adhoc

completed
2026-09-24T00:28:09.146237+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
287.2 s
total steps
509
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 three slim pen-like objects. I’ll sort the plush animals into the left basket and the pens into the right, starting above the leftmost plush.
move_to
left_x0.3100left_y-0.2450left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8032, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0208, 0.7971, 0.6109, -0.3843, -0.0189, -0.0254, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0008 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5949, -2.0581, 9.2786, 1.79, -0.0171, 0.1392, -0.0562, -0.4308, -0.9368, 9.9214, 1.8339, -0.0415, 0.0855, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.245,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"I see plush animals and three slim pen-like objects. I’ll sort the plush animals into the left basket and the pens into the right, starting above the leftmost plush."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe wrist view shows a tan plush just to the right of the jaws. I’m centering over its body and lowering for a gentle grasp.
move_to
left_x0.3250left_y-0.2900left_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]: [-1.0039, 1.5311, 0.9466, -0.3279, -0.7864, -0.7338, 0.9996, -0.0216, 0.7986, 0.6106, -0.411, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3052 left_y=-0.2398 left_z=0.1367 left_yaw=-0.0006 left_pitch=-0.0269 left_roll=0.0185 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1753 right_yaw=-0.0001 right_pitch=-0.0286 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.294, -6.8444, 8.8, 1.2723, -0.486, 0.0855, -0.0562, -0.5538, -1.1419, 9.7846, 1.6239, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.29,"left_z":0.035},"note":"The wrist view shows a tan plush just to the right of the jaws. I’m centering over its body and lowering for a gentle grasp."})
tool
executing move_to over 7 steps (0.7s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaws are lowered around the tan plush’s body. I’ll close and check the grasp width before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0267, 1.9053, 0.9493, 0.0181, -0.8116, -0.7795, 0.9996, -0.0216, 0.8017, 0.6086, -0.4107, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3251 left_y=-0.283 left_z=0.0414 left_yaw=0.017 left_pitch=-0.0224 left_roll=0.0128 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1737 right_yaw=-0.0001 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.8547, -7.2274, 6.694, 1.0232, -0.2662, 0.0513, -0.0171, -0.0342, -1.1829, 7.3641, 1.746, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are lowered around the tan plush’s body. I’ll close and check the grasp width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper has closed to about 2.8 cm, suggesting it holds the plush. I’ll lift a short distance to verify that the toy follows.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0264, 1.9095, 0.9508, 0.046, -0.8127, -0.7872, 0.2972, -0.0208, 0.8024, 0.6086, -0.4107, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3276 left_y=-0.2865 left_z=0.0436 left_yaw=0.0219 left_pitch=-0.0089 left_roll=-0.0149 left_gripper=0.2972 right_x=0.2917 right_y=0.0008 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1573, -9.4701, 5.1897, 0.9499, -0.359, 0.0415, 0.8913, -0.1436, -1.3197, 7.0359, 1.6679, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper has closed to about 2.8 cm, suggesting it holds the plush. I’ll lift a short distance to verify that the toy follows."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe tan plush has risen with the gripper. I’m carrying it high enough to clear the rim toward the left basket.
move_to
left_x0.4800left_y-0.1700left_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]: [-1.0252, 1.8118, 1.0267, -0.2028, -0.8085, -0.8047, 0.2996, -0.0208, 0.8051, 0.6083, -0.4103, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3222 left_y=-0.2776 left_z=0.0774 left_yaw=0.0318 left_pitch=-0.0489 left_roll=0.0342 left_gripper=0.2996 right_x=0.2919 right_y=0.0008 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0366 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3077, -11.9316, 8.7863, 1.16, -0.4518, 0.1294, 0.2418, -0.0752, -1.4701, 7.0632, 1.707, -0.0122, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.17,"left_z":0.24},"note":"The tan plush has risen with the gripper. I’m carrying it high enough to clear the rim toward the left basket."})
tool
executing move_to over 13 steps (1.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe plush is above the basket but near its right edge. I’ll move it slightly left and lower it into the opening before releasing.
move_to
left_x0.5000left_y-0.1150left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5045, 1.7664, 1.5455, -0.5121, -0.4843, -0.3912, 0.3026, -0.0208, 0.8062, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998] state[eef_state]: left_x=0.4721 left_y=-0.1626 left_z=0.2245 left_yaw=0.0929 left_pitch=-0.0678 left_roll=0.0166 left_gripper=0.3026 right_x=0.2919 right_y=0.0009 right_z=0.1722 right_yaw=0.0008 right_pitch=-0.0381 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.5265, -8.2803, 9.265, 1.4628, 0.0317, 0.5006, 0.2955, -0.1983, -1.265, 7.2137, 1.7167, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.50,"left_y":-0.115,"left_z":0.15},"note":"The plush is above the basket but near its right edge. I’ll move it slightly left and lower it into the opening before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe toy’s lower end is still close to the basket’s front rim. I’ll move farther into the basket so the whole plush drops inside.
move_to
left_x0.5550left_y-0.1200left_z0.1800left_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]: [-0.3637, 1.8141, 1.3109, -0.2817, -0.392, -0.3202, 0.3047, -0.0208, 0.8082, 0.6079, -0.4103, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.4854 left_y=-0.1087 left_z=0.1379 left_yaw=0.1254 left_pitch=-0.1466 left_roll=0.0446 left_gripper=0.3047 right_x=0.292 right_y=0.0008 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.04 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.7043, 6.9949, 1.8291, -0.1929, 0.2759, 0.2027, -0.0205, -1.1145, 7.0359, 1.6972, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.555,"left_y":-0.12,"left_z":0.18,"left_pitch":0.25},"note":"The toy’s lower end is still close to the basket’s front rim. I’ll move farther into the basket so the whole plush drops inside."})
tool
executing move_to over 14 steps (1.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe plush appears to have nudged the lightweight basket forward. I’m lifting it clear of the rim and reaching over the opening instead of pushing farther at rim height.
move_to
left_x0.5800left_z0.2900left_pitch0.4500
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]: [-0.3698, 1.9343, 1.2984, 0.1276, -0.4915, -0.2134, 0.3075, -0.0208, 0.812, 0.6079, -0.4103, -0.0185, -0.0265, 0.9997] state[eef_state]: left_x=0.5387 left_y=-0.1156 left_z=0.1518 left_yaw=0.1408 left_pitch=0.1214 left_roll=0.0546 left_gripper=0.3075 right_x=0.2922 right_y=0.0008 right_z=0.1706 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0205, -9.5521, 7.5692, 2.0, 0.0415, 0.4371, 0.2759, -0.0342, -1.5932, 7.0496, 1.6777, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_z":0.29,"left_pitch":0.45},"note":"The plush appears to have nudged the lightweight basket forward. I’m lifting it clear of the rim and reaching over the opening instead of pushing farther at rim height."})
tool
executing move_to over 11 steps (1.1s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe plush is now suspended above the left basket with its lower end clear of the rim. I’ll release it into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3523, 1.9434, 1.4784, 0.1909, -0.5468, -0.0956, 0.3083, -0.0208, 0.8146, 0.6079, -0.4095, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.5726 left_y=-0.1088 left_z=0.2421 left_yaw=0.1672 left_pitch=0.3312 left_roll=0.0693 left_gripper=0.3083 right_x=0.2925 right_y=0.0008 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1299, -11.8222, 11.3436, 2.2491, 0.0708, 0.4713, 0.0708, -0.0615, -1.5385, 7.0359, 1.707, -0.022, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is now suspended above the left basket with its lower end clear of the rim. I’ll release it into the basket."})
tool
executing move_to over 7 steps (0.7s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe first plush has been released. I’m moving back above the smaller cream plush, which is still beside the yellow pen.
move_to
left_x0.2950left_y-0.1700left_z0.1500left_pitch0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3519, 1.9434, 1.4799, 0.173, -0.551, -0.1059, 0.9952, -0.0208, 0.815, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998] state[eef_state]: left_x=0.5716 left_y=-0.1076 left_z=0.2391 left_yaw=0.1743 left_pitch=0.318 left_roll=0.0685 left_gripper=0.9952 right_x=0.2924 right_y=0.0008 right_z=0.1698 right_yaw=0.0008 right_pitch=-0.0469 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1573, -11.0564, 6.9538, 1.9707, -0.0708, 0.0806, -0.149, -0.1026, -1.306, 7.1863, 1.6777, -0.0122, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.17,"left_z":0.15,"left_pitch":0,"right_z":0.19},"note":"The first plush has been released. I’m moving back above the smaller cream plush, which is still beside the yellow pen."})
tool
executing move_to over 22 steps (2.2s)
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 first plush is visibly inside the left basket. The next plush is slightly left of the wrist-camera jaw column, so I’ll correct sideways and lower around its body.
move_to
left_x0.3050left_y-0.1350left_z0.0150
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]: [-0.9363, 1.4155, 0.8917, -0.437, -0.865, -0.7704, 0.9967, -0.0208, 0.8253, 0.6495, -0.482, -0.0185, -0.0299, 0.9998] state[eef_state]: left_x=0.3051 left_y=-0.1816 left_z=0.151 left_yaw=0.134 left_pitch=0.004 left_roll=0.0618 left_gripper=0.9967 right_x=0.2881 right_y=0.0009 right_z=0.1715 right_yaw=0.0022 right_pitch=-0.0873 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.0496, 5.6821, 1.0867, -0.5299, -0.0513, 0.1392, -0.0615, -1.0188, 10.6462, 1.6093, -0.0562, -0.0464, -0.0171] 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_x":0.305,"left_y":-0.135,"left_z":0.015},"note":"The first plush is visibly inside the left basket. The next plush is slightly left of the wrist-camera jaw column, so I’ll correct sideways and lower around its body."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe cream plush is between the lowered jaws, with the yellow pen outside the grasp. I’ll close on the plush.
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]: [-0.8192, 1.644, 0.437, 0.2619, -0.8082, -0.6441, 0.9968, -0.0208, 0.8257, 0.6525, -0.482, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2974 left_y=-0.1259 left_z=0.0121 left_yaw=0.1503 left_pitch=-0.0346 left_roll=0.1297 left_gripper=0.9968 right_x=0.2885 right_y=0.0009 right_z=0.1728 right_yaw=0.0023 right_pitch=-0.0847 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.253, -5.6274, 4.1231, 1.5458, -0.1245, -0.0952, 0.0024, -0.1846, -1.388, 6.7214, 1.6532, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cream plush is between the lowered jaws, with the yellow pen outside the grasp. I’ll close on the plush."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe gripper stopped at a substantial width around the plush. I’ll lift it briefly to confirm a secure hold.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8154, 1.6531, 0.4282, 0.2928, -0.8307, -0.6281, 0.4937, -0.0208, 0.8268, 0.6525, -0.482, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.2991 left_y=-0.1222 left_z=0.0132 left_yaw=0.1589 left_pitch=-0.0135 left_roll=0.1426 left_gripper=0.4937 right_x=0.2886 right_y=0.0009 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0858 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.3214, -6.188, 4.8615, 0.9304, -0.1685, -0.1978, 1.0085, -0.0342, -1.4838, 7.0085, 1.6484, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The gripper stopped at a substantial width around the plush. I’ll lift it briefly to confirm a secure hold."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe cream plush has lifted off the table. I’ll carry it above the left basket using the higher clearance that avoided the rim on the first placement.
move_to
left_x0.5750left_y-0.1200left_z0.2900left_pitch0.4500
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]: [-0.8146, 1.4017, 0.54, -0.0307, -0.8242, -0.6281, 0.4942, -0.0208, 0.8295, 0.6525, -0.482, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3027 left_y=-0.1268 left_z=0.0775 left_yaw=0.1555 left_pitch=0.0046 left_roll=0.1069 left_gripper=0.4942 right_x=0.2887 right_y=0.0009 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0885 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [-0.0752, -5.4359, 7.5145, 1.2283, -0.4225, -0.0366, 0.8034, -0.1573, -1.2239, 6.9402, 1.7118, -0.0513, -0.0317, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.575,"left_y":-0.12,"left_z":0.29,"left_pitch":0.45},"note":"The cream plush has lifted off the table. I’ll carry it above the left basket using the higher clearance that avoided the rim on the first placement."})
tool
executing move_to over 21 steps (2.1s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe second plush is held over the left basket. I’ll release it alongside the first one.
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]: [-0.3862, 1.9255, 1.4891, 0.2417, -0.6197, -0.0345, 0.4962, -0.0208, 0.8314, 0.6525, -0.4831, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.5673 left_y=-0.1161 left_z=0.2692 left_yaw=0.1794 left_pitch=0.4046 left_roll=0.1051 left_gripper=0.4962 right_x=0.2887 right_y=0.0009 right_z=0.171 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.2667, -10.6325, 9.0051, 1.873, 0.0024, 0.1343, 0.188, -0.1983, -1.3333, 7.0906, 1.6728, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The second plush is held over the left basket. I’ll release it alongside the first one."})
tool
executing move_to over 6 steps (0.6s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteTwo plush toys are at the left basket. I’m returning to the gray plush on the left side of the table for the last toy pickup.
move_to
left_x0.3200left_y-0.0050left_z0.1500left_pitch0.0000left_yaw0.0000left_roll0.0000right_z0.1950
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]: [-0.3828, 1.9377, 1.491, 0.2298, -0.6205, -0.041, 0.9956, -0.0208, 0.8326, 0.6525, -0.482, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.569 left_y=-0.1146 left_z=0.2609 left_yaw=0.1823 left_pitch=0.3864 left_roll=0.1112 left_gripper=0.9956 right_x=0.2889 right_y=0.0009 right_z=0.1709 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [-0.4034, -12.0, 6.9265, 1.9658, -0.1245, 0.0171, -0.1978, -0.0889, -1.5111, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.005,"left_z":0.15,"left_pitch":0,"left_yaw":0,"left_roll":0,"right_z":0.195},"note":"Two plush toys are at the left basket. I’m returning to the gray plush on the left side of the table for the last toy pickup."})
tool
executing move_to over 20 steps (2.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe gray plush is beneath the left side of the open jaws. A small brown-and-cream toy is also still on the table, so I’ll collect it after this pickup.
move_to
left_x0.3300left_y0.0250left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.07, 0.9619, 0.5385, -0.112, -0.1066, -0.0761, 0.9967, -0.0208, 0.8474, 0.7158, -0.5674, -0.0189, -0.0299, 0.9997] state[eef_state]: left_x=0.3293 left_y=-0.0006 left_z=0.1574 left_yaw=0.0454 left_pitch=0.0341 left_roll=0.0022 left_gripper=0.9967 right_x=0.285 right_y=0.001 right_z=0.1786 right_yaw=0.0027 right_pitch=-0.1285 right_roll=-0.0008 right_gripper=0.9997 state[joint_eff]: [0.1299, -2.4, 7.2274, 1.8193, 0.0757, 0.1587, 0.1099, -0.1299, -1.3197, 10.2906, 1.5702, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.025,"left_z":0.02},"note":"The gray plush is beneath the left side of the open jaws. A small brown-and-cream toy is also still on the table, so I’ll collect it after this pickup."})
tool
executing move_to over 9 steps (0.9s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe lowered fingers surround the gray plush, and the descent has stopped against it. I’ll close around its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0658, 1.4799, 0.202, 0.799, -0.0368, 0.0128, 0.9968, -0.0208, 0.8528, 0.7136, -0.5682, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3419 left_y=0.0326 left_z=0.0442 left_yaw=0.0746 left_pitch=0.0867 left_roll=0.0427 left_gripper=0.9968 right_x=0.285 right_y=0.0009 right_z=0.1761 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.253, -2.4684, 1.7573, 0.3492, 0.5397, -0.4371, -0.0024, -0.0342, -1.5932, 7.0906, 1.6825, -0.0317, -0.0317, -0.0073] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lowered fingers surround the gray plush, and the descent has stopped against it. I’ll close around its body."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe close was nearly empty, so the gray plush slipped to the left of the jaws. I’ll open, shift to the leftmost reachable position, and lower for one corrected attempt.
