYtT7hz6IdHc2g63LJPylEriO9OkRiqslJR9LWv67fPYuOA7uCJnmbcZ2qEgxj3gldJ42t_l7rNHF7EUVdTEiEnxXqfhMfPCQ2ukZNbV8o0DL0gbWbbefMadWcdB6ACXOWf4ZW2Rn7u2EXYpzAbzahpIiShGscdJ2UjAjl6UNGZIlK6TMiNPxcLnR7n6vLk8ialUEDHkgPYsD1LKYOzEwF6t1qSUoGYU92NqORs5GrsgcV82TGebha10vM3GUKFJD_ppZhp6Nliq1h50sLoEHmUliFwe7S31SN3AgABVv7AVL_XwuI4aSTtl86li46qwP9T9HnHHtsGE461_lXayVzPg9kfld9r21PhKN02rJXuebNhBJ55S9XIpvBtZsZ1mNKX_ItBfPn0wcG1EYSJnaaj9zKeZdWmjDXvfreKBKI92BRpgoWqf4X7tDtnc4L4IZOXxjPHBOds8R1bVUby96WpgLbPHLSJEKZv_9i6GEi2zsgXyd-G_yOlbDuaaHBwBp52nzHSznxXbzq_ZiPA7pL3mqSishxNuF2GHGB5a0ljZGoSUVoHtPHO_DXLojeDV-jtXzdFXJXTwsF8hgatOtJ-1GriqGaHhdUHi6qgoQ8hlaha88DVXhr9DzaeIhYNBZ1WYKjpjBzKWjTqs1IaAF0JYK0HHSArLn9MezrP1Bhe3xa_eL2DuWiRSgfywuo4FtVzwMWhoA2rhm3u7VYa7v42Ysre-R6Fb_MYmGaVh53LVwN3WwE4x36EoKc-b1pfh1eMIEoCELdoQ8GDAP0-CDt5lFed3z5dR4sBC4RehfOHM2aApjErKcobenRP2tjBn88DlaPg5CR2_I76N0BoUGFahXiGMgSxljJkMwkvJxG7I4KUvR9DIau07hKHjGyoHJkaCadLERs4efSzEmnLKzhkR1HgiCBZWHnVV8lw6o5ZvkykUTMBB9FTkqryS5oswqZ7-hEAMsBomSocUEf08OjoFejSiVwlEcU4Lk_jL_ImILyTUsCaplwVl4IG2qxL9ax1iD6-P1C_trmYE11Y2LG_F7YLgOZ7BVXl29e4nfQUPRpK0FeUlTAvEoQjgzX6lgwRC21uR3lwDZ4Q9Eu8HnSflfUuOzbZfKmi3q0CI70Oq_QedlwrKZosmJX2S302qZC5H1--c0XCvfYKgrZlRKplYCh5UA1-6OOeArtuHV8AF2X-L3BBtsgr73g8uQiIU4rygsn5QaxAr9FUfCH77wWOf-Nz9sXbOAENhWHUPnvZ1pglljwMe7Im1mLTRqGL00wQTuZwmctaOeG24fhet5mXeR41Up5gA9qW5eqvP0iG0sdXa51v9kLEZ62rbABMuk4cuGRbS-ZRx5SKqUwf2jkVev-qtWTL08_6IlcA5rQ6rwhV9CqaBmzxQbnknfaDDL2Yl-UavyAPwKX36QqarDdyEXic9_u5qZo3n2w_j8pOm5AElCNct_PucdonQT9vUiNrKbHdI4x4buCpvw97f3YaJCIYuOXPGyr_5qMb9UHXhbSp4cVuZMrTixkAe-quMsrwdTj41qPr2BgTUzG1riTya2YuZZ0Ynx79_WuIF9toXGWwGW58wxS_nOw5tOrWSgJzlLjfoDrgNhq8LS3dvz_wm0eCk5vjPzudRTG1sw5nJSO4yERd2paxlwsdOPGIWgPcXNoorwz7Z6Imvy0-xJOB3WGveX6BNz8nZHn0XP8BrKTz1RNO1lj9Z_Ai79p9uZvR2GGkkua9A1RTzol71lOdFSr98jybRezpW49hk0=",
  "id": "rs_08dabef08bb63a2c016ab45a05674887d0a012368bac6a20ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.05,\"left_z\":0.015,\"left_gripper\":0,\"right_gripper\":1},\"note\":\"The dark marker is over the right basket, so I’ll release it. The gray plush is near the left workspace boundary; I’m making one carefully aligned close on its reachable body edge.\"}",
  "call_id": "call_aLn4J4Vegld7clXVoENKc5v3",
  "id": "fc_08dabef08bb63a2c016ab45a0c11b887d0808d33461c742ba5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aLn4J4Vegld7clXVoENKc5v3",
  "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]: [0.1108, 1.7855, 0.3332, 1.0096, -0.0032, 0.009, 0.0107, 0.3931, 1.8256, 1.2926, 0.1055, 0.2668, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.3851 left_y=0.047 left_z=0.0282 left_yaw=0.092 left_pitch=0.1215 left_roll=0.0279 left_gripper=0.0107 right_x=0.5218 right_y=0.1698 right_z=0.1952 right_yaw=0.0917 right_pitch=0.1491 right_roll=0.0171 right_gripper=0.9956\nstate[joint_eff]: [0.3487, -4.9983, 4.0274, 1.3895, -0.1245, -0.1148, 0.9011, -0.0479, -10.7829, 6.9812, 1.9658, -0.022, 0.022, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648735208bc02f75635c7eb10c18f0cc0aae315f933d9ac08d34303a170212d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ab8fdc73e979e80bb89959c78796b65c8af4d09e5b56a26b5b4ff32cef9b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d15b7dcab11824c4edb92899f598af09a37cc48633b5e95b7a1298cdcc5bf68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.195 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.2209, 0.0731, 0.7219, -0.1558, 0.0727, 0.0105, 0.4736, 1.6806, 0.1383, 1.0206, 0.3355, 0.2173, 0.1351]\nstate[eef_state]: left_x=0.3065 left_y=0.0413 left_z=0.0604 left_yaw=0.1106 left_pitch=0.1368 left_roll=0.1503 left_gripper=0.0105 right_x=0.3109 right_y=0.098 right_z=0.0134 right_yaw=0.0711 right_pitch=0.0703 right_roll=0.0339 right_gripper=0.1351\nstate[joint_eff]: [-0.294, -2.0444, 5.6274, 1.0818, 0.1148, -0.0806, 0.823, 0.1573, -5.2581, 3.9043, 1.3797, 0.1929, 0.0024, 0.9939]",
      "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]: [0.1188, 1.4921, 0.3241, 0.6834, -0.009, 0.0036, 0.9966, 0.3958, 1.8141, 1.293, 0.1223, 0.2665, 0.1341, 0.1444]\nstate[eef_state]: left_x=0.3657 left_y=0.0489 left_z=0.0585 left_yaw=0.1078 left_pitch=0.0796 left_roll=0.0251 left_gripper=0.9966 right_x=0.522 right_y=0.1716 right_z=0.2051 right_yaw=0.091 right_pitch=0.1763 right_roll=0.0298 right_gripper=0.1444\nstate[joint_eff]: [0.6359, -5.2444, 6.1333, 1.3553, 0.0562, -0.0562, 0.1099, -0.8821, -10.1402, 8.9231, 1.6728, 0.0806, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1108, 1.7855, 0.3332, 1.0096, -0.0032, 0.009, 0.0107, 0.3931, 1.8256, 1.2926, 0.1055, 0.2668, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.3851 left_y=0.047 left_z=0.0282 left_yaw=0.092 left_pitch=0.1215 left_roll=0.0279 left_gripper=0.0107 right_x=0.5218 right_y=0.1698 right_z=0.1952 right_yaw=0.0917 right_pitch=0.1491 right_roll=0.0171 right_gripper=0.9956\nstate[joint_eff]: [0.3487, -4.9983, 4.0274, 1.3895, -0.1245, -0.1148, 0.9011, -0.0479, -10.7829, 6.9812, 1.9658, -0.022, 0.022, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648735208bc02f75635c7eb10c18f0cc0aae315f933d9ac08d34303a170212d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ab8fdc73e979e80bb89959c78796b65c8af4d09e5b56a26b5b4ff32cef9b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d15b7dcab11824c4edb92899f598af09a37cc48633b5e95b7a1298cdcc5bf68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFoZoYQjrRVPWNjD-5cjSt8RlMFKRFF8VhQNSm69P8ENcrT82o27LlqiRyO9e2ekGbnEKYO1OqFz9yRMT_H7E-oNxsxhQF0i4YHPWtRFtMSjSs6Uz27Lw3vD6gSV4bT21pTMP_Lr-LsGFd4_PJmSUPn3aUmm9swlcNLkPkq24iBczPtmpjP6rTCiaw4eIthz6WD5zMByFHJ1txwkpT9F0a9HzRCH2mUkBOLCvEAE3B_zXdAr_cvkUXJ9nK6B0KGI0GZ57hXPYGkpr00XgOuOqFDb3u2dL80HFkGVgZGZOhTRvp7LZnCC9Mai_nzhLS52ePYiiwfZNNFL3_XCmeumwVMUME8AoYKM3azWqJ8AhoRKfWFqu5AmU34vN7ep5CQ3sYqlCHJwXRgKJZwH2fMJSbZDk6gd0XdgDuu35siXjCOLPhOn-tZxfuK_rBIndC6HMRJS5vLh270jNT9rX2qEoyfE7AoXYu2VbjTmibsYyiYk_EQFFdLxxilyZqsnNF-XHXZH5qg3-9xt95xv8jSXEhzbNtNyaSHiiQ1xLPgQ6QgR8IxInhyYdmMVi7DOJ1RVFhzu--Qsja4meRGk8EtsPHvUYz9RhSXSBSLpqDD4_vjhFElDqgwl3neOcE0SaZsxLkDJS1V3SQ1lPVPbhgxb_pDK1GspOIo0K009C4LLPLf4E7ksr5eTrKuoPPEjXxzrvyVP1etYRxV2TnrfisKwx22KRXjbDmiQU_zPU73UwkO4Kh57Ya1bmjuI7PkNAqk4Vy4gStAu3yeFJixFHYtoph73A7kfJEJj4POkOe5-h0Pr2WWCjU7e9TuF-qNH6zIu4swqJCH8YOkw8JkTON_1EXvEtNU_zDZDPUB_y4q1_l9r704fUPZ4l02kz1bJ1RAwDtOrhhwrPrRtkpkFC2rJfyORGaqJPWyLEBd9wEL_xFecc7irKZqs6gehmsA5Y39o6WSROi1FfumPoF7O296dvuw7vwNV2hAKAWsbzp-sVQTIgtNQeEtaaiiZFYGdkqDK0xSLrxM8dQcdJZKHExNy5RjXTn2IF4ghcUZGOd26rcbRksvxk7cT0ual-N88x813RayuOT9WbEkob7XVYLgeNFqY_Ir2IZBQtKdfpvD8r_VDs-he-Tr5tuHtXocPQe6J9pUUHFzi2xX9nJPYZL49id6eifU7TA-ltD4p9M1ywBmYTz9wUgDxubt3XQzU8-giNFsoDBpTsRGEt70iXkCZ5qTNlmgCjTMntrO4XoLENy2XHCkaxCPsaIP-EaJ-_7p8KRrIOI1dhxqXU_cdElbAl3G2Azq90w0yC1eQMhG2MNxjucz2Rly3UUEZorqJRO_RFvhQ3g5dIWsVeTeBSJ4du51Smha1HpCBwrXHq0Tcm_Kn9TQuXJYkIBxnNGQlaSRLBu5z6ezAxg8uFQYoNCpGSvucfjmuzlsmuCSOf1knbhOnOt0lhqWM89YEWngWA12nvhkqScP7glzOyBr1lPv0Hu584cdqdTX2MI3ZzX0XxAc6rrxpGvNL7_TP8OM-qOkJNyF6Cm_DW_JAEwGt0tZvLviJi_ZJ0Ij6bTiM2Z4Xkbd_nvzQbWDKe_5DQ-wAZZ4oZlJnlioc5vKRNuo4fMGea-lMTMZQXaffS4bJjGXE4hpb_-GzrutHqwJcybvNd9eQaNqrgrpWotq0i5denChsQx55Cy7FTSuuCnJGjhsUXw2i8UQV1XHsOjZR7qJJLs3iyJjaL56g42pxKI11mj4urlubTYOeKkBploRDfiqc2w3RlUXvrSP37m190RfuwkCDUYRb0mh189ZJLJSPCaAIbh0eGTQK3a-DDDvkI1Yy80z8ddOwqr01dP76m2k1aIl7K5cbVqoyGTRZDS-MWeF-pf-Pv84S4AuYs0mHj-cAxxJsYsuJ_WPbprrn_zlS0A8pU1RIMR6BMGXYK2XzVY6cNbnFa34HA2JoLn7pmlkCyh8RbyTDS-uAnwLghq1OOE45L-gKmVfOVpslNWTyNwuqt9VmVE1egZckdZWQqDYLAXqSOdI7PBydaowfLTIFy-07XPsjLRNeOzf0Fm7YdNacvebVOpojVbStLrDRXf647do6jeuxFGKG3erhKRxzrB5bfoOjjIK7kGuJ8s95Y-OzKraidf3AsVa8pEkYykyZJsPPgaQK1bsPUrMA5AY7DilGiTf1cNWFzuYMncc-TvFRWVt9zdY39CV3BlSSNsjnrRwVe0JxoU19Gs-IUpRbQekd5yeudQSzbPHLwmzNFYOyMfuzLre2xYaIaWS_S3b59vSkGLNfsCz70sTjI_8i9YAKtYsN493zvYz-DNcPei6hFgsaaAKBmfOxj642h2IC4ZaGQKoqnqljAxuOj4zHeCATFpMjj-XQkZi0yxJE9deSFZ-NMX9svj4plzoQ8DR9kvPyMtRAwmSVgdXAn2pr4eDSvPXMeckGbgOubrJwye91XytNunJ-Kbyp9xGqOVWMPEmnzs1QwEvmaBs8JNzLVSQtbUYvsMWn8KBBb_6jmCA6pf__LVb3vae-1wOESXUFCTxXaMywJc09AP-xHGnNnzttyDuQsX27CtSaJ_BkEmzvkS_VgXq-yvOgDRQ6oVBnZP4WHGJW5B--rmvCq3Z-MKj4sn9Tc60IXT9nyVQoC-RyprefTmIpOyOuxFYA-bvlVXi3KrBfOMMrrZeIttMPPldvYYGXqIpnZRxJ2wqde5MV16QMUu2kbQNVIX2_HcZ13rM98njEPwAGt6v99wr0GHrQuLFZEoGDDYxBbS_LGAU13jF0MFXlCsikMYKCW2JFH65g_o68qtYBWJUpo7thCI_YBtMW6XGuxeVbaw-B2C3sN4_lN2tDegeP_O1xDzPcCDKpl7o9Eml75kphRjJSc6k-wBpQZVclRMLq1sh0bawbYLey6usq8pk8P_MMTRPKOyJ_KwWp5HurPA0CpevELjmsN52nxCHHbcylxTHRBwFxL_0Pj5yplRRApErf2dejXPwzPHvVhJKx-TQCuVYyuHS4MUbF1oNU2qj9u3NvQUNEjg8vZYz8VoV6JbdgFMC6nAIg8_ClR59W8KMFebweIYxEQD_kFjuGd-mCBAbBdvsIAfUKVA2VanDARX3tsjsaZB-hxYXjQhDMelFqebB-uKPbSiOmk9Dg2sK__Ov0-iNEgyYijW-V9BCu6M9cSHjrt4TGmyECy7319Aj25X1KUUHUSnGSyVui60goGa0erygHcQ-L90tIE9rKc2wwRDL7oomzqahyiD64msjp9RUE-TW8vV6Tll2x59kE-WSPxPtBk6W4yoedaBLxMIMMat2wNBUnJQTSvxatcqyF2wnoqWF2akoDvz50FY5-5-okyQ_dJeUQZo4ix5NJQqEx5Xz-Mcckwo-PgbToMdJ7ooYfiA07o3eU8kUyqwP34qo_zm3WphKuhM4JLT2-HXxUEAxbYiaFdM56IgtGxbXNabCkJIGHytmO4P6ywWA1G2icM4PnwbwiSJnPdsPJuB1anRVvkaLJ05il57XH-zqrUmancslbV0tfq_sKFEZasIe6Xb_R9rfWx7QT2Y_e5cZfuggrXxssr3py0bcjmWuL3VvzQlpibLoQQ6k8KD2Hp-vwptBIpY2GDbz0r3IEWxbhZt90crnY3mS8o4zFGfpv_gh0h3aVXJYOOMX-Wj_d-P_ikgMuXtMMMFeWeTvsWtiI99urjaa5j-RvIHaMWGdjR4WpCQPA6tDbJac_6_SCfePrn7Cnla7hVg==",
  "id": "rs_08dabef08bb63a2c016ab45a10193c87d0abaf57ee708fa3bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.075,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.13,\"right_yaw\":0.85,\"right_pitch\":0},\"note\":\"The gray plush is beyond the left-side reach limit, and that close was empty. The dark marker fell short of the shifted basket; I’ll recover it with the right arm while the left approaches the yellow marker.\"}",
  "call_id": "call_JYtBKaW1QXrrxPIWAGlCOfO8",
  "id": "fc_08dabef08bb63a2c016ab45a17e41887d087c761509812b02c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JYtBKaW1QXrrxPIWAGlCOfO8",
  "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]: [-0.5804, 1.0286, 0.3096, 0.2031, -0.5499, -0.2955, 0.9955, 0.0826, 1.6718, 0.9859, -0.0044, -0.5503, -0.3897, 0.9963]\nstate[eef_state]: left_x=0.3033 left_y=-0.0842 left_z=0.1132 left_yaw=0.0206 left_pitch=0.1304 left_roll=0.0118 left_gripper=0.9955 right_x=0.435 right_y=0.1323 right_z=0.1256 right_yaw=0.7411 right_pitch=-0.0133 right_roll=0.022 right_gripper=0.9963\nstate[joint_eff]: [0.7863, -2.4, 9.0325, 1.6581, -0.4469, -0.0855, -0.2173, -0.3761, -9.5795, 6.5026, 1.6044, -0.359, -0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c308e00b0c68b587756b511d8abeb7fed7473d5ddf540f724235d627c3e9092b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a72f58fd9d597fb5bc7cfbade2d6efb72f4bbce0629aaa06437375d3c7cc009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f706fab166d14200479892d50312c8d2a119cc921a57242dbefaf8a698ee022e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 4.375 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]: [-0.1905, 1.7603, 0.0818, 1.3499, -0.3592, 0.0303, 0.9954, 0.4736, 1.1576, 0.2535, 0.3851, 0.3275, 0.2169, 0.1402]\nstate[eef_state]: left_x=0.3327 left_y=0.0027 left_z=0.0455 left_yaw=0.0877 left_pitch=0.2491 left_roll=0.1678 left_gripper=0.9954 right_x=0.3081 right_y=0.0981 right_z=0.0808 right_yaw=0.0779 right_pitch=0.0712 right_roll=0.0383 right_gripper=0.1402\nstate[joint_eff]: [0.3487, -2.8376, 2.0444, 0.5592, 0.1294, -0.5983, -0.1441, -0.0889, -3.3573, 8.5949, 1.6777, 0.1148, -0.0464, 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 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]: [0.1108, 1.7855, 0.3332, 1.0096, -0.0032, 0.009, 0.0107, 0.3931, 1.8256, 1.2926, 0.1055, 0.2668, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.3851 left_y=0.047 left_z=0.0282 left_yaw=0.092 left_pitch=0.1215 left_roll=0.0279 left_gripper=0.0107 right_x=0.5218 right_y=0.1698 right_z=0.1952 right_yaw=0.0917 right_pitch=0.1491 right_roll=0.0171 right_gripper=0.9956\nstate[joint_eff]: [0.3487, -4.9983, 4.0274, 1.3895, -0.1245, -0.1148, 0.9011, -0.0479, -10.7829, 6.9812, 1.9658, -0.022, 0.022, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5804, 1.0286, 0.3096, 0.2031, -0.5499, -0.2955, 0.9955, 0.0826, 1.6718, 0.9859, -0.0044, -0.5503, -0.3897, 0.9963]\nstate[eef_state]: left_x=0.3033 left_y=-0.0842 left_z=0.1132 left_yaw=0.0206 left_pitch=0.1304 left_roll=0.0118 left_gripper=0.9955 right_x=0.435 right_y=0.1323 right_z=0.1256 right_yaw=0.7411 right_pitch=-0.0133 right_roll=0.022 right_gripper=0.9963\nstate[joint_eff]: [0.7863, -2.4, 9.0325, 1.6581, -0.4469, -0.0855, -0.2173, -0.3761, -9.5795, 6.5026, 1.6044, -0.359, -0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c308e00b0c68b587756b511d8abeb7fed7473d5ddf540f724235d627c3e9092b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a72f58fd9d597fb5bc7cfbade2d6efb72f4bbce0629aaa06437375d3c7cc009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f706fab166d14200479892d50312c8d2a119cc921a57242dbefaf8a698ee022e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFof6NLaztP7YlgdQL-XO6oT3OeM7FS3T5TO8Gx8Xz4-jhqYa0mKKiH8lcdGRhH-ZaUMpnr5nMVi9tzRROH0rncU-fqatBZdHt0j1p6FXGWn8ghFURup9S0xxw7CrjEdA0sr81-r99R73n4C4-9jEDSxW2ZT5qo1VVHijYAISGsi9yMGRmCkNcKBdLSl5k-6aunAVFmSKbp9pEOgZocklmdpyzxLfmPr1pGTWoasMD-0bOSJd_u0MHoOURPKx-NAeaxwUtM3P33QLl8ViKyYvRTUwJvX6aiYDETvdVFjmLwjA-QOYSrHrxcLo6lcCl9S889K4GLUHR5C2d-nUiCljNkaWTFJ9CNefyd8Uri3sVl8RdeTl1BYEptQJagWoXUoAKUyfdGFE8JJW-8bpoyMJecrbSpV0ftBKZD7CwNlm9zy01iWg520LIdazZwGhvRb3IY1I79iCz339gVTYWyS8ESg8v5JFVvlsAGBvtXzZZ4AyttDgxJrPLo6b6XJF2CYnqgQH2eqq-GujYjCPFSvi-Qc9SBkxMMKuuU2bLNPAhO-BEDCA4JJTASfefN8vCxfy8O9QLDrrzuC582Sc95R8Rt-N3h1O6KlinibF4qMwRrTxKOX9EZhcgs4Ro-6vEusElry5NA4qw20MfCyvRzkLJYKINtfR1S07YNgjld7Ytak9yCORrlIe7EFsGm5IqPkW_OedD-xNKMvhSWhAB8SUO47I3GPDDGOopr9AmcQRxSsvfYg1-FSObsJykuYzmbCHP1g8otDk1WPvYVc5n6aROjHZMGMdzv1qcncz_ULeyONZrHBZgyaUw6270rddwxmTO_Rgqe4AGK8XnCrSz-PylgGdQOqhRViFPy3V1hbdo6KHnPxASsJVGBa2TiGXoc-gPlh3dO_m6Pl3xdjlYUU9yymICEVdQ7J8F36abtDRlmct1sQETct5QqrSDhOQvGvWku2V5S5AVoJiZmLMqTX8beY9LjlPHYImWBCE0PnXszQdCYNc4Ezqxsru32MDgE3SMnyDS-Y3NOI0QuksgQzojMzDhT-fqsTttbPLGUgRAVuF9I-KiRCmI8mqaFZZaXoUD-bRaE3HSw4AeTqSW8b18Gafo1oy-KMWSnDgZKB5cN0XQYuewtorpGIXpweKfKoLZHLv623sbdL6A2ElPIAVx4YWfHatrY8HypKX8cBkF8qragX5kigIRHiDa4ZMaUPRDdmB9xH5BbDQruW0qt8WSSvIW_3nWzsdbNcZp6Hxi98ob_bjEnuuUpGgNReOup0d-AqubVwr19lwOQ0Z-s9oOEKJcI3F5szdP1Zb2BvUTHRXht2It2TEk_9c8CO3GXtsP-iA7OzEbqsxW9ypcYg1FG4EHM81ORU1A-4mCenIcFryV63qw5BLMHJfM8UrjMTnKlA73aUc7xcaXkPJW7F1IubdIo0ti69a1fC71LfhkbOMcGyemrjnyq6WOXiJuOOwL2PLYSNeRInpmAL3HcJGL4eqhrFz-lmGHiTl9fXVEabYE1P-ruoXHWEQTbMfmZlMFYHKDsr_e7cgGQojRee8UkAMxG7Vezu1ozSBwxzCPwYlDQ=",
  "id": "rs_08dabef08bb63a2c016ab45a1cfbcc87d0af27cd56ab32e58c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.062,\"left_z\":-0.01,\"right_x\":0.435,\"right_y\":0.132,\"right_z\":-0.008},\"note\":\"Both markers are aligned near their jaw columns. I’m lowering to the tabletop, with the right gripper rotated to match the dark marker’s diagonal position.\"}",
  "call_id": "call_QDvrtK0i0yhE1LcEeBI9vMQ9",
  "id": "fc_08dabef08bb63a2c016ab45a1e6a0487d0b9e9e5387376be4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QDvrtK0i0yhE1LcEeBI9vMQ9",
  "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]: [-0.4648, 1.9873, 0.0795, 1.4158, -0.4885, -0.2375, 0.9967, 0.0784, 2.0003, 0.8124, 0.5415, -0.5625, -0.4114, 0.9963]\nstate[eef_state]: left_x=0.3086 left_y=-0.058 left_z=-0.0042 left_yaw=0.0562 left_pitch=0.134 left_roll=0.0267 left_gripper=0.9967 right_x=0.4434 right_y=0.1329 right_z=0.0151 right_yaw=0.7582 right_pitch=0.0258 right_roll=-0.0178 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -4.8479, 0.1436, -0.2613, 0.6129, -0.2222, 0.105, 0.0889, -6.7077, 3.1521, 0.5055, -0.0855, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:817f039632dcd0239ecdcfba39561ec69f7f92daab957448de97e31d936a1166",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be38f402289b691f66f74f1a235b2792cfd5b1a42d3897f6205fdf01fd913e51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cb73f3f57d7d7ca34b8b087ff716bf65b14eb657e5398fafcd7e1d6963d4ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 10.9 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]: [0.1188, 1.4921, 0.3241, 0.6834, -0.009, 0.0036, 0.9966, 0.3958, 1.8141, 1.293, 0.1223, 0.2665, 0.1341, 0.1444]\nstate[eef_state]: left_x=0.3657 left_y=0.0489 left_z=0.0585 left_yaw=0.1078 left_pitch=0.0796 left_roll=0.0251 left_gripper=0.9966 right_x=0.522 right_y=0.1716 right_z=0.2051 right_yaw=0.091 right_pitch=0.1763 right_roll=0.0298 right_gripper=0.1444\nstate[joint_eff]: [0.6359, -5.2444, 6.1333, 1.3553, 0.0562, -0.0562, 0.1099, -0.8821, -10.1402, 8.9231, 1.6728, 0.0806, -0.0317, 1.033]\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]: [-0.5804, 1.0286, 0.3096, 0.2031, -0.5499, -0.2955, 0.9955, 0.0826, 1.6718, 0.9859, -0.0044, -0.5503, -0.3897, 0.9963]\nstate[eef_state]: left_x=0.3033 left_y=-0.0842 left_z=0.1132 left_yaw=0.0206 left_pitch=0.1304 left_roll=0.0118 left_gripper=0.9955 right_x=0.435 right_y=0.1323 right_z=0.1256 right_yaw=0.7411 right_pitch=-0.0133 right_roll=0.022 right_gripper=0.9963\nstate[joint_eff]: [0.7863, -2.4, 9.0325, 1.6581, -0.4469, -0.0855, -0.2173, -0.3761, -9.5795, 6.5026, 1.6044, -0.359, -0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4648, 1.9873, 0.0795, 1.4158, -0.4885, -0.2375, 0.9967, 0.0784, 2.0003, 0.8124, 0.5415, -0.5625, -0.4114, 