move_to
left_gripper1.0000left_x0.3500left_y0.0500left_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0677, 1.4773, 0.202, 0.8604, -0.0521, 0.0151, 0.0379, -0.0208, 0.8539, 0.7136, -0.5674, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3482 left_y=0.0364 left_z=0.0588 left_yaw=0.0884 left_pitch=0.1508 left_roll=0.0505 left_gripper=0.0379 right_x=0.2851 right_y=0.0009 right_z=0.1759 right_yaw=0.0022 right_pitch=-0.1373 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3624, -4.0957, 4.5333, 1.2625, 0.1245, -0.0171, 1.1648, -0.0479, -1.5932, 6.8991, 1.6532, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_y":0.05,"left_z":-0.005},"note":"The close was nearly empty, so the gray plush slipped to the left of the jaws. I’ll open, shift to the leftmost reachable position, and lower for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe arm did not reach the low target, and the gray plush remains closer to the base than the fingertips. I’ll move back over its body rather than press farther downward.
move_to
left_x0.2900left_y0.0400left_z0.0050left_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]: [0.1219, 1.9896, 0.2024, 1.5845, 0.0021, 0.0822, 0.9946, -0.0208, 0.8581, 0.7132, -0.5678, -0.0189, -0.0296, 0.9997] state[eef_state]: left_x=0.3721 left_y=0.0488 left_z=0.0516 left_yaw=0.0565 left_pitch=0.36 left_roll=0.1044 left_gripper=0.9946 right_x=0.2853 right_y=0.001 right_z=0.1746 right_yaw=0.0025 right_pitch=-0.1423 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [1.1966, -2.8239, 0.5949, -0.1245, 0.0904, -0.5153, -0.1001, -0.1162, -1.6752, 6.8991, 1.5995, -0.0855, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.04,"left_z":0.005,"left_pitch":0},"note":"The arm did not reach the low target, and the gray plush remains closer to the base than the fingertips. I’ll move back over its body rather than press farther downward."})
tool
executing move_to over 13 steps (1.3s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe left arm is blocked near the table edge, so I’m lifting it clear rather than forcing the gray-plush grasp. The right arm will approach the dark pen on the open side of the table.
move_to
left_x0.3000left_y-0.0450left_z0.2000left_pitch0.0000right_x0.2750right_y0.1200right_z0.1300right_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]: [0.1192, 1.8858, 0.1558, 1.5349, 0.001, 0.1013, 0.9965, -0.0208, 0.8623, 0.7132, -0.5674, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3615 left_y=0.0467 left_z=0.064 left_yaw=0.0438 left_pitch=0.3663 left_roll=0.1252 left_gripper=0.9965 right_x=0.2856 right_y=0.0009 right_z=0.1735 right_yaw=0.0022 right_pitch=-0.1461 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0068, -4.6017, 1.388, 1.2576, -0.0611, -0.1734, 0.188, -0.0342, -1.9077, 6.9128, 1.6288, -0.0366, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.045,"left_z":0.2,"left_pitch":0,"right_x":0.275,"right_y":0.12,"right_z":0.13,"right_pitch":0},"note":"The left arm is blocked near the table edge, so I’m lifting it clear rather than forcing the gray-plush grasp. The right arm will approach the dark pen on the open side of the table."})
tool
executing move_to over 13 steps (1.3s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe dark pen is nearly centered in the right wrist view. I’ll lower to table level with the jaws crossing its narrow barrel.
move_to
right_x0.2750right_y0.1100right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4072, 0.902, 0.6769, -0.3283, -0.4191, -0.1459, 0.9967, 0.7155, 0.9874, 0.5144, -0.2668, 0.5316, 0.3912, 0.9997] state[eef_state]: left_x=0.3105 left_y=-0.0517 left_z=0.2015 left_yaw=0.0059 left_pitch=0.0615 left_roll=0.1021 left_gripper=0.9967 right_x=0.271 right_y=0.1216 right_z=0.1244 right_yaw=0.057 right_pitch=-0.0499 right_roll=-0.0237 right_gripper=0.9997 state[joint_eff]: [-0.2803, -1.5932, 8.9094, 1.4921, -0.2808, -0.0122, 0.0122, 0.2393, -2.6051, 6.0103, 1.6142, 0.4029, 0.1587, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.11,"right_z":-0.01},"note":"The dark pen is nearly centered in the right wrist view. I’ll lower to table level with the jaws crossing its narrow barrel."})
tool
executing move_to over 9 steps (0.9s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe dark pen lies between the lowered fingertips. I’ll close around its barrel.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.408, 0.9085, 0.6765, -0.3508, -0.4225, -0.1654, 0.9968, 0.6552, 1.5352, 0.1791, 0.6945, 0.4973, 0.3672, 0.9997] state[eef_state]: left_x=0.3084 left_y=-0.0505 left_z=0.1952 left_yaw=0.0177 left_pitch=0.0366 left_roll=0.0988 left_gripper=0.9968 right_x=0.2865 right_y=0.1184 right_z=0.0109 right_yaw=0.0376 right_pitch=-0.0003 right_roll=0.0208 right_gripper=0.9997 state[joint_eff]: [0.0068, -2.4547, 7.2137, 1.8974, -0.1441, 0.1734, -0.0073, -0.5675, -2.2359, 0.8137, -0.1783, -0.0122, -0.2711, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The dark pen lies between the lowered fingertips. I’ll close around its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 260
top_cam
camera top_cam step 260
left_cam
camera left_cam step 260
right_cam
camera right_cam step 260
assistant
agent noteThe right gripper has a pen-sized gap. I’ll lift to verify the pen while moving the left arm above the small brown-and-cream plush, well away from the right hand.
move_to
right_z0.0850left_x0.3850left_y-0.1500left_z0.1200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4084, 0.9089, 0.6758, -0.3523, -0.4225, -0.1665, 0.9968, 0.6533, 1.5406, 0.1711, 0.7185, 0.4881, 0.363, 0.1349] state[eef_state]: left_x=0.3081 left_y=-0.0505 left_z=0.1945 left_yaw=0.0179 left_pitch=0.0343 left_roll=0.0989 left_gripper=0.9968 right_x=0.2862 right_y=0.1193 right_z=0.011 right_yaw=0.0452 right_pitch=0.0053 right_roll=0.028 right_gripper=0.1349 state[joint_eff]: [-0.0615, -1.812, 7.2, 1.7118, -0.1538, -0.0122, -0.0122, 0.0889, -4.6701, 4.506, 1.3895, 0.1832, -0.0073, 1.0037] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085,"left_x":0.385,"left_y":-0.15,"left_z":0.12,"left_pitch":0,"left_roll":0},"note":"The right gripper has a pen-sized gap. I’ll lift to verify the pen while moving the left arm above the small brown-and-cream plush, well away from the right hand."})
tool
executing move_to over 9 steps (0.9s)
step 269
top_cam
camera top_cam step 269
assistant
agent noteThe dark pen has lifted with the right gripper, so I’ll carry it over the right basket. On the other side, I’ll lower the left fingers around the small plush.
move_to
right_x0.5300right_y0.1800right_z0.2300right_pitch0.2500left_x0.3700left_y-0.1500left_z0.0150
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, 1.4879, 0.7456, 0.004, -0.498, -0.3592, 0.9968, 0.6529, 1.1244, 0.3031, 0.1776, 0.4782, 0.3595, 0.1352] state[eef_state]: left_x=0.3703 left_y=-0.1398 left_z=0.1022 left_yaw=0.0062 left_pitch=-0.0679 left_roll=0.0531 left_gripper=0.9968 right_x=0.2843 right_y=0.1196 right_z=0.0756 right_yaw=0.0545 right_pitch=0.008 right_roll=0.0341 right_gripper=0.1352 state[joint_eff]: [-0.212, -6.9402, 8.4444, 1.5897, -0.3297, -0.0708, -0.0122, -0.1162, -3.1111, 8.9641, 1.5702, 0.2564, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.18,"right_z":0.23,"right_pitch":0.25,"left_x":0.37,"left_y":-0.15,"left_z":0.015},"note":"The dark pen has lifted with the right gripper, so I’ll carry it over the right basket. On the other side, I’ll lower the left fingers around the small plush."})
tool
executing move_to over 19 steps (1.9s)
step 288
assistant
agent noteThe dark pen is over the right basket, and the left jaws surround the brown plush. I’ll release the pen and secure the plush.
move_to
right_gripper1.0000left_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]: [-0.6086, 1.7721, 0.6178, 0.3885, -0.5026, -0.3775, 0.9968, 0.4313, 1.8168, 1.301, 0.1383, 0.3267, 0.1375, 0.1398] state[eef_state]: left_x=0.3698 left_y=-0.1496 left_z=0.0152 left_yaw=-0.0029 left_pitch=-0.0882 left_roll=0.0565 left_gripper=0.9968 right_x=0.5199 right_y=0.1808 right_z=0.2121 right_yaw=0.0666 right_pitch=0.2136 right_roll=0.0236 right_gripper=0.1398 state[joint_eff]: [-0.7453, -6.694, 4.2188, 1.7021, -0.3785, -0.0708, -0.0122, -0.841, -9.9214, 9.1556, 1.8046, 0.0952, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_gripper":0},"note":"The dark pen is over the right basket, and the left jaws surround the brown plush. I’ll release the pen and secure the plush."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe plush grasp has a solid width. I’ll lift it to check while the right arm returns above the blue pen.
move_to
left_z0.0900right_x0.2800right_y0.2000right_z0.1300right_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]: [-0.6102, 1.7794, 0.6102, 0.3985, -0.4988, -0.382, 0.2959, 0.4286, 1.8309, 1.301, 0.1242, 0.3275, 0.1345, 0.9955] state[eef_state]: left_x=0.3679 left_y=-0.1497 left_z=0.0115 left_yaw=-0.0047 left_pitch=-0.0936 left_roll=0.0535 left_gripper=0.2959 right_x=0.5205 right_y=0.1793 right_z=0.2016 right_yaw=0.067 right_pitch=0.1874 right_roll=0.0102 right_gripper=0.9955 state[joint_eff]: [-0.0068, -7.9111, 5.3128, 1.4237, -0.2711, 0.0171, 0.8278, -0.1299, -11.1521, 7.3231, 1.9609, -0.0024, -0.0269, -0.1832] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_x":0.28,"right_y":0.2,"right_z":0.13,"right_pitch":0},"note":"The plush grasp has a solid width. I’ll lift it to check while the right arm returns above the blue pen."})
tool
executing move_to over 19 steps (1.9s)
step 317
assistant
agent noteThe brown plush has lifted securely, and the blue pen is centered under the right jaws. I’ll carry the plush well over its basket and lower the right hand to the pen.
move_to
left_x0.5850left_y-0.1450left_z0.3000left_pitch0.4500right_x0.2800right_y0.2000right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6102, 1.5558, 0.7189, 0.0216, -0.4969, -0.3832, 0.2981, 0.926, 1.3067, 0.6838, -0.1284, 0.6521, 0.511, 0.9964] state[eef_state]: left_x=0.3611 left_y=-0.1454 left_z=0.0703 left_yaw=-0.0026 left_pitch=-0.131 left_roll=0.0771 left_gripper=0.2981 right_x=0.2865 right_y=0.2087 right_z=0.1291 right_yaw=0.1124 right_pitch=-0.0031 right_roll=0.0072 right_gripper=0.9964 state[joint_eff]: [-0.2256, -8.0889, 8.6906, 1.5067, -0.2759, 0.0073, 0.2076, 0.335, -5.8872, 6.653, 1.3309, 0.5006, 0.1001, 0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.585,"left_y":-0.145,"left_z":0.3,"left_pitch":0.45,"right_x":0.28,"right_y":0.2,"right_z":-0.01},"note":"The brown plush has lifted securely, and the blue pen is centered under the right jaws. I’ll carry the plush well over its basket and lower the right hand to the pen."})
tool
executing move_to over 20 steps (2.0s)
step 337
assistant
agent noteThe brown plush is over the left basket, and the blue pen is between the right fingertips. I’ll release the plush and grasp the pen.
move_to
left_gripper1.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3695, 1.9369, 1.5387, 0.1997, -0.4343, -0.033, 0.2997, 0.9279, 1.7706, 0.3927, 0.6994, 0.6632, 0.5247, 0.9965] state[eef_state]: left_x=0.578 left_y=-0.1403 left_z=0.2736 left_yaw=0.0261 left_pitch=0.3844 left_roll=0.0739 left_gripper=0.2997 right_x=0.2888 right_y=0.2101 right_z=0.0106 right_yaw=0.0974 right_pitch=0.0515 right_roll=0.0674 right_gripper=0.9965 state[joint_eff]: [0.3487, -11.3573, 9.4017, 2.0879, 0.0806, 0.2613, 0.1441, -0.253, -3.8769, 2.3316, 0.6081, -0.0513, -0.2125, -0.0073] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":0},"note":"The brown plush is over the left basket, and the blue pen is between the right fingertips. I’ll release the plush and grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 347
assistant
agent noteThe blue pen is held at a pen-sized width. I’ll verify it with a short lift and return the left arm toward the gray plush’s nearer end, away from the fence-side obstruction.
move_to
right_z0.0950left_x0.2300left_y-0.0050left_z0.1300left_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]: [-0.366, 1.948, 1.541, 0.1967, -0.4297, -0.0406, 0.997, 0.9279, 1.7824, 0.3885, 0.7296, 0.6621, 0.5232, 0.1482] state[eef_state]: left_x=0.5802 left_y=-0.1397 left_z=0.2676 left_yaw=0.028 left_pitch=0.3735 left_roll=0.0698 left_gripper=0.997 right_x=0.2894 right_y=0.2113 right_z=0.0105 right_yaw=0.0985 right_pitch=0.0606 right_roll=0.0769 right_gripper=0.1482 state[joint_eff]: [-0.4581, -12.1368, 6.8991, 1.8828, -0.149, 0.0904, 0.1001, -0.2256, -7.1179, 4.1778, 1.2137, 0.1783, -0.0464, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095,"left_x":0.23,"left_y":-0.005,"left_z":0.13,"left_pitch":0},"note":"The blue pen is held at a pen-sized width. I’ll verify it with a short lift and return the left arm toward the gray plush’s nearer end, away from the fence-side obstruction."})
tool
executing move_to over 27 steps (2.7s)
step 374
assistant
agent noteThe blue pen has lifted successfully. I’ll carry it farther over the right basket and lower the left hand around the yellow pen, which is clear of the gray plush.
move_to
right_x0.5600right_y0.1800right_z0.2500right_pitch0.3000left_x0.2850left_y-0.0600left_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2558, 0.4316, 0.3603, -0.4522, -0.2977, -0.1268, 0.998, 0.9279, 1.417, 0.495, 0.2214, 0.6437, 0.5201, 0.1528] state[eef_state]: left_x=0.2423 left_y=-0.0061 left_z=0.1455 left_yaw=0.0473 left_pitch=0.0667 left_roll=0.05 left_gripper=0.998 right_x=0.2841 right_y=0.2084 right_z=0.0778 right_yaw=0.1152 right_pitch=0.0276 right_roll=0.0556 right_gripper=0.1528 state[joint_eff]: [0.3077, 1.3744, 6.8991, 1.917, -0.0757, 0.105, 0.0904, -0.1709, -6.7214, 8.4171, 1.58, 0.3785, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.18,"right_z":0.25,"right_pitch":0.3,"left_x":0.285,"left_y":-0.06,"left_z":-0.005},"note":"The blue pen has lifted successfully. I’ll carry it farther over the right basket and lower the left hand around the yellow pen, which is clear of the gray plush."})
tool
executing move_to over 22 steps (2.2s)
step 396
assistant
agent noteThe blue pen is above the right basket. I’ll release it while shifting the left jaws slightly left to center the yellow pen before closing.
move_to
right_gripper1.0000left_y-0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5304, 1.742, 0.0349, 1.1213, -0.5388, -0.2974, 0.9981, 0.3779, 1.8896, 1.4231, 0.1497, 0.2199, 0.107, 0.1528] state[eef_state]: left_x=0.2858 left_y=-0.0584 left_z=-0.0011 left_yaw=0.0599 left_pitch=0.0709 left_roll=0.0412 left_gripper=0.9981 right_x=0.5512 right_y=0.1812 right_z=0.2308 right_yaw=0.1178 right_pitch=0.2607 right_roll=0.0486 right_gripper=0.1528 state[joint_eff]: [-0.3897, -3.5487, 1.9487, 0.8034, -0.0024, 0.0562, -0.0073, -0.6769, -10.441, 9.5932, 1.7998, -0.0269, -0.0806, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_y":-0.035},"note":"The blue pen is above the right basket. I’ll release it while shifting the left jaws slightly left to center the yellow pen before closing."})
tool
executing move_to over 9 steps (0.9s)
step 405
assistant
agent noteThe yellow pen is now centered between the left fingertips. I’ll grasp it and park the right arm so the left can safely reach across to the pen basket.
move_to
left_gripper0.0000right_x0.2950right_y0.0000right_z0.2000right_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]: [-0.3935, 1.7588, 0.0044, 1.2072, -0.4397, -0.2321, 0.9981, 0.3737, 1.8984, 1.42, 0.131, 0.2081, 0.104, 0.9951] state[eef_state]: left_x=0.2889 left_y=-0.0346 left_z=0.0 left_yaw=0.0829 left_pitch=0.0753 left_roll=0.0333 left_gripper=0.9981 right_x=0.5508 right_y=0.1806 right_z=0.22 right_yaw=0.1275 right_pitch=0.2303 right_roll=0.0416 right_gripper=0.9951 state[joint_eff]: [0.2256, -4.0274, 1.812, 1.8242, 0.0513, 0.1832, -0.0122, 0.1573, -11.4256, 7.3094, 2.0684, 0.105, -0.0171, -0.1343] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The yellow pen is now centered between the left fingertips. I’ll grasp it and park the right arm so the left can safely reach across to the pen basket."})
tool
executing move_to over 20 steps (2.0s)
step 425
assistant
agent noteThe yellow pen is held with a barrel-sized gap. I’ll lift it off the table before carrying it toward the right basket.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3939, 1.7588, 0.0055, 1.2278, -0.4446, -0.2333, 0.1697, -0.1555, 0.8474, 0.7036, -0.4019, -0.2184, -0.1078, 0.9962] state[eef_state]: left_x=0.2915 left_y=-0.035 left_z=0.0046 left_yaw=0.088 left_pitch=0.0958 left_roll=0.0244 left_gripper=0.1697 right_x=0.3066 right_y=-0.0057 right_z=0.2085 right_yaw=0.0773 right_pitch=0.0387 right_roll=0.0314 right_gripper=0.9962 state[joint_eff]: [-0.2393, -4.2462, 2.2632, 1.4969, -0.1001, 0.0122, 1.033, -0.1983, -1.4017, 6.8581, 1.8584, -0.2173, -0.0904, 0.1099] camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The yellow pen is held with a barrel-sized gap. I’ll lift it off the table before carrying it toward the right basket."})
tool
executing move_to over 6 steps (0.6s)
step 431
assistant
agent noteThe yellow pen has lifted securely, and the other pens are visible inside the right basket. I’ll approach the basket’s left side with the pen held above the rim.
move_to
left_x0.5300left_y-0.4000left_z0.2500left_pitch0.5000
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]: [-0.3939, 0.9352, 0.1638, 0.3298, -0.445, -0.2363, 0.1716, -0.157, 0.8528, 0.6964, -0.4213, -0.2256, -0.1268, 0.9964] state[eef_state]: left_x=0.2969 left_y=-0.0372 left_z=0.0988 left_yaw=0.0952 left_pitch=0.1702 left_roll=-0.0177 left_gripper=0.1716 right_x=0.3038 right_y=-0.0044 right_z=0.1998 right_yaw=0.092 right_pitch=0.0088 right_roll=0.0265 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.5111, 8.9504, 1.9023, -0.1294, -0.0073, 1.033, 0.0205, -1.7436, 7.5692, 1.956, -0.0806, 0.1294, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 431): [image omitted: streamed camera frame] camera 'left_cam' (step 431): [image omitted: streamed camera frame] camera 'right_cam' (step 431): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.4,"left_z":0.25,"left_pitch":0.5},"note":"The yellow pen has lifted securely, and the other pens are visible inside the right basket. I’ll approach the basket’s left side with the pen held above the rim."})
tool
executing move_to over 33 steps (3.3s)
step 464
assistant
agent noteThe yellow pen is above the left side of the pen basket. I’ll release it, then move clear to check the final positions.
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]: [-0.8658, 2.4382, 2.1094, 0.2081, -1.0035, -0.1944, 0.1716, -0.1574, 0.8566, 0.6926, -0.4309, -0.2256, -0.128, 0.9964] state[eef_state]: left_x=0.5288 left_y=-0.386 left_z=0.2408 left_yaw=0.1799 left_pitch=0.5002 left_roll=-0.0837 left_gripper=0.1716 right_x=0.3024 right_y=-0.0043 right_z=0.1951 right_yaw=0.0922 right_pitch=-0.0078 right_roll=0.0297 right_gripper=0.9964 state[joint_eff]: [-0.4991, -14.6803, 8.8274, 1.2967, 0.3101, 0.5055, 1.0281, -0.1026, -1.6615, 7.2957, 1.8095, -0.1392, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 464): [image omitted: streamed camera frame] camera 'left_cam' (step 464): [image omitted: streamed camera frame] camera 'right_cam' (step 464): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow pen is above the left side of the pen basket. I’ll release it, then move clear to check the final positions."})
tool
executing move_to over 9 steps (0.9s)
step 473
assistant
agent noteThe yellow and blue pens are visible in the right basket, and two cream plush toys are in the left basket. I’m parking both arms to inspect the gray plush and the brown plush that remain outside.
move_to
left_x0.2970left_y0.0000left_z0.2100left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2950right_y0.0000right_z0.2100right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8646, 2.4538, 2.1109, 0.197, -1.0138, -0.21, 0.9954, -0.1574, 0.8585, 0.6926, -0.4332, -0.2256, -0.1314, 0.9964] state[eef_state]: left_x=0.5301 left_y=-0.385 left_z=0.2302 left_yaw=0.1886 left_pitch=0.4882 left_roll=-0.0758 left_gripper=0.9954 right_x=0.3023 right_y=-0.0043 right_z=0.1941 right_yaw=0.0941 right_pitch=-0.0118 right_roll=0.0279 right_gripper=0.9964 state[joint_eff]: [-0.2393, -15.9932, 6.7761, 1.6728, -0.0024, 0.1734, -0.0317, -0.0342, -1.7846, 6.9812, 1.7021, -0.1099, 0.0073, -0.0122] camera 'top_cam' (step 473): [image omitted: streamed camera frame] camera 'left_cam' (step 473): [image omitted: streamed camera frame] camera 'right_cam' (step 473): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0,"left_z":0.21,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.21,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow and blue pens are visible in the right basket, and two cream plush toys are in the left basket. I’m parking both arms to inspect the gray plush and the brown plush that remain outside."})
tool
executing move_to over 35 steps (3.5s)
step 508
assistant
agent notePartially completed: sorted all three pens/markers into the right basket and two cream plush toys into the left basket. The gray plush remains near the left edge, and the brown plush landed beside the left basket. Both arms are parked; I could not safely complete the remaining placements within this trial.
give_up
hindsightThere were four plush toys and three pens/markers. Successful pen pickup targets were approximately right (x=0.275,y=0.11,z=-0.01), right (0.28,0.20,-0.01), and left (0.285,-0.035,-0.005). The right basket accepted releases near right (0.55,0.18,0.23) and left (0.53,-0.40,0.24). Plush bodies can hang well sideways from the grasp point: center the whole toy over the opening, not just the jaws. A low plush approach nudged the lightweight left basket farther away; maintain roughly 0.28–0.30 m commanded grasp height until the toy clears the rim. The gray-plush attempts near left y=+0.04 stalled above the target height and did not secure it.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0563, 0.833, 0.7361, -0.4335, -0.1112, -0.0917, 0.9967, -0.0315, 0.8227, 0.693, -0.4828, -0.036, -0.0437, 0.9964] state[eef_state]: left_x=0.3049 left_y=0.0061 left_z=0.2193 left_yaw=0.0714 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.9967 right_x=0.2932 right_y=0.0007 right_z=0.1917 right_yaw=0.0137 right_pitch=-0.0416 right_roll=-0.0043 right_gripper=0.9964 state[joint_eff]: [-0.4034, -1.7299, 6.2974, 1.7656, 0.1392, 0.1783, 0.1245, 0.5128, -1.9624, 9.9487, 1.6435, 0.0269, 0.149, -0.0122] camera 'top_cam' (step 508): [image omitted: streamed camera frame] camera 'left_cam' (step 508): [image omitted: streamed camera frame] camera 'right_cam' (step 508): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: sorted all three pens/markers into the right basket and two cream plush toys into the left basket. The gray plush remains near the left edge, and the brown plush landed beside the left basket. Both arms are parked; I could not safely complete the remaining placements within this trial.","hindsight":"There were four plush toys and three pens/markers. Successful pen pickup targets were approximately right (x=0.275,y=0.11,z=-0.01), right (0.28,0.20,-0.01), and left (0.285,-0.035,-0.005). The right basket accepted releases near right (0.55,0.18,0.23) and left (0.53,-0.40,0.24). Plush bodies can hang well sideways from the grasp point: center the whole toy over the opening, not just the jaws. A low plush approach nudged the lightweight left basket farther away; maintain roughly 0.28–0.30 m commanded grasp height until the toy clears the rim. The gray-plush attempts near left y=+0.04 stalled above the target height and did not secure it."})
tool
give_up: Partially completed: sorted all three pens/markers into the right basket and two cream plush toys into the left basket. The gray plush remains near the left edge, and the brown plush landed beside the left basket. Both arms are parked; I could not safely complete the remaining placements within this trial.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.983 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, 0.8032, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0208, 0.7971, 0.6109, -0.3843, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0008 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.0581, 9.2786, 1.79, -0.0171, 0.1392, -0.0562, -0.4308, -0.9368, 9.9214, 1.8339, -0.0415, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061640eae1fb4183c1076f109864766ad3fab6bbb406b13835c6ffa209ada43a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eaf6f1fea13b055817246b0743c54d6b8724c73a7016adbd3eb4289c6215f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a0f4c44977f2eedd54fbdbcc5579e7104b55ea401afef288cdb8b433c252f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.145 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtG6xsAP8iKddkELoNwSnFt8_5AluZINAQVEKV3r2DPTSvka4QAHE2O7OHdxgNssGDfIWAXrKuiYeb91DPrj8XBCku2-HZ9TCFwTGTGDgGGkJyZUJ3a5-nMjhh7U32gXSmnGlAvFiNwPCh16dheRKwcwSdwWY7dmTNN-pDDLJrFrgH_bYzeIifA_ij7NkvVMCoM4IrNGYxTISDzbtiYqUxgfhx2CA_ghcTv-Nl5oMbcL3XA2iHCcdk2YSwYnMZ2IZT9pA-No-A9J45cxhlF46MsbLzA0rcGMSBrjRDDNp6nryNQSUBgSESNE_0v_nmE9vnV75cmtd8AqjgP1q90h1c86wP-AzMH6X7qANk-bSpUcNfps61DndqCdll95pP7B4dfZ0V63DuWISKzu22yaBpIvtuPEj7Dtjrr9K7GbYPgCT1xBDtPDoolVQ4fNhDMYAy83nB9WSxlFDhNqtnl9t347afRgrrl_PDgBkXPmoPhPY1fLc2bEiFofmW77EYRwn-M75mR7-lAwQaVnucZc7bm2CqoV58YFy_LmhSfy0FSzP3s3upyC-cSPXTRCTv8iE2LYzPN6yAiAe3z0ROOde60dbBcIlMAuS6orrRnM7yAyMwXebWUUTPkAkuDRQD0rQSvH2zF_iMJv1Y_UsGg7f6raCOUwfUQ4D1gcdwoRVCWLPGYDROa-zSLSHdxcTCEm-rI-JOpQ_S1UAsdo2YdX-3JGWwBvjohzBOf06NzNO7MfLvftYwE5Hwu8hUv0mehHRGR6jGAqZFnKRvXffgaga3BMUWLkmDpcXjcJ3JqrioHpL5itFCiSkvjz5lHuiVWyKnI2U9zviQy3Y23jg8xf-KtW7y639a5Xr8P33XwMrAZSgGdkJG-kqdeQMRzZkycbxAKHzb_uJ9UfX9xIcdJ5odTUuO5QkP0CieCLCszcWlI5qUlzdr9J1lAIS5t1S834gx0eN9_fY9SZZRIVgbomi0NWWDbHuMC2mjyFblFR0yV2P8XO6AwVpYJXz6oZL-6Gkk9ym-gRjv2j7E4s_l3dT_hObhmcluRMwTdCGEAZDnCmV6CcnUlnlDUI0p0fOX9N2TwQLuzj-qyxHJoUZMTkESc-1GymSylhXqLq1tRwuynisnEGGU26P2n8YSl9rcqSjt8o-6mOkRK5hYu44NgsHmdSLUSFNqaqFUNnaevlaVxUhAkNtvGHkmaEs9yagrlqj27LDp6kiif97j4UgUkuDDSdtG7s5NX8cqP4-SDpqqCIi3tTAjJBsZzSz8EEuXM8I46CiFd4wij9pnf--XWSvaSFMu0Er9eS5XDEn0BiQP76QFsKb3rZnl5RHb2c7MoM8B9OyO3Wl6eHpiFKtxfdwCEYLWwepXq5DkPLhldsD_62XUkZ3UfvIYHKQngfRaaGfUVLgArIYdd7uhzZcwEQKmimgdyder7-MIxH0zJoNS7KRRV1cfGNquHTV-MkptMU-TTZBrcFUlnPBQkz6iDx0ImR-Ob9wENBZV8mWBxxP3G7-d4LfZkJxhnoyujRS_NwOjOC-UBdu6rhVIr3qs0GRvL7ZKA7gXK1oMw_IH18qxFUVcw4l_xS8L00uwiDjYbKSfT-Bx29RE7tfoxv5zBeH_1ShoJXDUZa7ZLmyPrwqg0vYxR9VVdfVmvxla9ygTi6uFqrpRcxG9gxgSvp8bEHNy5dXy13Aoy95JK_wCNkMpRBhWwtG5ziNGMFinOXNMjDeLPZ210EZ2va-MCvaDn2fExfzon010lyBTQn6c5z69jXI4fFZeXxu5NoXqyVqrDiA52j6wiXztjbkRq8mwamMPiWcb1vD6TNgN1ljuhzzqPHiKLhcJr87ge3wVMl1_AhMYzvJ7U_0S6KWx6YlJ4J5WOwmYkZ3eQhWRCHWzzsZ8-V5Siq5WuqavpIW0waTzwvmbfZd9cKCr56w_p1DKxufAnVGiU6GYMI6A4VrozF9lh0CTzjusAlM4paNRSVjQPBh7U3Vb0rH4hGbG7_MRydwIWxTQmxhExmaE33frZm0oHMi-LnAyQ8Yp3yXbmpCk9aZUgnbYjrdoBgaopny9n3H4Pk8R2DtLfmlK5HI1cvb9AiH24SDeVkyIZs9ko9AecNfF2SGrLp0O--sQxcJTukoaCvJdkS6msjesnTqG5Mncz6GLYE1ERUkEEjpFtGsGb5R-9rQJQKY7oxRcys5Wp7rD6grxlFxWjz8lBiS1hrvlEWAyCTd8kTCdxZPT9KELmxB3dC9-UfU1lcE_AH1jzffikXo37temptyWPqcSBjX0qWd1qEH2aU3fJf1aThUmKaX2-nEHaqj89wpAWpvjPb0ngaZfsbPMjywwBrnS7gMdoAooH0hI-l6F3YswnnCsFgJmOexK_Dvhzio9DKlaR_m-Z-wL3QdMd68jkFrSVtSuF30O1SZAIsXUCKGaASmRP24MMviaZn-xtT2Acdi4bWPp37Zs04kQFXp8sYlHSoutDQjg9lMVfw_1Pic7a27BZ_FEjHQ0ea5XbYSOdSH93yChtvwW9lzE01wiRldF442wezXHdVHe6BUoH918BlfJTE4Yu_ewKIPJkQDjiTp1EiozDdkldbITCPLucKP26N6usXgMXkwrCjmqCG7J8E229F04AvpHe78bqvJ7c6NP0FSUcKC78YrMSfGljdUFiP7nsZtTwiYaAjQqr4qetsXPrMssYXqYGUceXrxhNcGJDesIDQAXSqIrquHiekQClBzquvakc7dDjEdWJkVSvQ_PuplkKetKQAVYDtHIjw1AzPzLcjAJA==",
  "id": "rs_020bc5bf08716e1a016ab46ea93cb887d0bc311170dac9c782",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.245,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"I see plush animals and three slim pen-like objects. I’ll sort the plush animals into the left basket and the pens into the right, starting above the leftmost plush.\"}",