0.9963]\nstate[eef_state]: left_x=0.3086 left_y=-0.058 left_z=-0.0042 left_yaw=0.0562 left_pitch=0.134 left_roll=0.0267 left_gripper=0.9967 right_x=0.4434 right_y=0.1329 right_z=0.0151 right_yaw=0.7582 right_pitch=0.0258 right_roll=-0.0178 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -4.8479, 0.1436, -0.2613, 0.6129, -0.2222, 0.105, 0.0889, -6.7077, 3.1521, 0.5055, -0.0855, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:817f039632dcd0239ecdcfba39561ec69f7f92daab957448de97e31d936a1166",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be38f402289b691f66f74f1a235b2792cfd5b1a42d3897f6205fdf01fd913e51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cb73f3f57d7d7ca34b8b087ff716bf65b14eb657e5398fafcd7e1d6963d4ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFolEFNAaGbOeT1yggZOHcJiIw0sGUznWtNQ4kX6DnMuPHh-ugzX_XKS2lmpR2ROL9WQLsYKdHrfNkxh-v3Lc8ieztyX9trMgkk1bqYVVLBwDmNCMYHvhnBe9hDf7XdcJ4FF8pQATztsEsOTJBtuvj6b0eAMBp8GBBv2_SwqfEC30tQdM6WVB6POsQUH7Q5uDvO24_CIVLOFb54PKrtYYNAX5NLzf0IbFHX70Tyf2GZsZBsoYF1lninD0U58XgXdMmqSfB0CvJNtT8D3NLKdofzEnCA_OAI2uWJztyxwLR8zO621tFrHOSNhUl0zsaRwkjTLy0BhyDXarlXarxZImv_VjsY7l5z5-K1cWz3lyguERKQX71wlrsz785n11oAszIeSMdetM7OW-FQLpFdU3DSLPbo92FQPYB6Tu3fmLKsCAMIjygsJK7pz88wlFdC-t5RVNceZAkplm0u1QtESKaQPEYhuuk18zqH8xkF_tls0uI-6Ib67tkgipnoqQeEO24qApLyIm027C6bYd7WESyebYoTHnNuavsuu-zhgkswRGHOMsrLF9IZumwwK62BBmcUpTzKXcYM3PwdaB-rRt2AwAUrDZAlW9KryOwp6dq7P12_FYfeZRtVO93L8hAXw7KeMJxT_jZ9pIC0BYsRESwdErJHR5IKNJyvf0IGLytbY4Dscuxt9RXJHcgvSviCA82AFMye72mbEnPYwx3MODn3WR3vUrV3ZFSx3kSC8PzgxhMe2lrNN4yfnnXqNtOKpEckmEUiRjBDbnLgNz5Shny75jTQdwxhjSE8so7KuOaLqf9HChit7gGqEpJH9DWg5rjYW0WMBgA7GTZDs3X0hee17eL46QQwhL3MtrTbKva09rNF7WlgFcYM8uMOXADFxNrjdahKBG-m1khaF0dRVb3Bl8fZ6YdozrJxKE5K8ccYAFbeoKDU7dIyAiZFVtSQObNhSmlJeVmoTqCFRyoLLJVeBm8szNAzy66x_yAtyDxI-1M14kGT3vcy6Hwod5WWa_daCGCjRp9_z_g-fThd5fOhlexZ2hK0EDe1eo5ovLQvfMFXn2NzuXl7ThH6bSoyR68BkzRcYxftkcyaoUG_VzNHsY0X_CxbOi27o9gkqj1x5nPVHwezerNAa9ocEgjzjhd4n87XmBelC4RoAS8F1scJ4WJ6nvRb9Dpd_BWz9_uw2d3ehWm-I7gWBkRyh87hSuPDynWLBubAXLZq-QlNQ6k0ZO-G0hW65Fvl3P6xl_5x6h4Niwg-SywU1ehg8XVsv3Ttq5Wd4Oy1svnanX5QZIpceEOA7NnYnNSBjzeZPpZwcYxKINLc0mtWNvbbQ99B02lb0-yyWcvl3UL_1YW7wmHlEsTjK-2JRh987J2z4-SYgjgibqOPBnn5kD8hA1GYNO60QNHrl1iE2I1x-gge2lONQRVv4h7AT_-0UwNqRySkk4ZzUbqTOmXbYaG6WxzBHCIWtRwHhEXfPREDc8Zw2vJZ7PgZKg5U8fj9tlYQc1vOuxyFlZdcG95TYlXUZOFoY6KIAHk5yDEuwuTxFyOaXtZboVHDuvEs0CYtEsOVnI_jOQ1ieGgzFYqBYzmzRVY8woOr9jJkUKp2kbHkFo_-i3wQ3MA2iQdf6EndWvdno7RuQq1toj1dKj756ZnHlWmxi2DajgffkH4P4O9J490Y3HMC0g9Hn66QynpbmLjzZ2z5bw4RwFn4_T1sxmKBHF4Gro93tdRxitGvsxyqfF3MGAb0flmcvpHc8bXPOjQ9fkJ1zMoxoJXTgz-APLHDZqPQvJl99z4nhEk-1bl0UarNagxRw_A==",
  "id": "rs_08dabef08bb63a2c016ab45a22107c87d09183395956d86c61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_gripper\":0,\"right_x\":0.422,\"right_y\":0.15,\"right_gripper\":0},\"note\":\"At table level, both markers sit slightly left of the jaw centers. I’m making small sideways corrections as I close so each marker is caught across its barrel.\"}",
  "call_id": "call_JU9neFPsgh0fek70oPXcSpFp",
  "id": "fc_08dabef08bb63a2c016ab45a23f32487d0b0ab7678b31eacf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JU9neFPsgh0fek70oPXcSpFp",
  "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]: [-0.4267, 1.9862, 0.0753, 1.5215, -0.4679, -0.2173, 0.0097, 0.1318, 1.9713, 0.7376, 0.6231, -0.5262, -0.384, 0.1372]\nstate[eef_state]: left_x=0.3188 left_y=-0.0535 left_z=0.0163 left_yaw=0.075 left_pitch=0.2191 left_roll=-0.013 left_gripper=0.0097 right_x=0.4273 right_y=0.1498 right_z=0.0162 right_yaw=0.769 right_pitch=0.0415 right_roll=-0.0328 right_gripper=0.1372\nstate[joint_eff]: [0.5128, -3.7538, 0.2393, 1.1209, 0.0611, 0.0024, 0.8474, 0.4855, -10.1538, 3.7128, 1.453, -0.0659, 0.1001, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a04160d3ba64231deada1f1d16569f5bfd084592e2b7201c62e9d8e8c7a0063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffa3a3747eb95e00898ced3c4d26a16d083a8764cb5759beef176c8126bd3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495059d11a24813a721bf51794fcbf86ff89bf6cd067d5f569a9536c2768568d",
      "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 · 4.19 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]: [0.1108, 1.7855, 0.3332, 1.0096, -0.0032, 0.009, 0.0107, 0.3931, 1.8256, 1.2926, 0.1055, 0.2668, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.3851 left_y=0.047 left_z=0.0282 left_yaw=0.092 left_pitch=0.1215 left_roll=0.0279 left_gripper=0.0107 right_x=0.5218 right_y=0.1698 right_z=0.1952 right_yaw=0.0917 right_pitch=0.1491 right_roll=0.0171 right_gripper=0.9956\nstate[joint_eff]: [0.3487, -4.9983, 4.0274, 1.3895, -0.1245, -0.1148, 0.9011, -0.0479, -10.7829, 6.9812, 1.9658, -0.022, 0.022, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4648, 1.9873, 0.0795, 1.4158, -0.4885, -0.2375, 0.9967, 0.0784, 2.0003, 0.8124, 0.5415, -0.5625, -0.4114, 0.9963]\nstate[eef_state]: left_x=0.3086 left_y=-0.058 left_z=-0.0042 left_yaw=0.0562 left_pitch=0.134 left_roll=0.0267 left_gripper=0.9967 right_x=0.4434 right_y=0.1329 right_z=0.0151 right_yaw=0.7582 right_pitch=0.0258 right_roll=-0.0178 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -4.8479, 0.1436, -0.2613, 0.6129, -0.2222, 0.105, 0.0889, -6.7077, 3.1521, 0.5055, -0.0855, 0.2271, -0.0073]",
      "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]: [-0.4267, 1.9862, 0.0753, 1.5215, -0.4679, -0.2173, 0.0097, 0.1318, 1.9713, 0.7376, 0.6231, -0.5262, -0.384, 0.1372]\nstate[eef_state]: left_x=0.3188 left_y=-0.0535 left_z=0.0163 left_yaw=0.075 left_pitch=0.2191 left_roll=-0.013 left_gripper=0.0097 right_x=0.4273 right_y=0.1498 right_z=0.0162 right_yaw=0.769 right_pitch=0.0415 right_roll=-0.0328 right_gripper=0.1372\nstate[joint_eff]: [0.5128, -3.7538, 0.2393, 1.1209, 0.0611, 0.0024, 0.8474, 0.4855, -10.1538, 3.7128, 1.453, -0.0659, 0.1001, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a04160d3ba64231deada1f1d16569f5bfd084592e2b7201c62e9d8e8c7a0063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffa3a3747eb95e00898ced3c4d26a16d083a8764cb5759beef176c8126bd3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495059d11a24813a721bf51794fcbf86ff89bf6cd067d5f569a9536c2768568d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFowjtXB0dHaCFB9C_yQqLyMK-nI5NFXZIDagBn0hpFZq6VjyJMEUa1Tdq5CHQq2fZeT8dzZnuFN5jvBPLfW7SaUlhCmY9QjTLJbyakfRBN_h4zL3qNY2_-8P1xqq-6i__mVYBCRjAXfiuqDwEjWEZ618w28aqZzlH05CO9MXg9uiYP_F_ZfTHwXTPM1vASbskaAq0uuKnn25qe6S9q6Ec-3FZB5buhNGXDNsq_Xf7ntfHZ4dsd7Y6JUP2-DygvJxa_keignD7vTSqJ0esWgYVkXr3zYM0hedKx1gODNHOSMnOnkctCPXgB406UMVAf9bczP8Poy8kbGuorRszdBn_OpRJ5rSf-S6axC6e1KEncZOgAoa0jiJEaoPE4Ae1J3q7jDscwmKmuTHmBBzyBDkrhJrGrLUgd-kis8674BWqlV3znK5nmqfDPMmL4CZqrw-8jSMNyUIsCyU67dFJ68gbkONCofwSbczadBGyNfVeDKgUb76h7spPt4UyZ82BuwpslQDoRJIDJB66wo-O_wA_rEqeLuvFhC_9ArqSsUgHK-l6qHzITrwGcn2VAplpHZoV6_S3ma4R_o3uFgbeziO-yijBna1b4qzVakGYBf3UCdF627U72SR62jzmXEYsP8uOurhkS5saHnE5ltgmvx8373Oqkc6Xjo14J7wh9IZyxUi4FYRKzgjBQ0AgO-rncTHfmU6WmJknsanRrNGAQ3s7sTxOCgNy3VnTF2hIgkIS2KwaEx5rValgw6p8vzVFCcHSx2LGIzBxMGucz8xMtv9QxtwZ2382IUZbHIDhMFRlCwetb5DlGRkJ4KA6Wbf6Zr7GVCpgKZgia6KU-mv6wDgwCI5SnSjiUGByBYgMlO2yv5bT8Iu5k4z0bGab66huDTri6FFL_I4A1Tt3UlZ4pG3cm2L--oZH1GTLORfHoDjK4-3LvFEnISz3-TKVTfClcPrj9d1hof_4yq6ysS09MXLGXfHt3jpHmiRMN6NhTm3z2-UU6-wv3uSbKnWJETNTZjOFSnb6F7zbMlYMzufePweqWGWFRXI-3Ep9DcJZ3O-CO7tlq-OHh_wTprY7LYq9PNLCkCsprxGQCHAZV7ZKB2BEZvNUqM4DZPHyUsr4J-QQafRYR7nmNhla4e9LXEXCV996C4GJVYT_Ivi9DfDyLtVEjlTK6-uoRudmFygpuOAmNoFrTmFeq3CmSCk0PQbqfHcmvVU2Xe9vLzttxX9pol42RihrF4yVTO11OR8w0y2dsMHBEZNAiiKqjQKzQ2kuQhXhJwzzejtgzhWd8oX-ugU4pAzb7xcDb3PaGxQfoIl3xIhQXd6y42XzjxD9hOaWnHCKKIqoCNG2ZpSgIb6Z6PkNAWELIhR-uUpIahE63cribwJZQWPhZSszxJUiAvFH3Eb5HcozRi_enpDxxxN3uxtSMgsgVKqTb4yqsWzbQ42DM7oOQDAT9UsnnfXNMmvMEGgUUie86G2kNsbgI3n36EqIhJl1su5AI8915EkZlY5m4ENYJJp-2eGl_nzqjLLu86S_uvWJIiE0GtQt4VPZ-_-MZoQWvHkh0Q5eWr5q5_zWPq8z6QysB8zgT85lehQPUOjjJxMcvSbKHf1-0b1hNQLjnisFa3zbqy4TLZEopy8Li0ClYc6LFBTflyH_zORKvgZHKd6c0sd--Kqpymf1mPlZlNNZYRIdas4Sb4Yil7mRT7TuKxLZaeVvuu5Ji7beNd01PRX4eRh_sZmDutRHqV_jBKCopO0yt-vW0wGXDX_z7T7-apeUO51B3qrB2ciaa_w0d9lQDf2pY-IiMJwBIGOjz9017Rc0Xd2f_wotUu-_2_nXAmFYgNOSlfrIz8uc5usX57qSSBc4rJNMtZEeXIjfVeH717Vqvw-3R47IemTUDk3R2TE0H9LvPs8i3Rxo8Sp2vdqF4ELIxg7VsZXx6GgruSx1v7qDKcWV3v962Jt7WYlljd29arrp1ZZUWft4X_uMDDZjVtCpaK8F3769EBHe6ZY9h4dKB77XrAw_jk6ZEEjDKGHLcEt2681k6yLwgO-c6Od-1tYntg9-hwwj55UPvF-DDgS80QJyX4tpoLmsMhaSHjIe93yn0Dz0MOXh2xpqYYOMzH-rY_4iRMtfweYdDPmkHLtTn4M6Cn-OAoy8MFtFXZRq3M3Jh0TVsd0g_Qggo4AXKuOY0FJK7sJDQsif_dVaJ261D9n3-AE0EU_F8zqqA-sZbAQCRhP25OyB9A9UElWoKAOzpE6wKIWGXTwoN--GO6iWiQ4IPzM5nfVX3LTTBq-7cwExo6rI1ZIQKqOVu2DyWU6qg6FO-sP9WRnR7qZwzciDQFzIMUoVdFfHJkWkT3hv7Fbw2jMc5T3yLKBC_ZiAiVzvSsBZJRRYRpsTUJhCeXoGgNQagtjkxN7Vl5WYx12YkQwZyyp_uhhpTu8lGtzVKWhjKg0Z896GrUr1hHcW-KYjs28Mjf0sFuO9J35vH5vW_YX1la7lkxUbaiADyBAhezVd9jGBU3J1pvIZHyi8b_TuJeLHnDyC0K8mOP9h6TuY9ojB4rujSDzWKRX0EzTrsEI_qj72WZmDVVLphbabuVNccoq3QrgNoLlyeo2Nch6WGbamCXsNqYVXatkgjio48L_Iw0dkZLaAQ6rS-flwAjYXz2p_QcSn0Sdwed-4DhrNHv3KRZ69b1M1-t0BlIXhitvkkfzt2fDTxORjcFPLUQuvKDu-gzh2TfUJDpzc6jbu38_RC-xW5aLgXkfSyozZq_3fWN22S8P7xys9y7jaH8BUGOT3a5bT6YvgCXkmUvdH05xuw3sXMTpmwhRSZR1bUM1ViVIUCL97ElyUPBlbloycdyQiBO68Uia2fvcRIZhud6AI5qplmSUGW7wuYWWkZlgEj4_wLlHZgycsKa2YqnUxKUgVKBx-bN5UuAM1AlvHSq3OCbEptRKJ0DH2gwQ-sucgkSBeFkrRlHiSh3Lz10VTq2AZZdHzVtIvK9XZAvvCrRM7DCkfkMGjG_lWZWyp_6MMkOuSo20SOElLULP50CUg61xpe8IsGoHY5VGIvQLdUkUt6jXeOhdPNuCUP-bZcY0lxO_OjDQNNygFWLVaucWbjW4KJQ6tojPobijc1V4Vnl8uw_eE7hKzbGDx0TUWlj96CYamJtHsmP7BPsJ9tiFhWr6waOOWL5Nwf4ay6w_RX_JSJQk8_SsAZ1h3NXghlLYt4jN6htOw13ImaPRZfg2d1nMYP4NGZm6F4xaxMS65VspnjN-cSfCpwqHD5GdDjEteK10UR4ZGw0yYiFurjdcvbu7RHO-TCCFAZV8GDP3rXORp14FM3fYouB-3J1GNkcrFb9tDL1aQcKY4SPxeXj-zej-O6ZfSIQ5Um0dRC60F1vFh6bCBJSXZURAZRqhyUsrYRjWewa5KpCuzC8SIufzbij5G4b0P5z7EE8hB0tUSq-V_76lMM7DkKxDO6YH0lN30LgGW09wtddYba4vZU9f4pmJIA3oWxXbjylLFzHa6SI7fBxuaRX-D62zkI2IJqyLBzvyGdczq6xBV-JBaE_8MrRApncCQt3JqgRrvsPb-jVbdbLwH30-BJefdppGDV7hlDRZ_g5ufwL3lmggBeywGXZRgBFzVVavrAmXi9utySvbtAcfC0ETURtjyw90LogFPw0BZQihS_ZoRLmy5n68FywwlNshv_uoWTCb2v6UeavCqUGhg7W-Bw5UzANlSuBviN6ErZMQjHMotAiK1X2QYm12qrqVI8AGvf2-8XqwFsl8eXuMnxfmEs_tXXTsWDdNWWY8zREK_lXsKzic6PGUAeb_EwUFx5yasGaPEaYRy9UjVvDuZtS8quOfAlz",
  "id": "rs_08dabef08bb63a2c016ab45a274c1887d0830c20fdf46907f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.05,\"left_z\":-0.012,\"left_pitch\":0,\"left_gripper\":1,\"right_z\":0.1},\"note\":\"The dark marker is held, but the yellow marker slipped ahead of the left fingertips. I’ll reopen and advance the left gripper slightly while lifting the dark marker to confirm its grasp.\"}",
  "call_id": "call_OZfPbK9HtH32aCqSaqc1pIC8",
  "id": "fc_08dabef08bb63a2c016ab45a2f988887d0b5aa3393ec9c69a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OZfPbK9HtH32aCqSaqc1pIC8",
  "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]: [-0.3298, 1.8282, 0.2268, 1.0798, -0.3645, -0.2623, 0.9952, 0.1307, 1.7382, 0.8089, 0.2893, -0.5251, -0.3882, 0.1416]\nstate[eef_state]: left_x=0.3467 left_y=-0.0483 left_z=0.0036 left_yaw=0.1004 left_pitch=0.0802 left_roll=-0.0357 left_gripper=0.9952 right_x=0.4219 right_y=0.1484 right_z=0.079 right_yaw=0.7686 right_pitch=0.0174 right_roll=-0.0195 right_gripper=0.1416\nstate[joint_eff]: [0.1573, -6.2838, 3.4667, 1.1111, 0.1978, 0.0317, -0.0806, -0.1162, -9.6615, 8.9368, 1.6581, -0.2466, 0.0122, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a5dadac212d5b75945786c2e25affc54c74110115dd191fa5930795bf34738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f37588e0ac26ae83e5f2cdc511f83e3d78539e89c7c94b6e157a58006b8a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc0e6960ac103cb458a3cfb1fa2a01214342fb846734740df36e501cf3d2ad5",
      "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 33 attempt 0 · /responses · status 200 · 4.396 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]: [-0.5804, 1.0286, 0.3096, 0.2031, -0.5499, -0.2955, 0.9955, 0.0826, 1.6718, 0.9859, -0.0044, -0.5503, -0.3897, 0.9963]\nstate[eef_state]: left_x=0.3033 left_y=-0.0842 left_z=0.1132 left_yaw=0.0206 left_pitch=0.1304 left_roll=0.0118 left_gripper=0.9955 right_x=0.435 right_y=0.1323 right_z=0.1256 right_yaw=0.7411 right_pitch=-0.0133 right_roll=0.022 right_gripper=0.9963\nstate[joint_eff]: [0.7863, -2.4, 9.0325, 1.6581, -0.4469, -0.0855, -0.2173, -0.3761, -9.5795, 6.5026, 1.6044, -0.359, -0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4267, 1.9862, 0.0753, 1.5215, -0.4679, -0.2173, 0.0097, 0.1318, 1.9713, 0.7376, 0.6231, -0.5262, -0.384, 0.1372]\nstate[eef_state]: left_x=0.3188 left_y=-0.0535 left_z=0.0163 left_yaw=0.075 left_pitch=0.2191 left_roll=-0.013 left_gripper=0.0097 right_x=0.4273 right_y=0.1498 right_z=0.0162 right_yaw=0.769 right_pitch=0.0415 right_roll=-0.0328 right_gripper=0.1372\nstate[joint_eff]: [0.5128, -3.7538, 0.2393, 1.1209, 0.0611, 0.0024, 0.8474, 0.4855, -10.1538, 3.7128, 1.453, -0.0659, 0.1001, 0.9988]",
      "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]: [-0.3298, 1.8282, 0.2268, 1.0798, -0.3645, -0.2623, 0.9952, 0.1307, 1.7382, 0.8089, 0.2893, -0.5251, -0.3882, 0.1416]\nstate[eef_state]: left_x=0.3467 left_y=-0.0483 left_z=0.0036 left_yaw=0.1004 left_pitch=0.0802 left_roll=-0.0357 left_gripper=0.9952 right_x=0.4219 right_y=0.1484 right_z=0.079 right_yaw=0.7686 right_pitch=0.0174 right_roll=-0.0195 right_gripper=0.1416\nstate[joint_eff]: [0.1573, -6.2838, 3.4667, 1.1111, 0.1978, 0.0317, -0.0806, -0.1162, -9.6615, 8.9368, 1.6581, -0.2466, 0.0122, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a5dadac212d5b75945786c2e25affc54c74110115dd191fa5930795bf34738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f37588e0ac26ae83e5f2cdc511f83e3d78539e89c7c94b6e157a58006b8a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc0e6960ac103cb458a3cfb1fa2a01214342fb846734740df36e501cf3d2ad5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFo1r_o3Jebkv2qR-SIIQqUD7E0W4dLE8wBV56400G8y40EEQcVNZJTnp4IBozrDKRrLjh1S2pEQHtDOt0ZzQZC2V2XQ7NesDKjwxc-bZ7U2m-utCXeTXAGK098cQv2aNI1Ew4Gxe_c_VERUwLvjPiEaM3WbRNwpb_07HhJuu9XjwZp3ZidNDXkhTVIz1ZSlqZyWbUVIQ2S5mqe2Ib6loNtlRcume_ovdyvx29M2C6wC1Mzint7j0DPuRfCGp88qjyFP_m2X9cj5tIl9MfakEmOedghgh_1o8hjh2IJaRIsW_0tygwjd1ss43qPhtg_G3lbEsb95Xs33-_LFF7AtZoKi1r_Cgn_Yo8glykD7ajS3aXuYF22SugZNAo1Ws_wHBJcXLc3HPB6HxWvn7VUu1wX2neUFn0fEz6CPzBoqNsLORwVRNd-XZ1A4AQZ1sNLNehuRvKAb6o8pm0qr_fEKplPYGdQZ3GDjkdicmxdOFhu7ViSer2sMHiKiRcdsqTcfaJCHbRuKOkhwYtq9_l_intq7xS5k85Hl2wUVhSDKdGAm7X7_pP1UHHWFXt4tn-Kr6M9YMA_CdzYjWER_n1TJIN2-EKq2pkeYNCMGAWv0mE9O8VMVCDTQ7E5tOpHbFMglmOtsZPKl9PbLkqCCMS_VIiCpMy11dGecSAzkSU00Mt643vuRwBW2yJrY7cVoi798uwOMNeXD-gSsvoOdAQXp0B7_JCuoMIuYSTfIwO55Q-S_Dkt9q1-A8Rk36uITIwGyU8GKd5xWjCCi-7Ahgw1adkVEb8kxHxkCzcuOvE7JCWUJvGiu9N5IDJm9-ET4le9oSa5M-KOSLE80yXyMUdDAW8dDfz9GNT8YXrloPA2Sk8N2vCz-QjQS8aZU9d_2RYcOq8LpVX8rbLtVajvT5SRzRXEd-FPbxPeP5DMk3tTtDGwJuYbsPVu4wU5H0FGrSfA2liw5hcV4YfLTYroqLrb6a2FNJ0zcEdT9WzBs2lBRC2woI6sD5--4x7C7nKik9PutQ4FefsroH3oO8NEHvdzOZD2ripmHQ29YYVEE-LlDxZl_94LQr01io0ip9ugm-U05Cnq-4mmkmlNvUE0VG0ygrbToTXkjINtSv58XuhaBBeUl1qoOFCVm7h2dp584WU0i5Y4k_Js8fxEPqzIvlcF-p7fGwmv38ztDVDEnWo1mS1jcf7QyQJUCvG7CMA3U5miTzs2__-Jpc62cT2g8xHcp588VAQ7xdP9KnbgwgGHbPlfMuOVpPYGY0iCpe3XAk7gl0Ww287BdVKC-a6Ng8d4StZrekozX7o1c8oo74fMkIgXrn6tek0K9y5AGlbPzfTXfQgoV2yI3LyF9y-IGghlROPjnsEk0Ci62CsNUTXGxbpw98VgING3kORJHdzKBotZxHUByzV0mJIsnojx4yru4Au9ZYBiutH148crnqkunPU8aq49RDex4vYcSI13s6c7ePadpSdkIzqDJQUcFZnBaVa0EugZALxsYYRlZATPDATlwHLs2TPPD8oVUn9UrdaGafq13EfkPAHL9J6jY4FK9Z2oumZMSyYW_RU_AU5yaR56k3-ZsvyY8HiAJkFDxitk21VlIEZVQBtGU-oA24w-g3XAo9w==",
  "id": "rs_08dabef08bb63a2c016ab45a3383e087d0ab9862f1f3b9f801",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.067,\"left_gripper\":0,\"right_z\":0.24},\"note\":\"The yellow marker is now fully between the open fingers but a little right of center. I’ll correct that offset and close, while raising the securely held dark marker above the basket rim.\"}",
  "call_id": "call_R98uVhtvtQOUB2r7cA6WJTwZ",
  "id": "fc_08dabef08bb63a2c016ab45a34e23087d0813e9ae5e6f2e22b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R98uVhtvtQOUB2r7cA6WJTwZ",
  "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]: [-0.4103, 1.8252, 0.2413, 1.0599, -0.4374, -0.3092, 0.144, 0.1307, 1.5566, 1.2179, -0.3222, -0.5243, -0.3889, 0.1416]\nstate[eef_state]: left_x=0.3455 left_y=-0.0648 left_z=0.0068 left_yaw=0.1054 left_pitch=0.0939 left_roll=-0.044 left_gripper=0.144 right_x=0.4277 right_y=0.149 right_z=0.2144 right_yaw=0.7683 right_pitch=0.0003 right_roll=-0.008 right_gripper=0.1416\nstate[joint_eff]: [-0.4444, -5.2171, 3.9316, 1.4774, -0.0708, -0.0415, 1.072, -0.212, -10.1949, 9.388, 1.4921, -0.2027, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6a5420a1345bfa30f21129a1c8886cacc9059d7a9440debc57b5d172571d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cc80ef2750f2bb71acaf0eac28cbe7c06676072f0505196c8d3e23757c2dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b29d2638833c42ba9c49febb01a2d681a405b2896335a7bdaf285742a98693",
      "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 34 attempt 0 · /responses · status 200 · 3.897 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]: [-0.4648, 1.9873, 0.0795, 1.4158, -0.4885, -0.2375, 0.9967, 0.0784, 2.0003, 0.8124, 0.5415, -0.5625, -0.4114, 0.9963]\nstate[eef_state]: left_x=0.3086 left_y=-0.058 left_z=-0.0042 left_yaw=0.0562 left_pitch=0.134 left_roll=0.0267 left_gripper=0.9967 right_x=0.4434 right_y=0.1329 right_z=0.0151 right_yaw=0.7582 right_pitch=0.0258 right_roll=-0.0178 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -4.8479, 0.1436, -0.2613, 0.6129, -0.2222, 0.105, 0.0889, -6.7077, 3.1521, 0.5055, -0.0855, 0.2271, -0.0073]",