  "call_id": "call_I8MbELApGbtsbnW05CJbkXlq",
  "id": "fc_020bc5bf08716e1a016ab46eafe80887d0849b6f0900e8b615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I8MbELApGbtsbnW05CJbkXlq",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0039, 1.5311, 0.9466, -0.3279, -0.7864, -0.7338, 0.9996, -0.0216, 0.7986, 0.6106, -0.411, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2398 left_z=0.1367 left_yaw=-0.0006 left_pitch=-0.0269 left_roll=0.0185 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1753 right_yaw=-0.0001 right_pitch=-0.0286 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.8444, 8.8, 1.2723, -0.486, 0.0855, -0.0562, -0.5538, -1.1419, 9.7846, 1.6239, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e02dc3fada596b0de749dc2d1d252d881b8b48f66e87ed02a3a81ac2828a24a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61342e7385ffa4187bbfaefb5a332d146f6b45aea1ae43ffb386b2bba2df8f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e588b93e4b02486e5c47c29fafbecfea71429d257bba258835848667209a2222",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.215 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, 0.8032, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0208, 0.7971, 0.6109, -0.3843, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0008 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.0581, 9.2786, 1.79, -0.0171, 0.1392, -0.0562, -0.4308, -0.9368, 9.9214, 1.8339, -0.0415, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0039, 1.5311, 0.9466, -0.3279, -0.7864, -0.7338, 0.9996, -0.0216, 0.7986, 0.6106, -0.411, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2398 left_z=0.1367 left_yaw=-0.0006 left_pitch=-0.0269 left_roll=0.0185 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1753 right_yaw=-0.0001 right_pitch=-0.0286 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.8444, 8.8, 1.2723, -0.486, 0.0855, -0.0562, -0.5538, -1.1419, 9.7846, 1.6239, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e02dc3fada596b0de749dc2d1d252d881b8b48f66e87ed02a3a81ac2828a24a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61342e7385ffa4187bbfaefb5a332d146f6b45aea1ae43ffb386b2bba2df8f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e588b93e4b02486e5c47c29fafbecfea71429d257bba258835848667209a2222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7Bwwk7rKzYqhFEnuz4cTLj66OlWxVXJG5sAX-O0piuCSNxJW_r7DsWHOEI4M1MU8OTLjc45-0nLTZCdXODUgmud05lMfZFRQAWRnWcxVvs9r_j5lS7ufCSjROdKxnht0olp6y3JHx_njXAw_rbIYWjBKDihZtUznGdH4dkNnmgP520tbPhYQBFvecjliS_miI8CoYDtoML1ijRNGPyiZ-NeLmBROu4qBBYjCUDd8STfcjfX_Tbe9pJd1XrPg37VCIvm7DrgFqOkEARkKnYDPB29mSkciuZ3wJnXWNeLbuGRiwVtnzCOwn_XWMiLMNEAa0hjs43V9B6tpUS6qcI10JHthVBf9es2KdUYtOQuNo6Fd0QVUZIR2te2QFrL_8rWSbsYK3xgRbjXCeqo-DuVVmqz2jvVXtICw41Ad8-BgG_oaGAvmp1Ald_FgeRaMUFy6inPnoBtPXojq3xqr55GEIlJZDBWyUKD7Q8XxWFjEDORp6wDTTv9CndYn2zp1gUKH-uKJXgRzrw4Gu_Epd79fAghLtK39hiusEnTZcP-IG2hHrk9e5ul1yPGDltpPlea2k3SrZZdXxUJcXgFkjb0R4huHz2wcUrlqLB4XGSpb4XvOcAk0LOUpIqwH0L2ePLBXttEWc9nFHtIXAodqB-LY9hXyLm_lE2nO9sjvJSirUmBve44_ORKkDPj3VxA-c0oi0RoOTJfLpx3hbT0RJ1vWtOAhob9Lr4HcRh-vhIg71lcAAVmPD2aRn3rRHNtmjVSobszJbMeS-DrHVOd1WfmU5omsRtAUyjWIs5WMPZnlzi4Tzw6T_OGAQw_1Fig6hpmCrMwQsh0RbhJnxVJHzM0KyIWJ9cHLWLUEGA_hmEcpjxW2KDrI0qdMl37mLjJOQ34XfLu7srXNLvaxX3Be1b5Mh6W-gLuIvKf5lakaBCIZpahXpP8QdkKfi6Hty0r6NFVxINDGPPF0YWg0n1n7hh8v0pl2sHKV7C5g28YrgY6C-tqgQ2Z3f4VmQ_biALYdp_0MWi4LTAgjvnnnm1spiyJ-feJz4gVeKvvlf_xBoXjzrE5g73Mwq8wFBKFQRPqFT8NvooTWgxezPtGoSp-PAJLnGSO5OXpwrbzMFdNXIe_0MQSqAz_9oi17qDwRj0l4oZJGa1uhgofvL9mOj2HXhwBzMBKTFieFtc_h2zIuA5AcsEGrishBc2Y0wCsuVgtuaNd2z-maD5NX6jJY4ZpwWn9svEBdhqafdTj66t7VohnSPxTQzUMGO2HBtBBnNd4cowfi-Q4gNy1Gx3d3guI2fqKk7CHlrIsy0HOptFH1e3Ey5-PPoJPq5X0UDl_pin-gJMyQLZUKYDvk_QPgQhxPjd2bmj5wrgkUAQ5jYiYBY1bnjN0GrVceH8PuApM2CWG7P1zkNjwC6K0DDpgXEVFDF-UcGX0djKla34_TW4gkGObISL3ckBuuFuVVJRNroZklw1_CqH4E9g1JERuyNYWI_Knpufowi5fQtj1wFnuJTA8nWZUhfsKaaaMdJgT0NGJgA3nNBZwqT7wd5OVnhwAkrF8RboT7qIRkYpf1DE2x4AT34oVnocDw2ViNYHEkFPDDQqJkaz0JSOqwv-gIflhMjT1EUHjsHqVTp1-3Vbt_3d4Sr8eZROu2Vhi-NPzc2MkQ_ADyu6cbBpINIP1Yq9zlSrl9KqsRNxGWfYk3qSwCHEE1tqKYU91B9ZvSfw2ikcKOi9T_XcgRT98I_Vdh0h2cQhzwoyNSTYvx64DGKbXnJy1UnNpTYoehw6HV-gza3PvAHsLRg4WXW_qh0RJtq51m_u_f4UOV-Br3Im_c7Zy-WS0zmGPyZr8lCA9u3mDrst0WtmB3ayNIJ2jhDWgXWBwGezoHoEdrB0d7hA8C7IGsLH8U09LYZi4xCVGSXqOJdUw97hLhozMpvu8HDY24lQ-xCmMMqPT1CTUcuYhXP-1SFjndyoQnO-BqeDw-MK5Clpfz6bmuo38EqGBesaae72p7-9HDctlA==",
  "id": "rs_020bc5bf08716e1a016ab46ebd6c3487d0b38cdaa38fb9b9aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.29,\"left_z\":0.035},\"note\":\"The wrist view shows a tan plush just to the right of the jaws. I’m centering over its body and lowering for a gentle grasp.\"}",
  "call_id": "call_OiIOZu36Iujq8Wc7PHuz53c5",
  "id": "fc_020bc5bf08716e1a016ab46ebfdef887d09a0fa737c999f1a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OiIOZu36Iujq8Wc7PHuz53c5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.9053, 0.9493, 0.0181, -0.8116, -0.7795, 0.9996, -0.0216, 0.8017, 0.6086, -0.4107, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3251 left_y=-0.283 left_z=0.0414 left_yaw=0.017 left_pitch=-0.0224 left_roll=0.0128 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1737 right_yaw=-0.0001 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -7.2274, 6.694, 1.0232, -0.2662, 0.0513, -0.0171, -0.0342, -1.1829, 7.3641, 1.746, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1f4eb99712d36a3de2933523a9e7ba8e602e3da400f942d6490d608b2c0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc4c2c32c82d386154088fcc84a2436889e8085e15a8ea30cc3e2753d08b8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc940bb9fe75821a135671196d3ba9108d1172a907c253d3ee1d4a5c6953d71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.909 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]: [-1.0039, 1.5311, 0.9466, -0.3279, -0.7864, -0.7338, 0.9996, -0.0216, 0.7986, 0.6106, -0.411, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2398 left_z=0.1367 left_yaw=-0.0006 left_pitch=-0.0269 left_roll=0.0185 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1753 right_yaw=-0.0001 right_pitch=-0.0286 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.8444, 8.8, 1.2723, -0.486, 0.0855, -0.0562, -0.5538, -1.1419, 9.7846, 1.6239, -0.0659, -0.0562, -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]: [-1.0267, 1.9053, 0.9493, 0.0181, -0.8116, -0.7795, 0.9996, -0.0216, 0.8017, 0.6086, -0.4107, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3251 left_y=-0.283 left_z=0.0414 left_yaw=0.017 left_pitch=-0.0224 left_roll=0.0128 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1737 right_yaw=-0.0001 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -7.2274, 6.694, 1.0232, -0.2662, 0.0513, -0.0171, -0.0342, -1.1829, 7.3641, 1.746, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1f4eb99712d36a3de2933523a9e7ba8e602e3da400f942d6490d608b2c0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc4c2c32c82d386154088fcc84a2436889e8085e15a8ea30cc3e2753d08b8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc940bb9fe75821a135671196d3ba9108d1172a907c253d3ee1d4a5c6953d71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are lowered around the tan plush’s body. I’ll close and check the grasp width before lifting.\"}",
  "call_id": "call_mmWBzNnih3y9wY5A8Lh1x8eh",
  "id": "fc_020bc5bf08716e1a016ab46ec4d51087d09a5e6a295b06b09b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mmWBzNnih3y9wY5A8Lh1x8eh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0264, 1.9095, 0.9508, 0.046, -0.8127, -0.7872, 0.2972, -0.0208, 0.8024, 0.6086, -0.4107, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.2865 left_z=0.0436 left_yaw=0.0219 left_pitch=-0.0089 left_roll=-0.0149 left_gripper=0.2972 right_x=0.2917 right_y=0.0008 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.4701, 5.1897, 0.9499, -0.359, 0.0415, 0.8913, -0.1436, -1.3197, 7.0359, 1.6679, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb813fc12a6d9664ca3b15534f6b15dc17f25ef3f0c12322fe8a9dfa61994ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02745babfa196a4e3d9a3634921f229e9d6cbd05ba8f6612796711d796382a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bf568df78b4ab8d72f6f617f1ed801d8104108b4cdc71292bac4f6fbba056e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.648 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 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, 0.8032, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0208, 0.7971, 0.6109, -0.3843, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0008 right_z=0.1814 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.0581, 9.2786, 1.79, -0.0171, 0.1392, -0.0562, -0.4308, -0.9368, 9.9214, 1.8339, -0.0415, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.9053, 0.9493, 0.0181, -0.8116, -0.7795, 0.9996, -0.0216, 0.8017, 0.6086, -0.4107, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3251 left_y=-0.283 left_z=0.0414 left_yaw=0.017 left_pitch=-0.0224 left_roll=0.0128 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1737 right_yaw=-0.0001 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -7.2274, 6.694, 1.0232, -0.2662, 0.0513, -0.0171, -0.0342, -1.1829, 7.3641, 1.746, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0264, 1.9095, 0.9508, 0.046, -0.8127, -0.7872, 0.2972, -0.0208, 0.8024, 0.6086, -0.4107, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.2865 left_z=0.0436 left_yaw=0.0219 left_pitch=-0.0089 left_roll=-0.0149 left_gripper=0.2972 right_x=0.2917 right_y=0.0008 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.4701, 5.1897, 0.9499, -0.359, 0.0415, 0.8913, -0.1436, -1.3197, 7.0359, 1.6679, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb813fc12a6d9664ca3b15534f6b15dc17f25ef3f0c12322fe8a9dfa61994ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02745babfa196a4e3d9a3634921f229e9d6cbd05ba8f6612796711d796382a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bf568df78b4ab8d72f6f617f1ed801d8104108b4cdc71292bac4f6fbba056e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has closed to about 2.8 cm, suggesting it holds the plush. I’ll lift a short distance to verify that the toy follows.\"}",
  "call_id": "call_CGo1CeYpISPrBPdCgAm5qtva",
  "id": "fc_020bc5bf08716e1a016ab46ec7b61887d0a6290a4b27c9aee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CGo1CeYpISPrBPdCgAm5qtva",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0252, 1.8118, 1.0267, -0.2028, -0.8085, -0.8047, 0.2996, -0.0208, 0.8051, 0.6083, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3222 left_y=-0.2776 left_z=0.0774 left_yaw=0.0318 left_pitch=-0.0489 left_roll=0.0342 left_gripper=0.2996 right_x=0.2919 right_y=0.0008 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0366 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.9316, 8.7863, 1.16, -0.4518, 0.1294, 0.2418, -0.0752, -1.4701, 7.0632, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826d271a0256d5d840467b6057dc0b7482278884ab4b54e04417e020e11dfad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4bf63ce1acbfe83a8e0d8fc02a8b79b60b4ec5ff376a820ee018a9ef9f8868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d8fd2ca118fcb4c9956e918822eb55ca9122bdcb5af3b29aa1e20ef0aaabe9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.241 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 changed as sent