      "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]: [-0.3298, 1.8282, 0.2268, 1.0798, -0.3645, -0.2623, 0.9952, 0.1307, 1.7382, 0.8089, 0.2893, -0.5251, -0.3882, 0.1416]\nstate[eef_state]: left_x=0.3467 left_y=-0.0483 left_z=0.0036 left_yaw=0.1004 left_pitch=0.0802 left_roll=-0.0357 left_gripper=0.9952 right_x=0.4219 right_y=0.1484 right_z=0.079 right_yaw=0.7686 right_pitch=0.0174 right_roll=-0.0195 right_gripper=0.1416\nstate[joint_eff]: [0.1573, -6.2838, 3.4667, 1.1111, 0.1978, 0.0317, -0.0806, -0.1162, -9.6615, 8.9368, 1.6581, -0.2466, 0.0122, 1.033]\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 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]: [-0.4103, 1.8252, 0.2413, 1.0599, -0.4374, -0.3092, 0.144, 0.1307, 1.5566, 1.2179, -0.3222, -0.5243, -0.3889, 0.1416]\nstate[eef_state]: left_x=0.3455 left_y=-0.0648 left_z=0.0068 left_yaw=0.1054 left_pitch=0.0939 left_roll=-0.044 left_gripper=0.144 right_x=0.4277 right_y=0.149 right_z=0.2144 right_yaw=0.7683 right_pitch=0.0003 right_roll=-0.008 right_gripper=0.1416\nstate[joint_eff]: [-0.4444, -5.2171, 3.9316, 1.4774, -0.0708, -0.0415, 1.072, -0.212, -10.1949, 9.388, 1.4921, -0.2027, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6a5420a1345bfa30f21129a1c8886cacc9059d7a9440debc57b5d172571d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cc80ef2750f2bb71acaf0eac28cbe7c06676072f0505196c8d3e23757c2dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b29d2638833c42ba9c49febb01a2d681a405b2896335a7bdaf285742a98693",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFo7TQZo1gdgxOUdaKiJy5_2HyXgqRfS77lXZ6Wv5f9y2BpqSXd8YAGUtIChM7SrQM9xuQnISlB5GXX3l2t7HaeSZW1uKMMswHBke0miw_ztXWNZEvpc8KHkQZJpCYRkz8Q-6aW-ZxhqPtzt-xoEu2EQm2PPFZ0HCE4btPUR01bA3sxQTo09LWDcKS6snjkg8q3tcJbySXswqBqCliQrig1O4UDcMUYzRXVBTpzZMcU4lftzJEe3VIiEq8sYqD98MHaIGX4gKf1G-bL9xb7dtcWDB7IEgK7Q0HVrRDmlyJ3ugSAJNN9w1LB5kXPld9VbsMYkoL2t2Cjw7e3dra9nQuvH6LZm0xamIvGQnXBFCqux3lKswqjP1X0hxbf12WT5AVRIrmCPDmowHY03w2VnPn9C7urHbu0HhRQhAlQk02UancU9i29QVGjBt_jIIZqPt9kgkpmSFCFRfJMAwcHeMRsbWB98TwrSibQGpldBXBXElihfmwnTw50_sv5PJkD4TrVErUydmMUNNUVSraQSUehPYYocjNhN4qqVXeRnpXOmE7NLzEpmku_RUgIGSunbGtGLVcAO5qPurKB794b_aCoVgAK0yW4soWpHNL3t-iZEIp8CJ_VIaJIYFtuZniOTYT8dP8NPAhSC3jH55b-10Kh5Fre6DnoXqnO3XbKGGZHQqWeNz6lX7uuCOH4A2B38XAhxfqQ7jUfsWv9NIIrjmMLZIAHI8CvIX1WSYzMI5xFX85_LlGYMeb5L-IEwbLCSCY2wGbeAMRphWYMNl9jAgsx170uwoykQNrrStHGtA5TNoHdJG2_4C1EIq0Vd8PvYenwzeVSdW2rBue1nYIB5VFtxhEkkLnUR48u0ZBjiptmQDGKcxpRN3iy853RcYGp4ce7Er10cxY80DVozq4xlagReqolbBbiwMRXKgnvP-34DXpGWywNw0xINV9pTQmmNHkY4eR0GUwqCTItUnKBfo1Asm5n--XwYBMEOtMX1DSKIGr1PhP-rzBKw2HE21tBe217spKxY1xF_D1sUmF8SL7eedJ1U-XIPigFWDewYcCKB6Lv1LLcG2UZ0SF2NYNHd65PPKADV8TvDeWTzsbosPnR0zm4HlnuHFVKip6QoCwHsCu3c8EJawDPspwWKirJsVnGIIjGela58Qsbgonczlxa-b4zIhinqbtPN5keBIHpL9vCaZYcooAr2ZaTRxJ_vINOmykR0y3BaXh8hz095j7zxB96HEvsk7QvQ6Yqnbw6HClmf79WHWRijWNyImmjzZa_clYlIDlFo5iFi4fiwwmrAJjoip9caX9YjjQzEHdNBBNiLPgDExszsTQTjwwv9bYjWAerNNhMV-6YMrKlr15mykfjWDjc2c2frgnFtJax094KB7dHe7tF5FDKJDgJTq2MiCl5dXwhzErJ6lzGFTzhrMtH7E4Spuc5AiWnZ4ae6Acq77F4e0vzEOMRBEiYVCZdbZNk6Y3ewXWWqvwkHv6QjG2dYTMLRG8dqOsKpAhiEn64=",
  "id": "rs_08dabef08bb63a2c016ab45a38776087d09d78f9372541cbb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.6,\"right_y\":0.2,\"right_z\":0.25,\"right_yaw\":0,\"right_pitch\":0.35},\"note\":\"The yellow marker is now held at the expected barrel width; I’ll lift it to verify. The dark marker is clear of the rim, so I’m moving it farther over the shifted right basket to avoid another short drop.\"}",
  "call_id": "call_CBocmNJtpPMVwzhXLaegUaok",
  "id": "fc_08dabef08bb63a2c016ab45a39ed5087d08e2b971ff0629b01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CBocmNJtpPMVwzhXLaegUaok",
  "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]: [-0.4095, 1.3258, 0.3359, 0.4515, -0.4416, -0.3153, 0.144, 0.4252, 2.08, 1.6527, 0.1162, 0.3229, 0.0502, 0.1444]\nstate[eef_state]: left_x=0.3415 left_y=-0.062 left_z=0.0786 left_yaw=0.1122 left_pitch=0.0823 left_roll=-0.0404 left_gripper=0.144 right_x=0.5891 right_y=0.2091 right_z=0.2231 right_yaw=0.1114 right_pitch=0.2655 right_roll=-0.0431 right_gripper=0.1444\nstate[joint_eff]: [0.1026, -4.7932, 8.1846, 1.7167, -0.1245, 0.022, 1.0281, 0.294, -12.2735, 9.6068, 2.0, 0.2369, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13b257aef99e83d39fbdd618dada7d771d5ff1d5870413d48537770843a7625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e409b281ed9c81d442f205fda0af3efccb467cfe8999583851e4804de38057e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc788b79767a7926b614fab86d98b747839b72d45949bdb9c0e846be5ca402cf",
      "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 35 attempt 0 · /responses · status 200 · 6.032 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]: [-0.4267, 1.9862, 0.0753, 1.5215, -0.4679, -0.2173, 0.0097, 0.1318, 1.9713, 0.7376, 0.6231, -0.5262, -0.384, 0.1372]\nstate[eef_state]: left_x=0.3188 left_y=-0.0535 left_z=0.0163 left_yaw=0.075 left_pitch=0.2191 left_roll=-0.013 left_gripper=0.0097 right_x=0.4273 right_y=0.1498 right_z=0.0162 right_yaw=0.769 right_pitch=0.0415 right_roll=-0.0328 right_gripper=0.1372\nstate[joint_eff]: [0.5128, -3.7538, 0.2393, 1.1209, 0.0611, 0.0024, 0.8474, 0.4855, -10.1538, 3.7128, 1.453, -0.0659, 0.1001, 0.9988]",
      "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]: [-0.4103, 1.8252, 0.2413, 1.0599, -0.4374, -0.3092, 0.144, 0.1307, 1.5566, 1.2179, -0.3222, -0.5243, -0.3889, 0.1416]\nstate[eef_state]: left_x=0.3455 left_y=-0.0648 left_z=0.0068 left_yaw=0.1054 left_pitch=0.0939 left_roll=-0.044 left_gripper=0.144 right_x=0.4277 right_y=0.149 right_z=0.2144 right_yaw=0.7683 right_pitch=0.0003 right_roll=-0.008 right_gripper=0.1416\nstate[joint_eff]: [-0.4444, -5.2171, 3.9316, 1.4774, -0.0708, -0.0415, 1.072, -0.212, -10.1949, 9.388, 1.4921, -0.2027, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4095, 1.3258, 0.3359, 0.4515, -0.4416, -0.3153, 0.144, 0.4252, 2.08, 1.6527, 0.1162, 0.3229, 0.0502, 0.1444]\nstate[eef_state]: left_x=0.3415 left_y=-0.062 left_z=0.0786 left_yaw=0.1122 left_pitch=0.0823 left_roll=-0.0404 left_gripper=0.144 right_x=0.5891 right_y=0.2091 right_z=0.2231 right_yaw=0.1114 right_pitch=0.2655 right_roll=-0.0431 right_gripper=0.1444\nstate[joint_eff]: [0.1026, -4.7932, 8.1846, 1.7167, -0.1245, 0.022, 1.0281, 0.294, -12.2735, 9.6068, 2.0, 0.2369, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13b257aef99e83d39fbdd618dada7d771d5ff1d5870413d48537770843a7625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e409b281ed9c81d442f205fda0af3efccb467cfe8999583851e4804de38057e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc788b79767a7926b614fab86d98b747839b72d45949bdb9c0e846be5ca402cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFpAAB3pYbwvlfmcIMnZsTGMMAZBT3zPiksYuCB3isx76Nln0L4RKZW92Yk0393rk6daEkQEue1IWmOdvjNZfmqFyf8gPEiW5N-J5PCit2H9JmQx0rud4LpJs2Ha54l2ZZ3bvVAy19Mltsjdjh7I0a2tTklfSVkUxf1fbh5FkqbN3ttsK2e0fRO603spe5m_mtqxNBGhHVRiiofsQKR-VmWp2V-FSlQCgmKQlUaJgjFfVeoQeszXAhDZAraLPIZ1Hj7Hcfp22Tf_oLpKxB2K70Vzp2BeWd6SVtqz_y1Zu_rK1Q6iPHtRcpL5sHRmq7ohr-CMlvt3N0G3CoEvSvT384JY2v0wzRR_a5MfbDZmCcQeWmojtE51HGqptGQ18ySLZ2rs8dyQgyjDREUBFNFlbbu6_-OPyFp7Gu8db9bv6xl97DDd850ThS6ncJVsQnTxkc0yzdOoRfAh0GauaK7IFU3b5LohcM0UwlfT7XyFJKH6BZitvgNaAUGyyqMJbX7p2V4Wt3eiO9qe3HWw-gIpBGuLJdNFBdp58mPsKwJ4m53IJBddQ1Jl9i9O5TSWbAvvzj865YTdLDjUKES29TJ0F9lno_ZXrW9ydrBNqJwHCRDUpWQvwE8hhSHr4CYMNxd6ljG3QNqs9YatS3H0OpSbtYgPp4nxGGTGl7BnpIBiIB_0PfcF5yMWzodTMvrmON50mDJFJ9vxY6Mq4BkvVtM7ufTFnkEMoyNTHHK2AYxvMxSiyv7sqX3-N1ZaqAhjwNUHowU4S3sz54WI0X3WQ0GwYDSQNu4xKShAdnIBGLDGyo7_E7ttWW4wpjhda91WI7ZWh0pie_e489XiaW0iJb_QPktajcwaOuYDdYfJex11aoHTfuYb5yOtcr8URjDqni3kOaVM-dzZmkl48uhuTUJgvJPqnTg3nTz3fJOj16_5ASCGhag6fBX5BztPp_wVwCbut3y1zKKqJNpNQIhBALbbM6ZwkmdXXIcXJI9N6Fg9cAkHeUOGgK2M2tSlAJkziTZ03YxcmZZXLqQfkTt7uidCL8Z1bnINofrn2yAqnWekHl33l_hceGIpHkXhRwhnIXbbWGTq9164g7tCXiuAsQ3sUSG8M-K2IJm4mYLUo7Mjxkzz544xczcMjaHDI7x7qVaIzViyv_dDBaYrtl7UD5aI2r6G3xApgI4mcAc__uKos7shWH8AkzEospzzOaNADbp2_fJrpLGfDpBKmY8_Q5g8QBBo6xOOToqegzkzvqev8P1QMjTard3X0YE8E8r6TFC140AC8wbTAtDocS6TyvQ2sg2QaUeuSgGkFUiTqczYwGiijY7N-H_o-OSRlM_DbQ3wtWdgR9AGybGmpgQdXadvA_9wkP9DYLJKZYUYwJzgkR8LgyB_8cwzNC9oJu_4E7vhi0Xbg39ejLzJiqwcS2xXCHkvW8Zezme70bMbkUGkwCBexkhVma2q027pgekqrVaa7rhnobKQnI5caWLe7xNDac_yE_EBY3AMvq8R06ikjeo5x_0=",
  "id": "rs_08dabef08bb63a2c016ab45a3e9f1887d0953a3cad8a2dd986",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"right_gripper\":1},\"note\":\"The yellow marker rose with the left gripper. I’m raising it for transport and releasing the dark marker over the interior of the right basket.\"}",
  "call_id": "call_JUFAhv5afssCCdsw0TwX4BhF",
  "id": "fc_08dabef08bb63a2c016ab45a3fbf1087d0b6256186ed41e26f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JUFAhv5afssCCdsw0TwX4BhF",
  "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]: [-0.4095, 1.0676, 0.8654, -0.3454, -0.4416, -0.3256, 0.144, 0.4297, 2.104, 1.6489, 0.1059, 0.3206, 0.0441, 0.9963]\nstate[eef_state]: left_x=0.3444 left_y=-0.0633 left_z=0.2334 left_yaw=0.1174 left_pitch=0.0742 left_roll=-0.0449 left_gripper=0.144 right_x=0.5892 right_y=0.2127 right_z=0.2044 right_yaw=0.1242 right_pitch=0.2288 right_roll=-0.0603 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -3.8769, 9.5795, 1.707, -0.1783, 0.0806, 1.0281, -0.6222, -14.4342, 7.3368, 1.9072, 0.022, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161750e52895dd207b0041d5dc6bdef5d070e03266c37c1e1e772eb559f76b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd1372f46c4a534b62ee1462195c0d8d5891a0336f3307a3ac96b2640fa1060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26405d6790080dc42aadd01d1e42db8876ab71f8e25149c42bc20a7acf9d95d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 12.37 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]: [-0.3298, 1.8282, 0.2268, 1.0798, -0.3645, -0.2623, 0.9952, 0.1307, 1.7382, 0.8089, 0.2893, -0.5251, -0.3882, 0.1416]\nstate[eef_state]: left_x=0.3467 left_y=-0.0483 left_z=0.0036 left_yaw=0.1004 left_pitch=0.0802 left_roll=-0.0357 left_gripper=0.9952 right_x=0.4219 right_y=0.1484 right_z=0.079 right_yaw=0.7686 right_pitch=0.0174 right_roll=-0.0195 right_gripper=0.1416\nstate[joint_eff]: [0.1573, -6.2838, 3.4667, 1.1111, 0.1978, 0.0317, -0.0806, -0.1162, -9.6615, 8.9368, 1.6581, -0.2466, 0.0122, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4095, 1.3258, 0.3359, 0.4515, -0.4416, -0.3153, 0.144, 0.4252, 2.08, 1.6527, 0.1162, 0.3229, 0.0502, 0.1444]\nstate[eef_state]: left_x=0.3415 left_y=-0.062 left_z=0.0786 left_yaw=0.1122 left_pitch=0.0823 left_roll=-0.0404 left_gripper=0.144 right_x=0.5891 right_y=0.2091 right_z=0.2231 right_yaw=0.1114 right_pitch=0.2655 right_roll=-0.0431 right_gripper=0.1444\nstate[joint_eff]: [0.1026, -4.7932, 8.1846, 1.7167, -0.1245, 0.022, 1.0281, 0.294, -12.2735, 9.6068, 2.0, 0.2369, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4095, 1.0676, 0.8654, -0.3454, -0.4416, -0.3256, 0.144, 0.4297, 2.104, 1.6489, 0.1059, 0.3206, 0.0441, 0.9963]\nstate[eef_state]: left_x=0.3444 left_y=-0.0633 left_z=0.2334 left_yaw=0.1174 left_pitch=0.0742 left_roll=-0.0449 left_gripper=0.144 right_x=0.5892 right_y=0.2127 right_z=0.2044 right_yaw=0.1242 right_pitch=0.2288 right_roll=-0.0603 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -3.8769, 9.5795, 1.707, -0.1783, 0.0806, 1.0281, -0.6222, -14.4342, 7.3368, 1.9072, 0.022, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161750e52895dd207b0041d5dc6bdef5d070e03266c37c1e1e772eb559f76b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd1372f46c4a534b62ee1462195c0d8d5891a0336f3307a3ac96b2640fa1060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26405d6790080dc42aadd01d1e42db8876ab71f8e25149c42bc20a7acf9d95d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFpHmlmpeVncCFj6jIX8-rkn2_XSpnbO2QhihntxkgejIArUkHDGOGr9bETdVJrUocGUEgdz0ShFi43SMjByq4QOISKABo5K_tZI4VRYZW1QXLIxfxI-aYsFOgHPNL3mWXskRmWDanh6zbf0RQFZ7WVCLhc1ixtlQxmZWALa3wK_9xUJ-OwSI3MZnzO4hgnfIQQ0iYLnGOUh7TiqnIj8vYDlUxB-vt_0EI4BYRneF2nNRj02LSo3izTU-fcBSXs5tOwmBxyQF4-A4NEHqvVS49baoXqjAxTYr17Edhe_jGGOZ-KuuR3DYBmGTHzbFihzQar3yYHeiP_yKMxN9JPJ6NKmdUSQoUos27QJD68rvxPf6Y4oO490lTXI-AULPz02lI0gx-mNaVCo5la3jOPXu5vk-GSwIaRTNMT34V3wlFmalM3AWu93UEejuE1MttFIvAzPnBNMZS4XrgNvwaWFoJBrsUHWhouMtb-Jt_ecVgSL-jt2PNQml977tXQJnNyELDiSl2clvzrlncBPEBgypvs7F84J8JqWIqGluyB5FRGoCrfvv7h6POKej-wlhVEjig8VXC7E_c7GVmkSb8MFUaW0YjAdDVlykjUblhqIfVrJVnaKn1NB3M3deceQoBR7st_FKBXPT7O3jzRawcm8m_K_ybq-7JIn86Bog9cSmS5Wj0IOtQI3LEOOuOOO73GPR7d2seyzuObiKPg6plBsVK_tV7UN8E9bbeAe3wHdD7miWOPWiLBU-R56e6WyXSd2ZzS1TINlsyFpN_pDdo7sWcACYspk8y5bErSzYcrxMw-kO8c_H4IRAm-tA_K43lPeNqgE2l0S4TlVygtrgugpOhJzk5FC3LNztPGXYVkkOh_xvIHN8F-TSiHTZbVWlNtUgrSOirU7H0uwVEZNuo6xa-wTfNDUrU3RDRyc0zocx5MjVEF4BCu9iYieuhXg2Fw8IybkgzCxezH3HDcpy3qh2LnxJYkjDq9hjgTpvgQhK9SjB1r-1YQpT3nzsfQj_to2p5b4AWNKN1nP_xwrjM4KHmt1Hj1gXqz4FgnXgib_gj8UhAeBspCe5TETFUmHmHkMEcdQcK7DgHA-TCsDP6Ey0LP98vlNARWyYu7V7ePOsCLW5oAmDTgmaAltUokFJ4k8ZpRkk9eWUVKVq9XgJlk-As40XJOlhsgx4xYztAcXOkasAvZYFxDi9pJLCIC0cBrAm2I0_NBpoMibFaDFUxjnz1KtbdBPSL1-3GQqsu1SG5mga_qRYtPye21dMKyo4taEaxvsfTP1jpFa8_InL2zaSCsiZkl5Ljj1l51_KPDHCO8_xwcQQPmRBFPH0yDqTLbKnHsowFWGgvN6WXi9tovHs7_ul_H-YgGXpMAySFowC1kRVLl2CxdRzkjTxpXPQ_LTA0jBVZ9sEasRtNB86eAShjNb3g5mKvMeXipCxZtyX4C0BCG90x2D9b2nVZMPCU7iQeQg1Sk9H7R3pFXQT_Vj-vIUSPvKEPWKp5bOxjhUN1j8CaJs16IBQ-FpwSu5ziblHRXub4YAuR0o__VS1y_Fs3mvT8fZFK12ItLVeV77CFsYS8gCb9_Gxv0u-mYwEjeuuDajmNuX4BpMtVtlhn2z-3WUfE2766JppLO18msfSgkmtA_hSSeCpAir5Jz8BvR-eT9gMwgKW2vbg5PIMqOMOd7bPJDrTO_7LiKQUYzPzQKDOCn7BscLDa-PBc8ycrh7srtLVbryofZY9DxELhtV6vJ_5ZvnHWvbNo_UuDutPT63Uiyr4ebC6Y7oW6HRlbAqSL0CFLGZ-0kdkfyXTKynZX3aJU3HUamN2FIpBPqdp4IVxT3UReIS1IIo5AO0n_O1nK8rS3HrApjQ0TXdcngs_OhxVXCPZ4UVx0aWeuKUG_zek35vziYO26MyH1Z3OLKLtkownNui2qpvp8BdIlqbodIxretxOpQiE1nEwsLc9RDT-AB-ZLnDLO38HgY13_7Z3S7fQu2VG3o8SDZ1uXUOkWz7tUIh9ZPxp8eyBVSgwvvDb7BkrkD0V-cKs2XGKX8P8oHeuABQjBLYZ05CbH4EogpdwMAFxQvRW1iAYrAWPpFK5Pl6rFo44v2vWZXBeujke8E_8jxWrTWcGetq-DDGiks0odO3BquOUBKr54yAj4WX1UfYNbdB7CuvZ7GYNPlUQnqkZke1E3mq4Exnuw02gdDy3xSAJs9mDpsgY6Z3IFzqNsGQohQT1ysPXihif3AjBt6xNNlqzndspRDzCcQANv09LJvRK4mZ0P8IDVyuuZiX_NatLHf1OAExIbtkH6pGyeuGHfzbLWWZuSKO3zqfQlDCJTpRd6BQwoPo3EYMrGnN46A=",
  "id": "rs_08dabef08bb63a2c016ab45a43613487d0a5f6f329306bae26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"left_x\":0.42,\"left_y\":-0.25,\"left_z\":0.26},\"note\":\"The blue and dark markers are visible inside the right basket. I’m parking the right arm out of the way and moving the yellow marker toward the center, keeping the arms separated.\"}",
  "call_id": "call_lPFrljWKjRgmY4iYMBmlUyXe",
  "id": "fc_08dabef08bb63a2c016ab45a4654c887d098067767fc9eb0b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lPFrljWKjRgmY4iYMBmlUyXe",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7891, 1.7477, 1.5368, -0.5381, -0.7418, -0.6235, 0.1521, 0.0319, 0.8452, 0.6865, -0.3611, 0.0834, -0.0284, 0.9971]\nstate[eef_state]: left_x=0.4151 left_y=-0.2437 left_z=0.243 left_yaw=0.1244 left_pitch=0.0385 left_roll=-0.0372 left_gripper=0.1521 right_x=0.3102 right_y=-0.0012 right_z=0.208 right_yaw=-0.0277 right_pitch=0.0417 right_roll=-0.059 right_gripper=0.9971\nstate[joint_eff]: [-0.4444, -8.8274, 9.6615, 1.4774, -0.3639, 0.2418, 1.033, -0.2256, -1.1145, 7.2684, 1.8437, -0.1001, -0.1441, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d0115a9f5f302e6e716d0841327a8c4b7d3d7e125e3e0bae42ed1fb521ac8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9257033964899601b606e5b756a14dea400c9e4932496c48e8c25a2c723fd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d6c1792ad2d6f019592267b53c480a05d8ce958ce5c8ed76e22a6cd8da97a9",
      "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 · 6.021 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]: [-0.4103, 1.8252, 0.2413, 1.0599, -0.4374, -0.3092, 0.144, 0.1307, 1.5566, 1.2179, -0.3222, -0.5243, -0.3889, 0.1416]\nstate[eef_state]: left_x=0.3455 left_y=-0.0648 left_z=0.0068 left_yaw=0.1054 left_pitch=0.0939 left_roll=-0.044 left_gripper=0.144 right_x=0.4277 right_y=0.149 right_z=0.2144 right_yaw=0.7683 right_pitch=0.0003 right_roll=-0.008 right_gripper=0.1416\nstate[joint_eff]: [-0.4444, -5.2171, 3.9316, 1.4774, -0.0708, -0.0415, 1.072, -0.212, -10.1949, 9.388, 1.4921, -0.2027, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4095, 1.0676, 0.8654, -0.3454, -0.4416, -0.3256, 0.144, 0.4297, 2.104, 1.6489, 0.1059, 0.3206, 0.0441, 0.9963]\nstate[eef_state]: left_x=0.3444 left_y=-0.0633 left_z=0.2334 left_yaw=0.1174 left_pitch=0.0742 left_roll=-0.0449 left_gripper=0.144 right_x=0.5892 right_y=0.2127 right_z=0.2044 right_yaw=0.1242 right_pitch=0.2288 right_roll=-0.0603 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -3.8769, 9.5795, 1.707, -0.1783, 0.0806, 1.0281, -0.6222, -14.4342, 7.3368, 1.9072, 0.022, 0.0757, -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 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]: [-0.7891, 1.7477, 