message 16 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]: [-1.0039, 1.5311, 0.9466, -0.3279, -0.7864, -0.7338, 0.9996, -0.0216, 0.7986, 0.6106, -0.411, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2398 left_z=0.1367 left_yaw=-0.0006 left_pitch=-0.0269 left_roll=0.0185 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1753 right_yaw=-0.0001 right_pitch=-0.0286 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.8444, 8.8, 1.2723, -0.486, 0.0855, -0.0562, -0.5538, -1.1419, 9.7846, 1.6239, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0264, 1.9095, 0.9508, 0.046, -0.8127, -0.7872, 0.2972, -0.0208, 0.8024, 0.6086, -0.4107, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.2865 left_z=0.0436 left_yaw=0.0219 left_pitch=-0.0089 left_roll=-0.0149 left_gripper=0.2972 right_x=0.2917 right_y=0.0008 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.4701, 5.1897, 0.9499, -0.359, 0.0415, 0.8913, -0.1436, -1.3197, 7.0359, 1.6679, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0252, 1.8118, 1.0267, -0.2028, -0.8085, -0.8047, 0.2996, -0.0208, 0.8051, 0.6083, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3222 left_y=-0.2776 left_z=0.0774 left_yaw=0.0318 left_pitch=-0.0489 left_roll=0.0342 left_gripper=0.2996 right_x=0.2919 right_y=0.0008 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0366 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.9316, 8.7863, 1.16, -0.4518, 0.1294, 0.2418, -0.0752, -1.4701, 7.0632, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826d271a0256d5d840467b6057dc0b7482278884ab4b54e04417e020e11dfad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4bf63ce1acbfe83a8e0d8fc02a8b79b60b4ec5ff376a820ee018a9ef9f8868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d8fd2ca118fcb4c9956e918822eb55ca9122bdcb5af3b29aa1e20ef0aaabe9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7QCBQgAroZzEQHqa9hDC7L-9oJ2zIGn2imqHh-dGz0foav64NgQDpTO1OZ6EuqLMhAfAN4FrjIuxX7Vxdzdf6CbcKJLobrRNSBd5eInnu7UKNcLHaTPTLdzZgAIoCsmfZiLnyf7wy6ybY407_98HOCnpyPPJKqC7GkMWNnxO8-hyZH9ORBNEg0vgCEJvgy_z1Zphb8T7L4Mse1kDs15C9Q7RpeLGTTNvs_Gp3Dqpj_QbIPHto_BhtqcPpdFhH6v5O2Try4iJxBL14SUCgyiUf2zKIFdDAh1MW84y6QewbwY0fRfMqwZO1cCHjJKY4_iW6ROL_8xLk8gkBGCla_Z8h6bA6pFrv5UDxtRC8Qmx-3HsoF4AZixheDX1t6Lhduy8hcirkZwRGVBC0wRPzx6LM4xP_9XFT6cm86fK0GnG5OSX_teSYnUJ0UQY-GlP3fX4Axvm_8KaIwf4nSOXWYxl0Se7Fc4YKcFoNeaivyt-2MWFJec_1ZHbvjNIR8i3r2y9ooxGPagsmRHX0kuGir1CNgAUfdOBEFXYksJQ4j6iBMBYCh6uDZXWv7pDfCn1ZVbO0RawEmOHcuANLxRvgFVrifHsA0gY88eh-jbg4cwd2VWKTwaIpYWV4c9txfXDs4cDt5xj053RsY3mB1n15Gbf0oqNFquto54W_0Krgo80rxmxZqf9-vBgg3D6L5UCzMmBj9bjhQOf00cn78QcEZVWdsDe8FVhgfx06Q6YveTJVvDgLzmQjqLtLlW5tT7Ch-2yeWHCA58EZcFfegsKO9Ix9CK2MCBMaJicVY1EfYu9TQ7z90kyHbRc72D7srNAMiXW8hvWQ6Xn5wmIJGKiI_dthVxmSWtiFzYq1JbSbS1f3wRjuPPZJhkDUtvbQH50IrrY4qnrO3dq5BGVxpccIU4DVCW2O1nPfRdKkKloZuqHoWuhmmFBQz63QLeetRS9zrOh1OvmBt4gfDAEGZbAyIJAj-lqE5wo9wS7uiP8HMUNSFd86NpSzAWtfZu57iYX1W6U1au4xtL8XNPREaY4BOza7HTDk_wvIIZfoKjDcu-41elsK6rmn1BELpd2YyqPS93RxmEQnEbSKxIHOrBQNlTYzudYApYny3yhXsXu9D9ajBrRQ6AjO6BOkDANN95Bo4fy6ITv4uzDFU3zTY0kOnyiM70stAlwn80TYMPW2ajyTi-0lQGWYjHBhuEqgzmUNxjtr35vT2WckYexn2TIVCzcxVsb6-U5Kzv_Awa4nveL6MJuSlcPLwrwDoaywwgp2PybB1iG76Y7rGWUFFQjDnmvaTcObDCV-Nx9ENaPF0D9tr0YHf8MM11om2MhUo0C09Iq6Dzo65RVUOg7uSG1LJyQ86M68Yz0CXNsKwbW5mU-JMl5XroHieXB6gox81jcBx-77X6XXSTQOyyisQfrsAPSfTuMWrHa-yrjZ1SS2FKsrljzo4K8x0mC9p7Gr-9tHeXN9Wyu6fYHTYs0L7CdQo5ol-MO6cdqT8qyzbBen6AbznkodAjvHprS043ZM_pyv6_PgXxAZDRmYOGuWvv60thUZKvnDLERXNiHXJMQOJSVqzZTVOA_9r16QkwnpU6qCzQ3MHdYotWdMRL9cIYT6RuiWSZgVf84PB-qsgrGXUabZe5MxSW-JWw8UJ9JUlWehJp3NNmSCsGgrFBPRv40iY3Ea6Q59pOrYLxCoDI2eP4yH39whxDy11qx_iTjFIN6I-4VkCUljylwMTICjb1Ox5Owxpce7iEld0GAvL441fbRDofnYuyU3NxtpGY9Y7WJjUCOAWdYQ3d99aIcgC7PDq1uEysF03HomAjcvK0M8btKjF1g7V-gZNIJ7lb3vCVgmz4OVMZV_sYODmP9MLEcs11Yznq2j6flCzqPiTGiywDJNtqFI3qZ3eM9b4h1Hxlzc5gVpa_OrJtNi2IEtIt0cVVZC75X4Jr2hP3QXXkExC4K4Wrddn1CUb6ZurFp2XaI0KL-iQXzGKrcyKMIXrs4XqPM_140U9PtzOiOjmYIfD4WeXZl3m34ix9GxB_Q-Ftkoi8MLT",
  "id": "rs_020bc5bf08716e1a016ab46ecc542887d091a7173b004ce28b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.24},\"note\":\"The tan plush has risen with the gripper. I’m carrying it high enough to clear the rim toward the left basket.\"}",
  "call_id": "call_wfWO7GENcWvBsKNazZl5khV9",
  "id": "fc_020bc5bf08716e1a016ab46ecfc44487d0aa9f957af3f08a2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wfWO7GENcWvBsKNazZl5khV9",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.7664, 1.5455, -0.5121, -0.4843, -0.3912, 0.3026, -0.0208, 0.8062, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=-0.1626 left_z=0.2245 left_yaw=0.0929 left_pitch=-0.0678 left_roll=0.0166 left_gripper=0.3026 right_x=0.2919 right_y=0.0009 right_z=0.1722 right_yaw=0.0008 right_pitch=-0.0381 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.2803, 9.265, 1.4628, 0.0317, 0.5006, 0.2955, -0.1983, -1.265, 7.2137, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0f9e681bc969a777231088ba5703d08f3110c4c9b8aabe29417a0c10dd9cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64baffd46d154d1b11342e95fecdf81b6c0a4c153b482056f8a28f4da977598a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51ff06fb9d78003ff1ef7a3195044879c33a74c8bc4a588610d46b49ee8a712",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 5.953 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 16 changed as sent

message 20 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.9053, 0.9493, 0.0181, -0.8116, -0.7795, 0.9996, -0.0216, 0.8017, 0.6086, -0.4107, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3251 left_y=-0.283 left_z=0.0414 left_yaw=0.017 left_pitch=-0.0224 left_roll=0.0128 left_gripper=0.9996 right_x=0.2917 right_y=0.0006 right_z=0.1737 right_yaw=-0.0001 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -7.2274, 6.694, 1.0232, -0.2662, 0.0513, -0.0171, -0.0342, -1.1829, 7.3641, 1.746, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0252, 1.8118, 1.0267, -0.2028, -0.8085, -0.8047, 0.2996, -0.0208, 0.8051, 0.6083, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3222 left_y=-0.2776 left_z=0.0774 left_yaw=0.0318 left_pitch=-0.0489 left_roll=0.0342 left_gripper=0.2996 right_x=0.2919 right_y=0.0008 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0366 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.9316, 8.7863, 1.16, -0.4518, 0.1294, 0.2418, -0.0752, -1.4701, 7.0632, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.7664, 1.5455, -0.5121, -0.4843, -0.3912, 0.3026, -0.0208, 0.8062, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=-0.1626 left_z=0.2245 left_yaw=0.0929 left_pitch=-0.0678 left_roll=0.0166 left_gripper=0.3026 right_x=0.2919 right_y=0.0009 right_z=0.1722 right_yaw=0.0008 right_pitch=-0.0381 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.2803, 9.265, 1.4628, 0.0317, 0.5006, 0.2955, -0.1983, -1.265, 7.2137, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0f9e681bc969a777231088ba5703d08f3110c4c9b8aabe29417a0c10dd9cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64baffd46d154d1b11342e95fecdf81b6c0a4c153b482056f8a28f4da977598a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51ff06fb9d78003ff1ef7a3195044879c33a74c8bc4a588610d46b49ee8a712",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7eK0rQJ-kocG05zDQyb84Xzy9Zs4CtoHgsXrDFHrT-K7TMWMwi2l4N8EFkUvU2z8K3MeI5Ls2S9TXad4D1bNU4EOLZlXmi50jWPss_pPV7CbnLowDC0Aoq-xb3SanJDcGblJiRG3oaJc9xJU58t6pDSNkUZdtPPcJOCZReqIXjG5gdl9N98Mf-kTjsoJ3-f9o3nYYnIZx_wYBewd3Z_agobKNRbOgC0yvodZ8VAeeAPJDcNGXalkueftlO4lyXfOeRfvpjUhyAHBBK25z_iNe1FPnC4cNm_6MMaQqu5k_s0o9GX_gFIKJASBHrn-j3ZW0U0UxNYMVmxf6NrbRuozCexylMjwOuF2YsIfxnf6F25Pp-nFDxqrp-L1Jjq9wVLVIRCd46uM0hxyn-waoFeyfILECt2kMYfONrMvgTNWTPyEbs_hqPYrNHRuMjvT78ykktAesvo0sWQkfLFysuv5j06EDbHzNePo1Pwufu40556C1uI0tvn8Gw2AK43dyI3sNEjRHAhsW1zfo4OSn5UvXskDHxi-iTCyf32NdhzosTU-O4J79CPH8wziYe_OHA_ynw7s4IIH2KKXYwizfupq36chSx-ONx60jCYn7Q3HFKHqccT0cHQOFfuVjQCwbWMWJK8Yetq0KTWOeowrBKa0bjalaV8lJJyhBZ7idM6IiEUA_IttYC10lNKLZIQXz39ngI0CVNA1Soktjp-8ReTikro8vkL7HF7Kvob41kYHSue-KlQ9N0gUpcsoPZ9xAZ59GngCmnCfmmgrhYZ_GGlJAqka0XgXiS69xW9FYq4Cwob-tu3POmaYn66u7f8V6SvqsXx57XV3Vsf6e9D3DZKjmn3YAMjNfWhWSGQbf1yU8KFZDW8-mulhf8b_iroNXdQshVQLEL4qD8zL484ZXRDVdMpjxG1TbYtaP4L49ioNSbVESKx9TrKh3ZiXkt6IZSihmo7HNubtLKFLCQzKfZ68WbLGesG9ZSVkSyN0l_a9F5rG-iduY5yUFb44eyDCL_w3830m-A93KLrGJkynwqMe7ec_U1YPNQP4TIdQonQ1fzjRtHxuObNlSxCiL-S3jcamQjt2QEDBoV8zQlw0JtFpaLnhmLo4m3d0XlGMPg3aYrcqrql2nlZFnKItW83d6zmBLicNggPcwuL2aI9efw1BbhPmt1C1_bp0z7bjpFHGcrOyUSxH9p9v8tnrwhmxNFwUV3Rf-Al0XwBKXxX5PNF5ZbEZRWiB-5yCOv9n41_CUg0z1ldD3omUxcStlY-ExAljiKp1vpBO0TvvfZIEll9j0I03lmkxPTrgyLyr0Kn9R3uax2yp-cJRFjQqH-dTZaCIm18OA4x8usJ6s9zf9icfEsNLfp80GKeQR47ZLe_LecttYBHU8ijUk0Mdgh5AXOREEcRqxBHWSlELYc4BKqFyeXrfp5GleKIRmvA0P4gBC3cIN7srUNpJZ53642YiMEJFAcrvGonklv6oVck7Z17fI__6dtdN57kcbqguwBg1xOFYrDfy8SIUuChzqDP3cxOZNT14LJLXRwQEptWG_ON2DOMqiAn1cWEtO07g70k6jN5YHlre-C3rRLeHwySkhQBxpj01sodl2DVpkhVqka-larZr5WMc6Pl4204aGJfB9l3N3-Q2du-1uG2izDYTKF9nmqyuyEA7NQ0fuqdZAFprL62KgfQ7psJO4m56wm6rF5ovp-kOHv_q8b5z_wW7OvWY0e",
  "id": "rs_020bc5bf08716e1a016ab46edb551087d0be7648cf111379ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.50,\"left_y\":-0.115,\"left_z\":0.15},\"note\":\"The plush is above the basket but near its right edge. I’ll move it slightly left and lower it into the opening before releasing.\"}",
  "call_id": "call_zfFQN4IwQ3DHjfWfgBndrPLi",
  "id": "fc_020bc5bf08716e1a016ab46edd828487d0ba6e26488a64492d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zfFQN4IwQ3DHjfWfgBndrPLi",
  "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]: [-0.3637, 1.8141, 1.3109, -0.2817, -0.392, -0.3202, 0.3047, -0.0208, 0.8082, 0.6079, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4854 left_y=-0.1087 left_z=0.1379 left_yaw=0.1254 left_pitch=-0.1466 left_roll=0.0446 left_gripper=0.3047 right_x=0.292 right_y=0.0008 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.04 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.7043, 6.9949, 1.8291, -0.1929, 0.2759, 0.2027, -0.0205, -1.1145, 7.0359, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d03cc90911da9ff264a82a59452398106aaecf0aa1196e336b0656bb262985b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b67723edf1f6161814c953ece55f07bb0c5aede82324a7ddaf815322ada3638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f610a739d241bac45696dd9f2e96854c3aea2d372534fcf54b0de37b5b46568d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.652 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 20 changed as sent

message 24 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0264, 1.9095, 0.9508, 0.046, -0.8127, -0.7872, 0.2972, -0.0208, 0.8024, 0.6086, -0.4107, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.2865 left_z=0.0436 left_yaw=0.0219 left_pitch=-0.0089 left_roll=-0.0149 left_gripper=0.2972 right_x=0.2917 right_y=0.0008 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.4701, 5.1897, 0.9499, -0.359, 0.0415, 0.8913, -0.1436, -1.3197, 7.0359, 1.6679, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.7664, 1.5455, -0.5121, -0.4843, -0.3912, 0.3026, -0.0208, 0.8062, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=-0.1626 left_z=0.2245 left_yaw=0.0929 left_pitch=-0.0678 left_roll=0.0166 left_gripper=0.3026 right_x=0.2919 right_y=0.0009 right_z=0.1722 right_yaw=0.0008 right_pitch=-0.0381 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.2803, 9.265, 1.4628, 0.0317, 0.5006, 0.2955, -0.1983, -1.265, 7.2137, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3637, 1.8141, 1.3109, -0.2817, -0.392, -0.3202, 0.3047, -0.0208, 0.8082, 0.6079, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4854 left_y=-0.1087 left_z=0.1379 left_yaw=0.1254 left_pitch=-0.1466 left_roll=0.0446 left_gripper=0.3047 right_x=0.292 right_y=0.0008 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.04 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.7043, 6.9949, 1.8291, -0.1929, 0.2759, 0.2027, -0.0205, -1.1145, 7.0359, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d03cc90911da9ff264a82a59452398106aaecf0aa1196e336b0656bb262985b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b67723edf1f6161814c953ece55f07bb0c5aede82324a7ddaf815322ada3638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f610a739d241bac45696dd9f2e96854c3aea2d372534fcf54b0de37b5b46568d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7kXjb-NLGsf4AUoUKfFyPPiSixwHQUJ4WTvWU9I6EVM1Fge1Eql9s2OKUlglxRGt8bxKxFM3DJdN4Klu3BbbsOnofQtD8-PGrB_1uKI-zs6awEgMnThZU72xIS5mH4XoeDzmBWPNB2QX83J9nhQ8wyzJOJZqYhZoe2umy40jxkRCm40br4Wx5r92pcxObudYyTH9aunZY2x6boyy1VOgb1nhGs0re-CoFVOd6VZSw5SLRcZ4-gon1QnhgKAZobPhaNZNuZSO6sRWqpKYKgCGcqqvIyXrjcjjXu-2Vb4weRpziy0cmTrqzdSqtpTpXPGsoOTuIRPBteB1EittUEn-NwSQQQqa4gxW1B0hu6sSTU0f2iQqctvuAva1OoVeNT51VdIqFp2ZpRtBOQI2rSuZS2BPaqCcASzmUVndh5vYXwGlYmxP6jWE9fsXnRc69loaKoS9lnkZ__WqVWtfJ7pIeIHxfDs4Az37Rc-BymwlkqiQl58QBjhzLo27OaP_nq8-JpIGPY823oVX4Stetqz_CBwspG9b9KONdgEXsc6RhGk0H42Vw07YHhWGN5fM0_ZOa2RnTXyCWvG2GGoiDYXES2L7Zg1otSPczax9dHqPTolDV5VwGNV66FTbz8r-0DW1DXq7K52DY_RQ4aYcj-uGuBjRTBUw28Z8plWOtBdIgr_DgxPHwN9AWnqVcUUowWIocLSwS6O0WPmg7MQ6ZhwSWnVKEqOL4lfDCki0FURH3BDTnbNR2L7-raBexVirVa3WbdpNmP2Y9aTZQZ4T3kZeHE5ZXIjiuDUvW5QQh1imZ1DgKc-lQwhRsqcz8zV2sGTxTuuvwV-i6tWVA8CZ3LSsJqFjOSCOby5Gfu1qaIN5tgvIUojkMJ7ftgPRd8yhkqfmMzCrm17xCwxIDRas3LoObL-8aCSk5KHx6n8wsSO4wi3dQUCa1XuvPyUljpAtOWgP9JgeZ3DskOhXwEvnlOEaXp1gjzxRuADXOdPBt5bGAuJjWMdgGUtdxQ-Jv58GRjRREqdTWEaJ6UaEYlIuT80CIZkWUZKdz5ToA_BRUWzZybnAQIcvrZzsVmG8N4-qI3lNjJUjkT9gP5VUHVyOPw5-FsNtTYmtb9vyap-VZf5SWG4jgpHMy--0WsJS-CtArKX_rqBaJYzmbaroCAIqYVSHLGEOv3_Eyzk4LvpiUuWlpSHXinYjPJT2FFNHYXBtOWbtTA9v9ot5NYXlfY0bF9XDE5-YPZuAQ9qU4QmhfegQvgnth5YBLSCEmJViKI1jD1YJCu_elNjHR_FqHyt-5ee1dpWWOoXsoHKEDBodv3hDMt1dvIBZM0Sal7oktYaG0-oW0QOyJGKDJDR82MGtwNskf4ySMwRh0SQrcTICJ74PlWI2kGMI_Sazh-ROTO7sQITnsUVJR0_kqRrMj4m4oIMlCvPyVUIrTXxAxs9vQal-Na27HEcjKErpCDfacScC-6PeZro_2k7PEf-x0i6CpA6UK45DL-Cd3CYHdVkiiOYFtvNBEDeIGi5XueIUTykNATkX3Ijgp8vh1OQ_R0aNz04ep2Gylm2wNthhrA1EWYn3cBcRDkjVslG3phVT_wAhHOOTlqFHfTIyGPRpnqJYDmw0ocxOMVfgmRuE0UrqfNIl5SZkdvFw5UWK9tADaSaKl02PiIUqcTaCiNbAZ4PAMq-qG_A0xOqF0xsF5k-9uLg4EVZnjZJquLI0EY9g58DQWbVaDs7ZLO9nnkuiQipthf85Gv-jyqM5afuwmlS8l5d_ZjtUpvR1EsABgRNLWuTzOl-OM8ggqqs13JezNluXgwgsO8Fj55NctKGcZd8HvLz7rc6-OWGmluel09dqhMdvVX1Hf9OvJSX-RmMb-tWGhpzcmxr64EmSHVwj80d_CrFtnnq--xHBOYq99bJwKwPewIvgmxpApgP_dmfx2lZwZB12seTh2HGRlME3h7aEqPwgHvx7dy4zSTE4Nzr5oCd7pONrpkomyZ5YIomJtCNwbLLFzLzIBHst5FAU-DDC2vUNKSCIu0PRKDZc4BvfIrH43pnVxwTOYu5JzRudKxCVV1buDqu_h6UbEFgEVMNah7djCGJBdofAH1Th6RkP5bHeMCpDSSKn6ryj4Yv13kWtjL33QkjACclIwL43-_OH2Hg4xABPKdgmabGAFiJwBKEPm85Sa3bYjuwTI4R8Qp8N7h97d_z9Tcv5CANeMm69RcvzYkBkYioBG1E3yYFIxTuyYGqmqddxPiVr4BpQymOEVVP-ETgW_RdHmZBVwKQVftYCma6YGhLOlMSWdYrZO8hP-V6v4U",
  "id": "rs_020bc5bf08716e1a016ab46ee0119887d0b5b0eb343ff18981",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_y\":-0.12,\"left_z\":0.18,\"left_pitch\":0.25},\"note\":\"The toy’s lower end is still close to the basket’s front rim. I’ll move farther into the basket so the whole plush drops inside.\"}",
  "call_id": "call_pG5gBHypZtSGtjkIPFlGbadw",
  "id": "fc_020bc5bf08716e1a016ab46ee3f9a487d0aec35dfcb5308344",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pG5gBHypZtSGtjkIPFlGbadw",
  "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]: [-0.3698, 1.9343, 1.2984, 0.1276, -0.4915, -0.2134, 0.3075, -0.0208, 0.812, 0.6079, -0.4103, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5387 left_y=-0.1156 left_z=0.1518 left_yaw=0.1408 left_pitch=0.1214 left_roll=0.0546 left_gripper=0.3075 right_x=0.2922 right_y=0.0008 right_z=0.1706 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -9.5521, 7.5692, 2.0, 0.0415, 0.4371, 0.2759, -0.0342, -1.5932, 7.0496, 1.6777, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579e4a9fd3b37bbe2b9273d62d750838198a0f3c8c9c3a8c8a572f5c2e7a6dec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e9d424871602ef4b17bc4a38dc4ba1a5a46f652a01739ad52ec487ea002e24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6487e711ae4be23df9508f1b3b7f2a4bc09e7a7f0af819d27e4dddfdd7e49775",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.158 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0252, 1.8118, 1.0267, -0.2028, -0.8085, -0.8047, 0.2996, -0.0208, 0.8051, 0.6083, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3222 left_y=-0.2776 left_z=0.0774 left_yaw=0.0318 left_pitch=-0.0489 left_roll=0.0342 left_gripper=0.2996 right_x=0.2919 right_y=0.0008 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0366 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.9316, 8.7863, 1.16, -0.4518, 0.1294, 0.2418, -0.0752, -1.4701, 7.0632, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3637, 1.8141, 1.3109, -0.2817, -0.392, -0.3202, 0.3047, -0.0208, 0.8082, 0.6079, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4854 left_y=-0.1087 left_z=0.1379 left_yaw=0.1254 left_pitch=-0.1466 left_roll=0.0446 left_gripper=0.3047 right_x=0.292 right_y=0.0008 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.04 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.7043, 6.9949, 1.8291, -0.1929, 0.2759, 0.2027, -0.0205, -1.1145, 7.0359, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9343, 1.2984, 0.1276, -0.4915, -0.2134, 0.3075, -0.0208, 0.812, 0.6079, -0.4103, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5387 left_y=-0.1156 left_z=0.1518 left_yaw=0.1408 left_pitch=0.1214 left_roll=0.0546 left_gripper=0.3075 right_x=0.2922 right_y=0.0008 right_z=0.1706 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -9.5521, 7.5692, 2.0, 0.0415, 0.4371, 0.2759, -0.0342, -1.5932, 7.0496, 1.6777, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579e4a9fd3b37bbe2b9273d62d750838198a0f3c8c9c3a8c8a572f5c2e7a6dec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e9d424871602ef4b17bc4a38dc4ba1a5a46f652a01739ad52ec487ea002e24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6487e711ae4be23df9508f1b3b7f2a4bc09e7a7f0af819d27e4dddfdd7e49775",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_020bc5bf08716e1a016ab46ee7402087d098ea371a307f3918",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_z\":0.29,\"left_pitch\":0.45},\"note\":\"The plush appears to have nudged the lightweight basket forward. I’m lifting it clear of the rim and reaching over the opening instead of pushing farther at rim height.\"}",
  "call_id": "call_74HgGliZhxuIPZTU7laGo3qz",
  "id": "fc_020bc5bf08716e1a016ab46ee9a70487d0851691c3ae8e8172",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_74HgGliZhxuIPZTU7laGo3qz",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3523, 1.9434, 1.4784, 0.1909, -0.5468, -0.0956, 0.3083, -0.0208, 0.8146, 0.6079, -0.4095, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5726 left_y=-0.1088 left_z=0.2421 left_yaw=0.1672 left_pitch=0.3312 left_roll=0.0693 left_gripper=0.3083 right_x=0.2925 right_y=0.0008 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.8222, 11.3436, 2.2491, 0.0708, 0.4713, 0.0708, -0.0615, -1.5385, 7.0359, 1.707, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54af871a7fbcb96a34e72ea9ec59f8ac455107363b928025783c3a1920a9c089",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb14b4c1c244e3087083018b486c35cfcf321f4873241db1737d7c22b3c8d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacda41375d911e25ef6d3d50bc12e070ea80931ab680aaa57bcf0f3632934c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.488 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.7664, 1.5455, -0.5121, -0.4843, -0.3912, 0.3026, -0.0208, 0.8062, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=-0.1626 left_z=0.2245 left_yaw=0.0929 left_pitch=-0.0678 left_roll=0.0166 left_gripper=0.3026 right_x=0.2919 right_y=0.0009 right_z=0.1722 right_yaw=0.0008 right_pitch=-0.0381 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.2803, 9.265, 1.4628, 0.0317, 0.5006, 0.2955, -0.1983, -1.265, 7.2137, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9343, 1.2984, 0.1276, -0.4915, -0.2134, 0.3075, -0.0208, 0.812, 0.6079, -0.4103, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5387 left_y=-0.1156 left_z=0.1518 left_yaw=0.1408 left_pitch=0.1214 left_roll=0.0546 left_gripper=0.3075 right_x=0.2922 right_y=0.0008 right_z=0.1706 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -9.5521, 7.5692, 2.0, 0.0415, 0.4371, 0.2759, -0.0342, -1.5932, 7.0496, 1.6777, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3523, 1.9434, 1.4784, 0.1909, -0.5468, -0.0956, 0.3083, -0.0208, 0.8146, 0.6079, -0.4095, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5726 left_y=-0.1088 left_z=0.2421 left_yaw=0.1672 left_pitch=0.3312 left_roll=0.0693 left_gripper=0.3083 right_x=0.2925 right_y=0.0008 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.8222, 11.3436, 2.2491, 0.0708, 0.4713, 0.0708, -0.0615, -1.5385, 7.0359, 1.707, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54af871a7fbcb96a34e72ea9ec59f8ac455107363b928025783c3a1920a9c089",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb14b4c1c244e3087083018b486c35cfcf321f4873241db1737d7c22b3c8d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacda41375d911e25ef6d3d50bc12e070ea80931ab680aaa57bcf0f3632934c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is now suspended above the left basket with its lower end clear of the rim. I’ll release it into the basket.\"}",
  "call_id": "call_ksWCHZ9EGX7gZpi9X1j7MTAB",
  "id": "fc_020bc5bf08716e1a016ab46eed3ce087d09cec6d2daf33fc36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ksWCHZ9EGX7gZpi9X1j7MTAB",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.9434, 1.4799, 0.173, -0.551, -0.1059, 0.9952, -0.0208, 0.815, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5716 left_y=-0.1076 left_z=0.2391 left_yaw=0.1743 left_pitch=0.318 left_roll=0.0685 left_gripper=0.9952 right_x=0.2924 right_y=0.0008 right_z=0.1698 right_yaw=0.0008 right_pitch=-0.0469 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -11.0564, 6.9538, 1.9707, -0.0708, 0.0806, -0.149, -0.1026, -1.306, 7.1863, 1.6777, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a55036dd41ed29fdcb36e3cd4fd62ec8984161305d6bdee69a68ddb3b37a2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe75ada4fd654fafaf2829c9ad0692641cdb277dc9453394976893e914c2ca6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5724c9e8e0dc8b54d14decbc08c9c3e20af9b93bb8231c0617983db28d7509",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 4.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 35 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3637, 1.8141, 1.3109, -0.2817, -0.392, -0.3202, 0.3047, -0.0208, 0.8082, 0.6079, -0.4103, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4854 left_y=-0.1087 left_z=0.1379 left_yaw=0.1254 left_pitch=-0.1466 left_roll=0.0446 left_gripper=0.3047 right_x=0.292 right_y=0.0008 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.04 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.7043, 6.9949, 1.8291, -0.1929, 0.2759, 0.2027, -0.0205, -1.1145, 7.0359, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3523, 1.9434, 1.4784, 0.1909, -0.5468, -0.0956, 0.3083, -0.0208, 0.8146, 0.6079, -0.4095, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5726 left_y=-0.1088 left_z=0.2421 left_yaw=0.1672 left_pitch=0.3312 left_roll=0.0693 left_gripper=0.3083 right_x=0.2925 right_y=0.0008 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.8222, 11.3436, 2.2491, 0.0708, 0.4713, 0.0708, -0.0615, -1.5385, 7.0359, 1.707, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.9434, 1.4799, 0.173, -0.551, -0.1059, 0.9952, -0.0208, 0.815, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5716 left_y=-0.1076 left_z=0.2391 left_yaw=0.1743 left_pitch=0.318 left_roll=0.0685 left_gripper=0.9952 right_x=0.2924 right_y=0.0008 right_z=0.1698 right_yaw=0.0008 right_pitch=-0.0469 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -11.0564, 6.9538, 1.9707, -0.0708, 0.0806, -0.149, -0.1026, -1.306, 7.1863, 1.6777, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a55036dd41ed29fdcb36e3cd4fd62ec8984161305d6bdee69a68ddb3b37a2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe75ada4fd654fafaf2829c9ad0692641cdb277dc9453394976893e914c2ca6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5724c9e8e0dc8b54d14decbc08c9c3e20af9b93bb8231c0617983db28d7509",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7yBhesbM5aea1TFiwojMhwX-ozHgyGiCiJkyXM9G4n8oIvhU14nEUYOZJ3xjLu_jHV0wjJFyEpOsJvvBjyOv_0h8pEXUw7tXjkNdGRyib8PBfz7TS1TnlBOU6EaNx7bFA8apOA7cAa3H8GpcO8EQv1BshdjaAPPbZ7rFw6mJVuDieGFrcyc74HpvC15_dbFQwg_Qc7LSOUVyOPs1TiBjgjxxRCWoYfmVP9sqfuVqzlQzX7aeHjajxxzJp2nAL6ANmGd88gPjsWC0UyKNr_69WITg-4zWo8xcAKgCZewyVPSJswRRm6LrN_EvSw5YawQimb479qYGjra2Dha-8Uc1dkXPYy_Wn83PzXeoEM62MAuFnkprbvKu5VrX5Rrzl_6U4ut7U74jGUaH_38GYLn0uEOoKb58j32qA2fCkA2qGbZZNHwH5-C53aUIrK2aehcwVoYcQmNrFwcigaZwZOvC0XaE_OKrDoF5rv6MFj4CSuYTWo38VPVcRATMiFlqpEbVob73Ry-yrCKAkgoouSX_iU9raiTMNObGRjZwCo00uS79jsY9Z1Z4XdxsbjGDYsBmU8UBg-eix8l58Asuob-Si_yCAqu9KwvwY5RpFonUz32-UnNbfk60e0DDEw09i_JgGHyD9o5ZGQjS9sCrxJV45yJAmI70NLTdn8EpBPRC4B4XmzuIDnJ4D0-ywkDyoMjlVS4sChGL_Ztrzq7cnqJc382nz0nS1gwAmQNSTYeKnDDDefsYraR5_AmdSFUA3wfP-yNOB0lsq9nrtjVeoNSAwTnV3WOL5dx0gVLonUxIrLvZWzsYXUTu6nXnDfae1ls0HD5Z3Yg_aryTF27oz2wy-RHaRuLgV5k3goSyfq0mQksf4l4McrbfeLBmfKZ-du49EilGBNHeJCwqPL6dIx8PTpcnK2uFxsueeFFnSjE4Yy_w-V214tvOqTEmcAxWZpZFIF1BoqAuxTPm5nxk7hAkhIEAVjX0hjQ36qHGo42HHl3d2Q2A9jQehk8i4Zdupnn_uANOSyyf30fLIdz64F8FW87wFEF2i590NuiqBtz54AqCZ62imZszLspR5xjbWck4mw9ad442_gGldbHHrmrvbzYa0XOfJxlb5jx78lQPmtwD0qw8F0jUzorDG0Twaz52apPJmyBar_ZPKC8kTsQD2NT1NmrGpzKBn2bfzhEIqOfz84Qzo9y8XrZ38K-aXR7ZudQjKNwstTtdNVVLQxnaPwcBn2E7iunojtjIEkHr2g_Bp-I3rgRX3AbkPVkkG76ZP7DZJBkeHu4u07ftQ9fFbHgDQk_0jy9dy8Kp2C-7K-Oi-iy8rffyW31IDW6rh-kIkZa3ptFImNZ9vTzl6h1R3DW5EnF0y3JKGyQnwEDc8GTc0xSH_qxZrypsjgGcI4DuKhDx-An7K1lYl5uOC9OStZxtT2lKY6n4hMU8TDJPOAojE=",
  "id": "rs_020bc5bf08716e1a016ab46eeff90487d0b5d02f4a82c6a1b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.17,\"left_z\":0.15,\"left_pitch\":0,\"right_z\":0.19},\"note\":\"The first plush has been released. I’m moving back above the smaller cream plush, which is still beside the yellow pen.\"}",
  "call_id": "call_KayW8rIdc2FeZKRCkHfz4dib",