1.5368, -0.5381, -0.7418, -0.6235, 0.1521, 0.0319, 0.8452, 0.6865, -0.3611, 0.0834, -0.0284, 0.9971]\nstate[eef_state]: left_x=0.4151 left_y=-0.2437 left_z=0.243 left_yaw=0.1244 left_pitch=0.0385 left_roll=-0.0372 left_gripper=0.1521 right_x=0.3102 right_y=-0.0012 right_z=0.208 right_yaw=-0.0277 right_pitch=0.0417 right_roll=-0.059 right_gripper=0.9971\nstate[joint_eff]: [-0.4444, -8.8274, 9.6615, 1.4774, -0.3639, 0.2418, 1.033, -0.2256, -1.1145, 7.2684, 1.8437, -0.1001, -0.1441, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d0115a9f5f302e6e716d0841327a8c4b7d3d7e125e3e0bae42ed1fb521ac8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9257033964899601b606e5b756a14dea400c9e4932496c48e8c25a2c723fd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d6c1792ad2d6f019592267b53c480a05d8ce958ce5c8ed76e22a6cd8da97a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFpV3fINayxI5vp675IVXF-COSqQvGDWSGhMRQevM2sdr4xeQXfNLCZ1hlzVJrHTuCNZUCoNHs7yMY0ASYBAXtFrsqLJJa4idRc_xovBnpeTRKVd3tOSHJsA9Do6gRxCxxpM4j2FLNz43AUIk9w808bxXp01hRhPLXV66CXG3wrOHT_O4QB-teIfMHwMg49TBjvRdUXq18tdrWsIlEsvMt7kWwM00rZ14UljXeHQaxi_vP-Ys2YeNrV7W3sz-QXvzBOC_KSoXOIwUEmNbwvEZ8GdNZtWxlwfcCCdvg2p--SYMEOrN2o8-MYmO1qZf9a7W4NgpLVcMj9isyVPIJFYcSJkDRSMeyLIkxeoMsUjkZjL4Foxz1tI0ERNJItXgOMemgPfZ8LVW1P-FCuGqXsM5u5G1UFQ_ya_JMQVe0h4ZVP1GszfouCM8TiCdFVvxy7TbGDQ_zQmwVUDjZnzTpgMqwZm9MtkwlBOwEaJiT2LRueTrRgP1Z9cHeH-pkVZ5AIqjBEpnG3pH4v-I8c7V3iqMcVlhNyDDKSCKEW0KZ2wo6aMhx_5reOWXhVXFt6wKcezCiQhW1kUKXKh5Z9l8bQlD0BN4K7gtPN-fGlslLJiEwYqxYwTvdy54kTMuuOyJ5icUpb21MjjLDr3PQxfEYPUqAIrSWVjrGsreO9bRUmvd4KDCxaNZfsAeWADZIYRF0nb3Vl92RwrILEP47WyXJWBH_lmqTetoY_yZ-4OUxdOKWySabW0qR8wdjTzfrQlDGsnypTW9wBFCm0whWUKSFWaAzI7eTs3JEVOU9eAWgz1aifnBw0bhpoI8zJ7JJWTlbu_lsnlEjf7b1PwNWJ3g6OV5GOnuM3RQxR-wKQr7-_kaVOh2RfwHK014qgcWBlTibTq1K40qxoZK43bZPMzoTJR81a9DM5o4EjhJ9HG1ZuLNjAJ1M-VDAFlbGHxi6eZcABcng9-jQeAJqT6Xbr8b3qaUZxDCEWIH1G55iV7-got9mnpIo4T-Q47I-nA5gdlYJ4wkKses3B7GI4o7ETWy8jp5xfC4R_uLXSt7eR6woJg_bjgKnnOhPbntenXrz77Nn3Ff6XN66a5qUCoYIVO_hoCCml_1ldLOND5UeCQpiodGi6RpZwQQrsoXeY1eHuLMFVVRSbuscNPOq6ia4p7Qaibj4-jEgTCqHxdvf0JfdO8IDlq0dpgF-pEOhDHfAgxexJ5PVSzdyN5I-oFmRXt2KWJ2MI7Pfrf4EUAqvC_cLPsN-R8fntIGX0o7KdVbBpb9M0zW2JyPHmVF318gsOH9UsGfGcjZO-V276uYKiJLWH97QdhXn_ITQht47ubJgP2JDrXW9MU-xGT-_xatzgxO6ae9cCpJ-lJzNRLRk8jztFiHIIW4T5dT9jGMZq-DI3jrjp6_wARU1FUCHgad_dEWStc_fLsU-xmn7E4imZoVDcJo9CuCplWtknuJgaols6pxSGspvl4MTzJ91vZHaEbXfbmvnJnGuKyKddbeBAIoX4uKXxJQTtAFCG-aimwxSlphNKkkmLkX3BLdQG1FXmuDjidxPrZU4ksuTN9YAWPtszh_WVTnPJ4QBX2pqiECxMNMsT0eyMjtg9NmSqKaaVkTENfLUNDsa8eKtRj_kyefxRGKbcUKGMe1BAn558AXlHAzpkyL-ZJbl38Sf5zQmRjZDjIlY_Bmnnb9RT4U7uhRACOqRJ-BDai-nUixKQyRXGF3a8-ykpcsj7mgLbjTnCbijjVNXlC4_MAEQuQVocaKWGjCEvh-2Cdygmm4JwGllqMiCveoChUY9DjMYoeUAaqtQtJa1hk_8G51CJfz5KkfcyaL-GXkvsldP-D79Ne0VyVFW2Dfva3blWr4NTvHIS3UqsgGddSDYcrPhn8MZjXjXcsVXmKeBldiW4Y-DhKsu7qSJ0osmxoR5pg7GQrVqaMEexSMVg46CtoX8SjbjWB3XgpdGSaWksPsclxj-0yR6zQpVbrMsqdnjUNEVeTRD8H-S8AbuVGCMGVsLXqMfv0_8cSjhAeFG7ylx3ik0dBTQx5TImgoxLfGlYoQVb8KhdnG0zYYexpy0BHcBpOZNbP99t6EpPZn_snSOF2Q5o0QGYKR-Se-3o-VtqOfYZ4OW6hS9Hw_Qt6dOzXx0rXJlWpVtVSbmzArTgiARvtqJIAvEvPtbKNaYrVlIW8H5z3m7kE4i382rh4rvqkhw2Vc4ck24jbQ1pt6eyTgrKH_rVkhaOK4wNhKUKOcTAOB8hKpuplhJJc8TDhaUIqvVLU_V0aKmfi2gBeGYOq9QU3o6dhGxWNu6L1HShKVaOH95UDUiVBD1BD7L2aR7qhB576oxhnoOrP-30qx_4x16uz7atHj0QOOgjSZu2NIfq76K2YkGeIQM6WrkTxQevkiQ-19SJaETg6balDR9AOtfAKIPCLkJ9DsN0itELxZxYFswUv-MT8W7nwj5BBzAiKP1fpZoXq3drM90rVlnPPohtrp_t1liu32JvtfgysNehOi64MEk80mIZuyCNEFC5pMzO43Mh-ga1U1i2N6gUSsba4NkCtqjqqtbnV-s6jWThrXRB94OgkE884mFnLe5-4dhC_M8qwaSAez4HefW0kkKrcRfF9fbQGZ05JpTJrcLRF-7p2-iRtWzsMhUfdI-GL2-9rmH53vUWAApXxvFGmv5p60lhS551JdFW1XrF3yhYvHQSEIZqcOM3T8MN9GRA4RPcocf1m8eZCyZq2a5roQpFVR5F2Wt6jxRWd1So7Fyl2aed7_RjHg6LslE1WUpksY4oSUgIX1xsAyEEKb6nB5WLbq3v-CG8Ivz64UyVeVzgJPUq-l-083jg-WIf2OmYS7QnXtTfHF4EIPM-NVvCplfzO_edNaxA7BNZ52pbCFeph0EF245dfTUX0hBrptKAfxZhZ_ceX4lvqvQ6yWO7EueZ2YV_k7yaGwBn5UlZm0ETOlhDxTedyMJMOidAY6lpuxCi4AjB1v-hOJu8XY8i7hWMfnlE_D75ouwGbVfKMyBLeGxxjSh7DvGqHAduNJCgPJ_Km8lzm1rK5THtCA9eDnOGf6xYR8gi9bD2XZCXDYa2W3LSTqOPyPJRmIMpkBq1CS8xjG4t3KBrJDOBpATI87yhWFWP9HD3DJqzlqJ-2niEruO1jjNkqPUt7KFkx6WOjPsvwjsDUyAbSm_qjMutvn1PB3hGeZhmk4tuQW-MyE_pmmTupfkTix3tsAa_trfhafkDO_fGyEsDHK4nBu-Dz00L2VzrlCOtGBnk34l1CulgfCQPkjOakhouhqXlLq0G-3YdYGQ_eVO6p9B6WWCFspA6otu9n0yCdEweb10iqKPAXQ2zyGts29A-y2c9eWxGbZt4YbJIP3kRlWm8lRvvR-C0Zi87fDe5JA3elOY63oFajyD7jA8u-bDGPcxLVXJFdwYHFqHDdBBQikHrd2QH3xujNFF69o2277HqoRKfZydARlfgcWathf8JNxpVoZ-QALXqox_x9altixwCe9gZSvuGkhpFtIjUqeVxkOTLvrbJVSGUESpF-iLZGkd5X0w==",
  "id": "rs_08dabef08bb63a2c016ab45a4b919087d09e5c95d2b3dbc513",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.4,\"left_z\":0.24,\"left_pitch\":0.6},\"note\":\"The right arm is clear. I’m reaching the yellow marker over the left side of the marker basket, using a forward tilt to keep this cross-table reach manageable.\"}",
  "call_id": "call_PVkxptMnftL7ZZDyvJs5fVDf",
  "id": "fc_08dabef08bb63a2c016ab45a5485a087d0be600e3a61a28475",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PVkxptMnftL7ZZDyvJs5fVDf",
  "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]: [-0.8429, 2.5446, 2.1555, 0.3603, -1.0111, -0.1085, 0.1521, 0.0269, 0.8509, 0.6796, -0.384, 0.0704, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.5481 left_y=-0.3847 left_z=0.2185 left_yaw=0.2017 left_pitch=0.5485 left_roll=-0.0721 left_gripper=0.1521 right_x=0.3072 right_y=-0.0006 right_z=0.1982 right_yaw=-0.0129 right_pitch=0.0053 right_roll=-0.0682 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -15.9248, 9.0051, 1.4042, 0.4615, 0.6227, 1.0281, 0.1162, -2.0991, 7.5829, 1.9463, 0.1538, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ae652c58f1ca53cbacc99f8a12f142320556584ec38bb4cd081aa53f34010a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba26d8d856ef2a763af43fd83588c0fba6a4295c5fa4d26f5a65e9b44a718a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f3526b8130cce4d5becadc8ff1ae2396032277246727353b9b0adc4a13f1b3",
      "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 38 attempt 0 · /responses · status 200 · 3.961 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]: [-0.4095, 1.3258, 0.3359, 0.4515, -0.4416, -0.3153, 0.144, 0.4252, 2.08, 1.6527, 0.1162, 0.3229, 0.0502, 0.1444]\nstate[eef_state]: left_x=0.3415 left_y=-0.062 left_z=0.0786 left_yaw=0.1122 left_pitch=0.0823 left_roll=-0.0404 left_gripper=0.144 right_x=0.5891 right_y=0.2091 right_z=0.2231 right_yaw=0.1114 right_pitch=0.2655 right_roll=-0.0431 right_gripper=0.1444\nstate[joint_eff]: [0.1026, -4.7932, 8.1846, 1.7167, -0.1245, 0.022, 1.0281, 0.294, -12.2735, 9.6068, 2.0, 0.2369, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7891, 1.7477, 1.5368, -0.5381, -0.7418, -0.6235, 0.1521, 0.0319, 0.8452, 0.6865, -0.3611, 0.0834, -0.0284, 0.9971]\nstate[eef_state]: left_x=0.4151 left_y=-0.2437 left_z=0.243 left_yaw=0.1244 left_pitch=0.0385 left_roll=-0.0372 left_gripper=0.1521 right_x=0.3102 right_y=-0.0012 right_z=0.208 right_yaw=-0.0277 right_pitch=0.0417 right_roll=-0.059 right_gripper=0.9971\nstate[joint_eff]: [-0.4444, -8.8274, 9.6615, 1.4774, -0.3639, 0.2418, 1.033, -0.2256, -1.1145, 7.2684, 1.8437, -0.1001, -0.1441, 0.0708]",
      "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]: [-0.8429, 2.5446, 2.1555, 0.3603, -1.0111, -0.1085, 0.1521, 0.0269, 0.8509, 0.6796, -0.384, 0.0704, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.5481 left_y=-0.3847 left_z=0.2185 left_yaw=0.2017 left_pitch=0.5485 left_roll=-0.0721 left_gripper=0.1521 right_x=0.3072 right_y=-0.0006 right_z=0.1982 right_yaw=-0.0129 right_pitch=0.0053 right_roll=-0.0682 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -15.9248, 9.0051, 1.4042, 0.4615, 0.6227, 1.0281, 0.1162, -2.0991, 7.5829, 1.9463, 0.1538, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ae652c58f1ca53cbacc99f8a12f142320556584ec38bb4cd081aa53f34010a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba26d8d856ef2a763af43fd83588c0fba6a4295c5fa4d26f5a65e9b44a718a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f3526b8130cce4d5becadc8ff1ae2396032277246727353b9b0adc4a13f1b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFpemSolLMUOmIE4PTfs01Z0sfWlPOwz8j5uJcl4zQKzMsIQjRxpjZXEls5jmIDg3NLJaVhoCpYnzuKD4d9LbuVSH-HQ2VCQwMyJ95SXqH9dABLsQZtJJyDYc_Q5LB42jQ70kJoDcN73eMaq-monH3VzUHEpC5WdEUkz-tT2jgQ_zOCxnS7N5VFiomDXPGmps7Caf0WcJ5QIus5SJU3jR1cyyWHI1-pTHGwRl0edcBna8DRXxfxJvO_qPChW2wpXAIuiwLGG6kX6-4zFB6pDLRAU1jtEDMphN2Lu3syrxp0fxtC8EqTjjxxJ1UrHYzOF9ib-YPlbpR0-AYpuuJjTxrd-zK-ECEHCwnyHcKG5y1TUu0EtyIhHEwajlbcJWTaZHB2trxSzrX1hTM2nzT35e6z5ZPRLCTDj7fTgD-jFjtGEAsg9BjJfzDdCScs8Vx0pXJL2wlcZO9Tk-ANK0A98jHBHsCNshqEUeZYIYA_1Y6xYl0y_VBWoS6xGASdHMA7boHkq9u_j41NycpAmn51dka4_6N83YUzihOuUkon4BcmBkHZj5TemRE9p0TKsv_CuN-KhPpejpSLHYnLR2t5hHIQYLYz_uCVz1XdVuHkOUmzxlF2vIsme2mQD8DgayyzpvJtjlhbRfHt0cUj3jxfwfojCOI-RsifKDTScPpjmDo7e0fHl6czfcCh-7PelgS75SZ-I-ZZwC00fQi8Kz_PdR-BkYcyvmc3kjsQdyhIs4ejfqPaWSthwCeHV7F9IQ1W6Mq0yYXBWRv_o75nPtG-1sbgIe43eicdrlcopmibtZmjiAy5maNXMkEtJ8AuK89j_S5AOJBvlradimh7DGfRCgS7L-Rf27WasAwyxwubu9GWtE9OCxtxjvU1RVg29mUfOc7i40SDw4bNnlQ5Trwsr4rKsvNmbwUkAXZLF1Ewl9V_naB8s6HuQ6m3BBywaRRJMm4qihAj2RA-IQQapJ9KZqC35XSrE4uq-K7riDTAy8utH0wAHBHX5hPuwzZRKYvj-jWNpQMtBY5IJJ1oooopvS2jKXOs2kmUoiAh-Ssuf0y4eR-V9gIqZvnDCkBo2TmBr3TWRVlx5wq5NrhqOy5UnhpGELyOu_FKgUQlT-uwTDjn7C16l5PhxmVpS-GpMz2o4rFgbq8YbGb5tl0l_SJn-c9bjWAFml6hUq_1dLsYSwToiKiWRyxRJIM1L1C2tCHjqVGeipH6FyVtG54QhfyImm4JtFCeGxySbiw8muHe_mE2Mby_m2TJPyfhL7TFaJt51Ot0gGOGXaR6RlxMFuat4BTMDp8_KPO1nEb04wAXDX73tkeNOXwM7DrsoSRPzoR3QZ7udXGJoaKsg9bdJAuOA6wvHMK3CLJOCqdrSITYJvEHNT6wopwLVkv_avlLGU-hSCaSKX0kbJhcd7QQ9QENq_wyZVB-zkhDo38o9wn07dkUjWQ1GC-GqADJVqD4572T34LrCZwVIpugFo6noMV-bUAkkO4qgVw2uCjHVVUwoFLO0T6Tljl4xmm88XeJXEUmMgs_hsdpmNEpJhGOJwQh_zWw3gc8ULOomgaUcsRucHKNHXknnQu6Hss8E1QQ20Y4ySvBckhIpfxZv2pV81wacbgm76Kf5_CBpxjy-R8s5MPYcFP0bxf45zZarUCzawoskyyd_W_jPQg1dtP5GXxPCYDsUpjC3UttmhD44VYBHJ3He-xrH9IgOhwnLLZ_bpii146hZuhdlTLHR21xhK834jqj_RSB7dzFn2Xbg5X6Lu3l_-jI_Raa6Zb3Tl8liqEaDwwKJA8EopxaTrCKKkIDzEyJyX0Vr3CGjrmgxigwZLw70F77vR8JqHDpHT5U8YQtYqZMnFLl8R6bC8IJStBud55Ijy8vbhTotwDyPq5MYZq6-McxfxtbNdj3ecEKnGn_lOdIr7eMofjuU_wCDxzAEfUvdONPRaUaz1m2RMRABcCUauQeSF4rgPddts61BM-BVDKLKE8Ok6UNHN3baM59QTWVIWLV1b5jcYaViVk9cQmZ7eP8jqoSSgNdJmazS8tgrGvGT-ndudv3qLeze894ajeWal7hdlRqwmfms-_5aKSVDC_s7mTcUjne0B5DbJAKQHv3F5V00VWFdVFGmWGinUaae7Z8UgRvvTBnihxwguZYzz_X5tkRyBByghACruMWL_dAkUX8D4oUGKPhHdwW-PHNgGKk35Cgye7lACLbxFVy31kY=",
  "id": "rs_08dabef08bb63a2c016ab45a59bf8887d0a6c0daf08f52e986",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.4,\"left_z\":0.24},\"note\":\"The yellow marker is over the near-left rim rather than fully inside. The arm reached the previous pose, so I’ll advance another five centimetres before releasing it.\"}",
  "call_id": "call_4V4wyRaeya65K1vYH9Q6oTAn",
  "id": "fc_08dabef08bb63a2c016ab45a5d6a1087d0830735b5ad22dc06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4V4wyRaeya65K1vYH9Q6oTAn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8001, 2.9334, 2.8128, 0.0631, -1.0367, -0.1402, 0.1521, 0.0265, 0.8547, 0.6792, -0.3889, 0.0666, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.5915 left_y=-0.3858 left_z=0.1878 left_yaw=0.2744 left_pitch=0.5343 left_roll=-0.0793 left_gripper=0.1521 right_x=0.3068 right_y=-0.0 right_z=0.1959 right_yaw=-0.0096 right_pitch=-0.0039 right_roll=-0.0672 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -17.3607, 8.9778, 1.4042, 0.6032, 0.3785, 1.033, -0.1162, -1.9214, 7.0906, 1.8291, 0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd5abc48f6349c75c678b810019b5c987a85e48d499b090a103d8349a4221e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f3100acfe4a6e9f85c9871ed6931ce211c09ba14e424cf6e34728578d7db2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e251438c128ea291b66663f82554523bb1ec71260795f8057e2ccf6fdaaf65",
      "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 39 attempt 0 · /responses · status 200 · 7.19 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

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]: [-0.4095, 1.0676, 0.8654, -0.3454, -0.4416, -0.3256, 0.144, 0.4297, 2.104, 1.6489, 0.1059, 0.3206, 0.0441, 0.9963]\nstate[eef_state]: left_x=0.3444 left_y=-0.0633 left_z=0.2334 left_yaw=0.1174 left_pitch=0.0742 left_roll=-0.0449 left_gripper=0.144 right_x=0.5892 right_y=0.2127 right_z=0.2044 right_yaw=0.1242 right_pitch=0.2288 right_roll=-0.0603 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -3.8769, 9.5795, 1.707, -0.1783, 0.0806, 1.0281, -0.6222, -14.4342, 7.3368, 1.9072, 0.022, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "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]: [-0.8429, 2.5446, 2.1555, 0.3603, -1.0111, -0.1085, 0.1521, 0.0269, 0.8509, 0.6796, -0.384, 0.0704, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.5481 left_y=-0.3847 left_z=0.2185 left_yaw=0.2017 left_pitch=0.5485 left_roll=-0.0721 left_gripper=0.1521 right_x=0.3072 right_y=-0.0006 right_z=0.1982 right_yaw=-0.0129 right_pitch=0.0053 right_roll=-0.0682 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -15.9248, 9.0051, 1.4042, 0.4615, 0.6227, 1.0281, 0.1162, -2.0991, 7.5829, 1.9463, 0.1538, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8001, 2.9334, 2.8128, 0.0631, -1.0367, -0.1402, 0.1521, 0.0265, 0.8547, 0.6792, -0.3889, 0.0666, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.5915 left_y=-0.3858 left_z=0.1878 left_yaw=0.2744 left_pitch=0.5343 left_roll=-0.0793 left_gripper=0.1521 right_x=0.3068 right_y=-0.0 right_z=0.1959 right_yaw=-0.0096 right_pitch=-0.0039 right_roll=-0.0672 right_gripper=0.9972\nstate[joint_eff]: [-0.0615, -17.3607, 8.9778, 1.4042, 0.6032, 0.3785, 1.033, -0.1162, -1.9214, 7.0906, 1.8291, 0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd5abc48f6349c75c678b810019b5c987a85e48d499b090a103d8349a4221e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f3100acfe4a6e9f85c9871ed6931ce211c09ba14e424cf6e34728578d7db2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e251438c128ea291b66663f82554523bb1ec71260795f8057e2ccf6fdaaf65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFpi570ik8NWiAMnruQXEX9jK99Z1CbJU7aTp8WVO623Ph5l5ULR34a6n6rQapcHPLqcWy0pjHmL-OWrERU7d7-bnPimEBpw0PJhWFeJLiiKD63Ru1-UyEwGDasiG5HXbcP2AzLKHz-GQ7pzar8p9uvV2QugXGCDeGZFGzb_7x2Vj6XjIKJiZY-Y5FIwSZGt_J3ePhwCqpWW-OyOoXjuqhjDG5KXt9zfMZBTAuYIb0X_J_wykdZwmQlvYJm9xeR1AlbPqFn40L8FVoX960P8WTri2VxBrrLr-Y50YE97qra54yF2Xm7mRldoMQ-SNQM2rx93PjBlziYtMWo4EiWeVxlUmCbGgaydSSZOF3Xkg-5YiMJiR-kqgWKIL8V604nLt0uKQ-H43trZ_NIMYHdaNrX1nRRUAU0_0lgulvg8oizxiooZxiZwQLV4bjgXeakD62V2AurxdQnlS6Obm6WeXvh1rd_butjyCIDHwFWmAdVAiilBIS5zR4q2NzAHwoe8XRDqJZfuyjJiuT8MPqbisc7pCTEtyLv5fSBG_8pvbKmLIbKaJT9VAOq8ggyXVgHz55gbKt3W7ynEF6IsEE9VUn3MbF4-rLLKopEO1_u0GkBhQo2X3Laidv_JxT8e4giPCOHVUyZ-a_UGq9NMKGnlpuyJod4R3wSovLLueCtWRfCVeYOc2-f4Zv21NYvNZlgS90mgeZHPRBIvVQHvcB3b8PAa6mcy7qboRrGtNuSN-ilszmJMi4i2OxitXFsTqdZE68BeNZYhxUQ4Ipj_WmZaMs_fqU6eIBbRd0EfJxN0oOY1srzb0vxvH6nLyyv5SWEnyupa9nEf2jt2i4XqzM9-hpjNrojixrV0i114aJYRRVv33s5OMwW9yS-ICpsM_pWOe1DTsH2EDlxdha-0hjVumwimDRmbKDi2tllEcllZbkWxHwhMM3SBMpGPfnP0Z89XjVk_S1mL4liNPUgZjgh0hUdNRQvoBj3hopFfsfSSTb33C_FwSZJuwdxGEU3rgqG9BGjjlYvkytZZ_G8kzWwGPjW5a5FNYMN3m7XeBS-3uTtf0aCqoICKN2wPOdTQ6UA_YXlA8YVULTs9W4JYDLb-2v3-zwpqewGy0QNzh0G2nxCBXgFrxRstXRKvTloct4egVQuYMDLQyd81tCcThqnYGO42K673v3rnmyimJvbjYpZpW__C_VDYyEOh7vwoySfY1XAbvsGnWXNCPBYO8CFEjVn3xTG0mxFd6zNxGuqBErl4z1PBbopMRfY1xiUGC4c8Aslrfp2bLJcFZhkxpymLCNOHFwsoBfA0MQ97vEA_kUg3XO_C_flDaIpHtH1JG50tQ5wa_bo2rgZiWydOs8m0nP0XekPIJlWTxQK7zB5Teo5nXCO9Rz7SJLOZdoOk9KjhS07_E31DzLacxu8gEoA800wQROSR5rBxmNo17cbTzWM8xyB0_VSlwvdvUAgND2YFH_y0b1J9eAq_pEj4Llk1cHTEKmGzH75rOk9b9JUIIHXLpYJV6BjP3aZ7M_tYKhRbaqdO6-h20BYVWAlOUtU6pJw2vssltNRBedNA4zIALOsnIfn_ov2DERRRJVhqAVffr0Xo4qyzCMni2Z4_1DRYILVtletj9scUcEYXlMzEJYaAQ6At-4j60VExOMqQZI-cn-8OUuU0KDv25xGd9nlEGhEKn3x4fQkBGcYZgqJFEHD-ztymHb2bLPtP9cqaCMBCwogxAY9ufSf_N7hR1W7k67FxJJBgyfXX8kFzJZHYadHhU7AJ44XuIG4JjQHMbd-3Uf_wgr9N6xzUbOyS6StEytsxvg==",
  "id": "rs_08dabef08bb63a2c016ab45a6039d087d0b276bede4419d8c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow marker now extends into the basket opening. I’ll release it here; the gray plush remains outside the left arm’s reachable side boundary.\"}",
  "call_id": "call_AY4dtOOOfHwVefFzRZAM40zN",
  "id": "fc_08dabef08bb63a2c016ab45a61d2d087d0881a941ace04c93f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AY4dtOOOfHwVefFzRZAM40zN",
  "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]: [-0.7971, 2.9974, 2.8182, 0.049, -1.0489, -0.1581, 0.9953, 0.0257, 0.8577, 0.6792, -0.392, 0.0662, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.5943 left_y=-0.3842 left_z=0.145 left_yaw=0.264 left_pitch=0.4998 left_roll=-0.0258 left_gripper=0.9953 right_x=0.3067 right_y=-0.0002 right_z=0.1944 right_yaw=-0.0085 right_pitch=-0.0101 right_roll=-0.0698 right_gripper=0.9972\nstate[joint_eff]: [-0.3897, -21.7641, 6.5299, 1.6777, 0.0415, 0.105, -0.2222, 0.0342, -1.7709, 7.0359, 1.7705, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc137a324714d126cdf05dbd39913b22ccd088d017a476ec2103b078482bd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea27820c12df0b6338e331a72c83fd4a36a2fcae71bc30c6087f1c89e3018d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d65f15100e5a1ffc92868174b52e4601eac268badece14c4c4733cf72492e2",
      "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]