  "id": "fc_020bc5bf08716e1a016ab46ef0f36c87d0bd2bd0f123e10725",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KayW8rIdc2FeZKRCkHfz4dib",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.9363, 1.4155, 0.8917, -0.437, -0.865, -0.7704, 0.9967, -0.0208, 0.8253, 0.6495, -0.482, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=-0.1816 left_z=0.151 left_yaw=0.134 left_pitch=0.004 left_roll=0.0618 left_gripper=0.9967 right_x=0.2881 right_y=0.0009 right_z=0.1715 right_yaw=0.0022 right_pitch=-0.0873 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0496, 5.6821, 1.0867, -0.5299, -0.0513, 0.1392, -0.0615, -1.0188, 10.6462, 1.6093, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307840b64cefaa7587abf57df049b42a5dfe8ca4fc5f9274b261730bc5f3280e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036e903fce64eef97abddc4f4bcd86944b0e430d5940e2b1c294e3016a6b40e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dd83e0fe96a35aee04ff232f0c595461e59910571dff41ab2a0e85d166c68c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.343 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 35 changed as sent

message 39 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9343, 1.2984, 0.1276, -0.4915, -0.2134, 0.3075, -0.0208, 0.812, 0.6079, -0.4103, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5387 left_y=-0.1156 left_z=0.1518 left_yaw=0.1408 left_pitch=0.1214 left_roll=0.0546 left_gripper=0.3075 right_x=0.2922 right_y=0.0008 right_z=0.1706 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -9.5521, 7.5692, 2.0, 0.0415, 0.4371, 0.2759, -0.0342, -1.5932, 7.0496, 1.6777, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.9434, 1.4799, 0.173, -0.551, -0.1059, 0.9952, -0.0208, 0.815, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5716 left_y=-0.1076 left_z=0.2391 left_yaw=0.1743 left_pitch=0.318 left_roll=0.0685 left_gripper=0.9952 right_x=0.2924 right_y=0.0008 right_z=0.1698 right_yaw=0.0008 right_pitch=-0.0469 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -11.0564, 6.9538, 1.9707, -0.0708, 0.0806, -0.149, -0.1026, -1.306, 7.1863, 1.6777, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9363, 1.4155, 0.8917, -0.437, -0.865, -0.7704, 0.9967, -0.0208, 0.8253, 0.6495, -0.482, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=-0.1816 left_z=0.151 left_yaw=0.134 left_pitch=0.004 left_roll=0.0618 left_gripper=0.9967 right_x=0.2881 right_y=0.0009 right_z=0.1715 right_yaw=0.0022 right_pitch=-0.0873 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0496, 5.6821, 1.0867, -0.5299, -0.0513, 0.1392, -0.0615, -1.0188, 10.6462, 1.6093, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307840b64cefaa7587abf57df049b42a5dfe8ca4fc5f9274b261730bc5f3280e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036e903fce64eef97abddc4f4bcd86944b0e430d5940e2b1c294e3016a6b40e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dd83e0fe96a35aee04ff232f0c595461e59910571dff41ab2a0e85d166c68c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG74Ny-TbNjaz2MEOBHw9zU2L-iiYN2eNFurFfOPF-PeuilEe-jCqznT8B5wqKAlAussN17MJX7e8Cqcns-qn7vjUz7FZ-A0WQUkWsOKUcqbTefAFW8dRdJ1x6jkW4535-XI5-ksLG8WgmVeOUVIyYrGfQHqqqYG25ytKfO0dOizjYkLL1RjizdoD6EEIU2cqOVgorL837c00mOP8daf7HX3IrfxeEnuxHw2F-LcajRIphiuetE8s6BGpHwSKvqEFX83c66pbdcllQARXc8S5izxzy76OjCscPGBH1aop7aqZ3xVyEDE_UGWbv0qmlq5ucjM_bziYjdFztoTfItYphr5rz2fKOUkU0vEbizCbVR1A8O7nwrDc38tBpYBtWCE8HPcVaiJgVICwsz5tINpXeNU92z7LarQElpSrtUcM3WDF_Dhyg618Sqn1kdyuz3Vj-vrYozBO59mfGYt5lCkrtDeTKisvl6oiXc45Qk-86P2vojNHA81MS04xpO4TIBiwhzzYi9SR6_NDBV6CwrHZ51mG6S_shWmaPHKwLXcM6vDPTvH1Mz4pyTsAMhO1Patyxxs86IxWiS4LJAsh1zjmBipW7AXz4FZhEEu_2oMaoVfk47MW-42w19e6N3878r8U-zuJkWtj-aeQOFrBAjN4xpJG2rfQEZFkpjNh7-flKHmX976-kZDDwyr0bqnABdTu1NaXu9yvqqJ7DOCBXtt38SBIFP_swdLyCRg7Dwot5Yj4SY9M7EB1-cEpXMqh5UvHlcfO9dRfgJCDt9CeQeOUZabw8MSKKMiQJnSVNdEMo7kDkEWHCF3klVce1mVj7nkr9EM-7gYohj4nzTcWNuKiAEQ1kTH6FgbmjUGmngs0UlNTlPDuCPvLAM3pTStY9rdWT6nzsfVRVy22u_8T2hQ-fjlb_l3hIfjmWP45E8_Y4yFVH-DW5xv63b9XQY4sEncCJbcSyPH3JJ8GpJliPyXl0h27gbuBg3ZuQ7Qm7MxS_vgZlYPHf61g8i92ykRVO_DMpcLNGdx53y3cHy5LYAGsOvISeN5wjAhMt1riAZ0fjI5ggrO5HqHsPWvkTMDTITNITQpEG7AZtpA7Ynl4XPGxfW_oK68qKyVGyWSlb5ncA6cNcsJ789ifPjaOKvtO8ARjInvVfYRxzh9lR9guyQ3oX9k8M7htecctx09OO-1-osmpUh1ZaP_rN4uIT6HrjuhCLIEgWP8Gr4cC8XW_Rf86_-gbB38o8C8xbBka-kOhPLzagUCJSJVdjzqHbFBXbXHo6C_lF3tvFRPfLjCyTCwV3Veli6HHB_kElTOBPUjkad3626Yr7yuUJG45LPKClzEVnnUWV5XSgun7AWE6yUzU2q0QhYYJB_qMBVGOeKM7xGqbuzXqPS_jCFW4FmXNUrEwCMbAoTihXbAAjn-jzUvvNNcA41PYAbOX4eQSAD_L-g-zmdI4IcpcI15qi44R__wUNS1tb_RFErqQbzLgafjoXpWC8xbGuVCWqvJgIDJZ8Ixzv6tyr6_jbCS_Q_Z92VtFCtLSN4c5gAZCY_he9BjsJSObLL-PoOIPIGfLlGm4DIVi8s5WYHpawHJyMu4CT7UCAh7zb4E7TZ_ixgWF167RNnq-mNEf06uoKQ0z9p-9J1r5Enc3_6znzKV3Gnk-5AJYkJB-nid3nm6_PE_64BC0J5ps0t-3C6wldxdNEkYWWdlq47-fwlCi-8lZkILEBqufsogPXp4aYkyq40VttUWTK6HX0iknFQ4h6r-AA1Qq-7GZPRQr2-xrHxOhAumOQAXgBuTfBL3izH9mo_j8VcbfBFXIj4-aV9rFVY0ZUuWR2xZSxyeCAhrJNup9heR4okiNzrL",
  "id": "rs_020bc5bf08716e1a016ab46ef54f3887d0a193bab7fa177fe6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.135,\"left_z\":0.015},\"note\":\"The first plush is visibly inside the left basket. The next plush is slightly left of the wrist-camera jaw column, so I’ll correct sideways and lower around its body.\"}",
  "call_id": "call_85FPNmII4GZ5HnMEmMDCwwOz",
  "id": "fc_020bc5bf08716e1a016ab46ef7cdb887d09c1685f28a667ae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_85FPNmII4GZ5HnMEmMDCwwOz",
  "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]: [-0.8192, 1.644, 0.437, 0.2619, -0.8082, -0.6441, 0.9968, -0.0208, 0.8257, 0.6525, -0.482, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=-0.1259 left_z=0.0121 left_yaw=0.1503 left_pitch=-0.0346 left_roll=0.1297 left_gripper=0.9968 right_x=0.2885 right_y=0.0009 right_z=0.1728 right_yaw=0.0023 right_pitch=-0.0847 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.6274, 4.1231, 1.5458, -0.1245, -0.0952, 0.0024, -0.1846, -1.388, 6.7214, 1.6532, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b7c15faabdbb24d634357a5829313adea60ce687f4ae80e718b8b0025fc2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b6e5b3af1ae83b20843920af1d637eb5202eba268bc1cefa2ed1055d6dac71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68cb1cdc7d4aead208af3681254471d2ffc4e1c77bdd2f3b7cc992fd39ba8d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 1.896 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 39 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3523, 1.9434, 1.4784, 0.1909, -0.5468, -0.0956, 0.3083, -0.0208, 0.8146, 0.6079, -0.4095, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5726 left_y=-0.1088 left_z=0.2421 left_yaw=0.1672 left_pitch=0.3312 left_roll=0.0693 left_gripper=0.3083 right_x=0.2925 right_y=0.0008 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.8222, 11.3436, 2.2491, 0.0708, 0.4713, 0.0708, -0.0615, -1.5385, 7.0359, 1.707, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9363, 1.4155, 0.8917, -0.437, -0.865, -0.7704, 0.9967, -0.0208, 0.8253, 0.6495, -0.482, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=-0.1816 left_z=0.151 left_yaw=0.134 left_pitch=0.004 left_roll=0.0618 left_gripper=0.9967 right_x=0.2881 right_y=0.0009 right_z=0.1715 right_yaw=0.0022 right_pitch=-0.0873 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0496, 5.6821, 1.0867, -0.5299, -0.0513, 0.1392, -0.0615, -1.0188, 10.6462, 1.6093, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 1.644, 0.437, 0.2619, -0.8082, -0.6441, 0.9968, -0.0208, 0.8257, 0.6525, -0.482, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=-0.1259 left_z=0.0121 left_yaw=0.1503 left_pitch=-0.0346 left_roll=0.1297 left_gripper=0.9968 right_x=0.2885 right_y=0.0009 right_z=0.1728 right_yaw=0.0023 right_pitch=-0.0847 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.6274, 4.1231, 1.5458, -0.1245, -0.0952, 0.0024, -0.1846, -1.388, 6.7214, 1.6532, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b7c15faabdbb24d634357a5829313adea60ce687f4ae80e718b8b0025fc2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b6e5b3af1ae83b20843920af1d637eb5202eba268bc1cefa2ed1055d6dac71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68cb1cdc7d4aead208af3681254471d2ffc4e1c77bdd2f3b7cc992fd39ba8d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG77iBZ4bhXOekVQXG1MBaf2WH1cFb-vIAutTlKuCarNp6uRYTULLFqnGsm1ephyTcjy6vlZb8T8wx57Ni7xIBx7THGK2EsBwJcBUDlskcXc0KGqPODUNHZxgAcbONFk8zKEKL_v_qPca_MSjF_nNNeHyEUcu0rtX_uqxMhptxvf8XhlYUYOzG7JyM6HRtUwPOostQhtGw3zRku-5zhQFL-j7BxlMY5Xf0VJOPkR-YODohJK6CoUG_UR3XbYy19XZjKQc-R7TBbxsdgA7_1jw0nygC-57TZytfOScOGE5ESVYAnplF6SoyOYQLNVnaksfauRdcEM8kk4n1ogCF6cXZDsVWzKUGiDkD70K35fW4oJZvrwi8E_xrjj5jjORlqYr4hd1340SIeBavrB2pKbW9tUUdcplnwchnSdMlBOM98pX-Wx8J6ho8WCGd2E2-8C9zeSNl3yzzTbeoDBpKWuYmuyk13ZEZrHirtEpMHnadYZojuT2uyUs7gtzaLPU4jozlImWPb7hPLbE8NLP1_oqxDUW2bYm-zGAJlxRx6xCaQht1jHN_R1kp3pSWhJLe_TRGtUN5bYd-UJ_von9Cwxda6ghN3DXwt2fMOjLoIkOQr4oTXSALajBs8y9Cdy9c2zrNQ-pOMTrzBgXpiYnQpLe2R9lzzszAo6YdKmjBMHsxkaHhkL7nmB8D7unFZqVWF7yEp0KcdPYwDmq9aglc49IbGbVuCyT1b9RUg4xQThfPKgThK3vrpawDpLwnAUD-kH8CDMsJZVXxJRw2d04WZZTq1T_1eUdncDZex9K_jedeIsBithdB8NkyldFd_PASQI4fY5PJ6pGmds7kBD2gpS8VwH7QKJpNwyY8l5yobuzcq_xoi7NH2sEvpaFu2iunitMlyrrkdvx6VEfGjiR3CaskqMOyALi20nmWsEBu0MAl489bBfeNT6BQdkzLHCPVN-zng46sivzihnez9ACg44My0X6yvTfUgxQGN_nxKcYeD7cua4xVs6dea0OqEOoI7UnjkDXYnSZUsiDz6esKe_e12OTlhJjLQ997JwiSIbtzHUlyw0LXQOPwHtEQ-_vSSoFtZJP_qjbPh8ShAi-vQx6Y-rDG2ZBMbp-1UpkDxKyHLS8eUm2q7Pt8B0h-eVD7jrqp4pSX3Tu4MGz0EcUpyzsHBCg8jdzsLp48mEYI3gJp_i4CNzWRBj2Y7z833VBUOJgzBaQLtoGFPbAJHPRvbbgrr47Q==",
  "id": "rs_020bc5bf08716e1a016ab46efac93087d08874b5d27546c862",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cream plush is between the lowered jaws, with the yellow pen outside the grasp. I’ll close on the plush.\"}",
  "call_id": "call_SR5dwDEmIO6R7MOoVGqF5myS",
  "id": "fc_020bc5bf08716e1a016ab46efb159c87d08e037469dcfa113e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SR5dwDEmIO6R7MOoVGqF5myS",
  "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]: [-0.8154, 1.6531, 0.4282, 0.2928, -0.8307, -0.6281, 0.4937, -0.0208, 0.8268, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1222 left_z=0.0132 left_yaw=0.1589 left_pitch=-0.0135 left_roll=0.1426 left_gripper=0.4937 right_x=0.2886 right_y=0.0009 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0858 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.188, 4.8615, 0.9304, -0.1685, -0.1978, 1.0085, -0.0342, -1.4838, 7.0085, 1.6484, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c4c1264f7d1710c6d3df03966b443cd951f56e780d34c2c500528ecc1c1045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864827a3ae44311122932733821f5316ae9451f4f36255dcd4d3a27fc0e20a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3275d19f9460d67f95aaa1dd4691d72e3790787dbd345b1caae88fcecde9317d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.777 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.9434, 1.4799, 0.173, -0.551, -0.1059, 0.9952, -0.0208, 0.815, 0.6079, -0.4103, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5716 left_y=-0.1076 left_z=0.2391 left_yaw=0.1743 left_pitch=0.318 left_roll=0.0685 left_gripper=0.9952 right_x=0.2924 right_y=0.0008 right_z=0.1698 right_yaw=0.0008 right_pitch=-0.0469 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -11.0564, 6.9538, 1.9707, -0.0708, 0.0806, -0.149, -0.1026, -1.306, 7.1863, 1.6777, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 1.644, 0.437, 0.2619, -0.8082, -0.6441, 0.9968, -0.0208, 0.8257, 0.6525, -0.482, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=-0.1259 left_z=0.0121 left_yaw=0.1503 left_pitch=-0.0346 left_roll=0.1297 left_gripper=0.9968 right_x=0.2885 right_y=0.0009 right_z=0.1728 right_yaw=0.0023 right_pitch=-0.0847 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.6274, 4.1231, 1.5458, -0.1245, -0.0952, 0.0024, -0.1846, -1.388, 6.7214, 1.6532, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.6531, 0.4282, 0.2928, -0.8307, -0.6281, 0.4937, -0.0208, 0.8268, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1222 left_z=0.0132 left_yaw=0.1589 left_pitch=-0.0135 left_roll=0.1426 left_gripper=0.4937 right_x=0.2886 right_y=0.0009 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0858 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.188, 4.8615, 0.9304, -0.1685, -0.1978, 1.0085, -0.0342, -1.4838, 7.0085, 1.6484, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c4c1264f7d1710c6d3df03966b443cd951f56e780d34c2c500528ecc1c1045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864827a3ae44311122932733821f5316ae9451f4f36255dcd4d3a27fc0e20a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3275d19f9460d67f95aaa1dd4691d72e3790787dbd345b1caae88fcecde9317d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper stopped at a substantial width around the plush. I’ll lift it briefly to confirm a secure hold.\"}",
  "call_id": "call_qtFhQiVrYiROcMGUdJuFz97D",
  "id": "fc_020bc5bf08716e1a016ab46efdf93887d08eec5f507a92a763",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qtFhQiVrYiROcMGUdJuFz97D",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.4017, 0.54, -0.0307, -0.8242, -0.6281, 0.4942, -0.0208, 0.8295, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3027 left_y=-0.1268 left_z=0.0775 left_yaw=0.1555 left_pitch=0.0046 left_roll=0.1069 left_gripper=0.4942 right_x=0.2887 right_y=0.0009 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0885 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4359, 7.5145, 1.2283, -0.4225, -0.0366, 0.8034, -0.1573, -1.2239, 6.9402, 1.7118, -0.0513, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8beec3ee6ae69fb05646d130f35ae92cacf3db3eefa0f1802a11f41f74a7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab24d28efea9ceb706f80468c51fd516d60aa4efd0c443c58006da39bacc616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6cfd0096b3755de46facf11016d5f3c5f97f360be07ca39fda384b61522a6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.232 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 50 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9363, 1.4155, 0.8917, -0.437, -0.865, -0.7704, 0.9967, -0.0208, 0.8253, 0.6495, -0.482, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=-0.1816 left_z=0.151 left_yaw=0.134 left_pitch=0.004 left_roll=0.0618 left_gripper=0.9967 right_x=0.2881 right_y=0.0009 right_z=0.1715 right_yaw=0.0022 right_pitch=-0.0873 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0496, 5.6821, 1.0867, -0.5299, -0.0513, 0.1392, -0.0615, -1.0188, 10.6462, 1.6093, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.6531, 0.4282, 0.2928, -0.8307, -0.6281, 0.4937, -0.0208, 0.8268, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1222 left_z=0.0132 left_yaw=0.1589 left_pitch=-0.0135 left_roll=0.1426 left_gripper=0.4937 right_x=0.2886 right_y=0.0009 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0858 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.188, 4.8615, 0.9304, -0.1685, -0.1978, 1.0085, -0.0342, -1.4838, 7.0085, 1.6484, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.4017, 0.54, -0.0307, -0.8242, -0.6281, 0.4942, -0.0208, 0.8295, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3027 left_y=-0.1268 left_z=0.0775 left_yaw=0.1555 left_pitch=0.0046 left_roll=0.1069 left_gripper=0.4942 right_x=0.2887 right_y=0.0009 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0885 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4359, 7.5145, 1.2283, -0.4225, -0.0366, 0.8034, -0.1573, -1.2239, 6.9402, 1.7118, -0.0513, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8beec3ee6ae69fb05646d130f35ae92cacf3db3eefa0f1802a11f41f74a7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab24d28efea9ceb706f80468c51fd516d60aa4efd0c443c58006da39bacc616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6cfd0096b3755de46facf11016d5f3c5f97f360be07ca39fda384b61522a6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8CLeSfYXOetVFeOUhL_Vqi7ofKfu4hvOG66lU0amykHVY40nFIcEnA4yB7YrfrABigcHHeuFy_cKo9llOYv8p5kDDhfJKoMXJ4jfHzI-TuI4xGlj790guXk_EvXHn8Zr0CaVk-68fLcQnJWKgddq92FcSUXJWzcqdHFaBiLpQlbj1N0-Lp197SXoFnPNsaGMQ8ejKT8hyJnF3gKM2oeduvtbH1qleVvq0PsqYw7mkklbLTZOZuxt_ukIQioKFJEu2g0vohMXaki38MC5j-UoBKPFDPmUhaE8QJBhBAc80YJtH8Wtcqwcg91HSIR2eCmveiI5t2JwRHqszoidK8v3ystEnspA7K7mLDzaTTbUv3voncgncVmjn93HptP6kOLfqAs7P9JuvrDA7iJ83hw4TEzGLQ-0mDeuZ43Na5jFOHjYriT69yADWAUlfYK5oAzJ73QX3mbBzUzrgKS82dkCC5yQm9AoHarHybBdyY_B-v6a1Zi024kGZeQ-rKw3t3hv_rPts9rU28Tqr2H9mRK2lUjp6_CIKsDT4a5OQlLnmNqjQeJ03EqG-xIxXIjnldge8Icsp-PPw2TuomQUobHgU-_31y_vovR6LV-0F-HEfT3SxtXZFoVpraVvX7yJ6I28rct1kNrnaiVXKwTUGEA_PnQMWVtr-h0nSrd88piM8HQUZQ4BIZ1KBCBbV5qmIcF6sSm8MAlt3SmlxLpfnjlDtNtUM1UwpZHoyUHGYCPJebHg-vUl1UmetqmwIfkQqkor7VBCQiEiwFQsx61McAuI5e92VAVLkDGDrmBohgRSQOPiumOwU1iEKnj39thKjHVVW9xQiSU4xkAGQskS4Q2rtLP3RhXNsPKj8HSwuHfugj_Nt8LGGerFLAg_2QKp6GH-WqKl_ufKk1wErqiSpBXjWKKYQJ_K6w0c73CgqMqIDANCeMEVc_dAt-QgqpVI8yk_TvWQdnv3KE_VFLI0WRMzENdSm4bPLR6vKNgVStVTlbLIVUqJx-2IN_VI6dq8J4Iny2Xehbyz7iLSFfT5-sp0hERUXFZg0DX81ImYTpzAQc6VOa1oxLmzKQ34rS4hAs_WkqbSTqWyv7QvXnRXaGnmdEeFtEIMN2jfP-1OErw50Hjg39RFU6O-v0T1e-GCL_ay0F-zyS4T9P1Wpt7cIc6wD2ykYEPmh9fl5C5PAuK7-jWzc8Ex0Z5dby6PYiyXvqL3JUiLBT5RpSJ8yNW__aODcs6F341SaUnFnkj40Wh421SPKTNXm750_oTOX_VrvCacEIclfG2C35GRN2Qd94Q7SPPhjfjbN3wUqZD4nZXlrVliixSPY2f9VKJPxtjzFe3qoLDd0MQKzQv0euLzV9wD4oci_DKS7zDERUFqGsibPdfgRwYASyGOm0JxDzRmPcL57ZNQPavHp4xyapYq1IXjY9yYdzcGpr8konaRZLZiUGZwImSFuOJW2vEV0iToz19fV8a79INE4CyWB2ThcBcSUALzQ3pFhPA4EHsqIxmAKsoIc=",
  "id": "rs_020bc5bf08716e1a016ab46f009d1887d091ec41bc6bd37e46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_y\":-0.12,\"left_z\":0.29,\"left_pitch\":0.45},\"note\":\"The cream plush has lifted off the table. I’ll carry it above the left basket using the higher clearance that avoided the rim on the first placement.\"}",
  "call_id": "call_9m2YmzPPiQFijLn9fpiSfvlF",
  "id": "fc_020bc5bf08716e1a016ab46f01ec2c87d09992775a285ee3e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9m2YmzPPiQFijLn9fpiSfvlF",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.9255, 1.4891, 0.2417, -0.6197, -0.0345, 0.4962, -0.0208, 0.8314, 0.6525, -0.4831, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5673 left_y=-0.1161 left_z=0.2692 left_yaw=0.1794 left_pitch=0.4046 left_roll=0.1051 left_gripper=0.4962 right_x=0.2887 right_y=0.0009 right_z=0.171 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -10.6325, 9.0051, 1.873, 0.0024, 0.1343, 0.188, -0.1983, -1.3333, 7.0906, 1.6728, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73af7a3481461ecca402db26c97e60b0d410ba219ff71303b9ebc07d67483391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516d7be8e5fa19e3f8d52c551d74e84adb739bb97d9508ad367a93fee0dbd807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7942e2fc47b0efd04d04ecbaa9070c0409ffe041082b1a1d50e1d3b07c17d1d",
      "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 · 5.021 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 50 changed as sent

message 54 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 1.644, 0.437, 0.2619, -0.8082, -0.6441, 0.9968, -0.0208, 0.8257, 0.6525, -0.482, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=-0.1259 left_z=0.0121 left_yaw=0.1503 left_pitch=-0.0346 left_roll=0.1297 left_gripper=0.9968 right_x=0.2885 right_y=0.0009 right_z=0.1728 right_yaw=0.0023 right_pitch=-0.0847 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.253, -5.6274, 4.1231, 1.5458, -0.1245, -0.0952, 0.0024, -0.1846, -1.388, 6.7214, 1.6532, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.4017, 0.54, -0.0307, -0.8242, -0.6281, 0.4942, -0.0208, 0.8295, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3027 left_y=-0.1268 left_z=0.0775 left_yaw=0.1555 left_pitch=0.0046 left_roll=0.1069 left_gripper=0.4942 right_x=0.2887 right_y=0.0009 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0885 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4359, 7.5145, 1.2283, -0.4225, -0.0366, 0.8034, -0.1573, -1.2239, 6.9402, 1.7118, -0.0513, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.9255, 1.4891, 0.2417, -0.6197, -0.0345, 0.4962, -0.0208, 0.8314, 0.6525, -0.4831, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5673 left_y=-0.1161 left_z=0.2692 left_yaw=0.1794 left_pitch=0.4046 left_roll=0.1051 left_gripper=0.4962 right_x=0.2887 right_y=0.0009 right_z=0.171 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -10.6325, 9.0051, 1.873, 0.0024, 0.1343, 0.188, -0.1983, -1.3333, 7.0906, 1.6728, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73af7a3481461ecca402db26c97e60b0d410ba219ff71303b9ebc07d67483391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516d7be8e5fa19e3f8d52c551d74e84adb739bb97d9508ad367a93fee0dbd807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7942e2fc47b0efd04d04ecbaa9070c0409ffe041082b1a1d50e1d3b07c17d1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The second plush is held over the left basket. I’ll release it alongside the first one.\"}",
  "call_id": "call_B6q5C3xC2DKFSrHnLQjF1KKA",
  "id": "fc_020bc5bf08716e1a016ab46f064d3487d08f180038cd2bb03c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B6q5C3xC2DKFSrHnLQjF1KKA",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.9377, 1.491, 0.2298, -0.6205, -0.041, 0.9956, -0.0208, 0.8326, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.569 left_y=-0.1146 left_z=0.2609 left_yaw=0.1823 left_pitch=0.3864 left_roll=0.1112 left_gripper=0.9956 right_x=0.2889 right_y=0.0009 right_z=0.1709 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -12.0, 6.9265, 1.9658, -0.1245, 0.0171, -0.1978, -0.0889, -1.5111, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79025163a053f1a492526e1774da646e8242b068e8ccb29718a785255005c8a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4dda1e064a7ff87af2b47940ceffa0e0b10600dccb42974dd0f1b62c772b6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c574e3a8a1dc20edb46b5cfd033e87e7c2aa85797bc6de406baceff837805f49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 8.816 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 54 changed as sent

message 57 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.6531, 0.4282, 0.2928, -0.8307, -0.6281, 0.4937, -0.0208, 0.8268, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1222 left_z=0.0132 left_yaw=0.1589 left_pitch=-0.0135 left_roll=0.1426 left_gripper=0.4937 right_x=0.2886 right_y=0.0009 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0858 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.188, 4.8615, 0.9304, -0.1685, -0.1978, 1.0085, -0.0342, -1.4838, 7.0085, 1.6484, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.9255, 1.4891, 0.2417, -0.6197, -0.0345, 0.4962, -0.0208, 0.8314, 0.6525, -0.4831, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5673 left_y=-0.1161 left_z=0.2692 left_yaw=0.1794 left_pitch=0.4046 left_roll=0.1051 left_gripper=0.4962 right_x=0.2887 right_y=0.0009 right_z=0.171 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -10.6325, 9.0051, 1.873, 0.0024, 0.1343, 0.188, -0.1983, -1.3333, 7.0906, 1.6728, -0.0269, -0.0269, -0.0171]",
      "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]: [-0.3828, 1.9377, 1.491, 0.2298, -0.6205, -0.041, 0.9956, -0.0208, 0.8326, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.569 left_y=-0.1146 left_z=0.2609 left_yaw=0.1823 left_pitch=0.3864 left_roll=0.1112 left_gripper=0.9956 right_x=0.2889 right_y=0.0009 right_z=0.1709 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -12.0, 6.9265, 1.9658, -0.1245, 0.0171, -0.1978, -0.0889, -1.5111, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79025163a053f1a492526e1774da646e8242b068e8ccb29718a785255005c8a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4dda1e064a7ff87af2b47940ceffa0e0b10600dccb42974dd0f1b62c772b6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c574e3a8a1dc20edb46b5cfd033e87e7c2aa85797bc6de406baceff837805f49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8Mhu2VjQv7_WejV4XC2kV9aF4XESfRayMnrSWwXNxcfFpsrcRvTYpufryvbaamig5b-KFz9lY7M-yz5bSCzAGMDOdY4_O4ORRtdhYk8BkOeRckB_uEVDRyAlndOzXElAbdtsCcPNPHeAYKFWxaCXR-LI-8ogNNfUI5Rilj2KhB6Ay1ISnoLgwb1eKW_2yr4cmCJHQWPEoD1PRYEcZ4nC6o0YuXLKqGtvHdd_gYCElmbMo_RSXSBrYBXsb_JdDuOTB12d1L1hHLj8m36nSQ3URqoBgfh7fPzvS-49bINifJYLn0odcXfyBo-9OfBS8BkBiWw8k6mUg96WfCU0yjQiOlmKm9xEzWoV9uSHH3Yan7cLl6-kxX3_oOyy3Xu66sylnsw71P3E-1PArxAG1dIHNk2ead03yLLTeeoIuBDwKyiQuTylhqvttPU0TKpdoCpNx7sYVPNTm7tuAhqs2v5dQVeSWa-aswBEC5oXqRGsv5eN7IaeNEDZ7Clrb-gNMyPRYzyHtS4U4ttWRThKQofSh-YZ__VtT5VWj9o4KKEEDQarMcGuKSExa9rcQ9AfYV3E95Ubk3Gdln9fRsonRymCsH997DIKyLysSHSbROJCYGK5eesu0Pr0EVT__HxILwfRQanAP0lu-66ctjcvYmV_zpgnKR93UcwXIOS_c_O2OZxRurKV5UVfV4NcODqbz2SSG-eodA9Z8Tgd1IlUwIxWmzuu8IMma0ArIW5Y9c-_ZnLFZLNZIec5xsENZxsmMv9j5dA-RZ_I2HE0gn5MNIDPkODTzAbVPw9WKxiR8FRVYy_BN9QxczzG3a8HuoveMwZwuLm8Q3pA0CssYsTM1MveUtQOLJTtnS2ronX0Qv2RP0Qx6hR_up63ZiptWnaJEH74stlSL2A0EVlopuIgPyLYg27L9y_eYLJWRLObnekjilExTB40SNuzkS0KNlOwtxNWulliKFW4kFMULI4Lb5akyV1Owj2WhKbrqCnCAEvxu3TgN692_to-UP_GaBL9W_4wuT2Qt1S59ondPr1f2EERSAQ3Lw_ddetgaskcnS9T7khHidclCVrFIBnZn8YaRmal_cYnL7kuqOvWRC7TgwsQuFiOCi0eRglbCp9LqUvN66T8tu0Et3kIMWLmFafhkwHE0PfhAMhqdNgsrFuauBKKeJOWNrL3qfMBxy7nq8oW1MboFn8orvZHRXdsL2LuizukgGMDDsXZsyBhnec0k9EtTjvgo_ZNNIL9Jv93_WlV6BgSYISUGTzXkvuhqdw9YRkB-FEe3__wi6XBs6crsqHOvgxowSoYR9HK1KUDjohKH4dt6vryo33EiU2vSHnAXtpCKHqhV4mJ2RN6akJ8aIBKLgitok-vc4DoEueRK5IAKeVOqQcUl9Bd_C60OQmCe2MZ1cfCCi3XaFa7TL6JfxnKDwBnLO-v9CqvkKwXJRc4JoJketoJ73L3zWNJO_Wj88Sts9072aET0TIdhP2TNr7gJFVyVrtnmesLvIYNizGYJ477Q1nFGGJBCiYRqvgOuouyeAXNcf_Hgm0Gv46M1iuOpGlZcmYirJU7IWgE_aOACL7kkj8eqEiDZTLr_vRlVJ53B4jZ10SFX61483Lbsc3QbrIPAdwhwMaK9VKTP180TVpd9IjHYAAFlvzetahO1isQlEIJAjSnv5AHOkHdX3OKPMgA==",
  "id": "rs_020bc5bf08716e1a016ab46f094c1087d0902b27cf43a34eab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.005,\"left_z\":0.15,\"left_pitch\":0,\"left_yaw\":0,\"left_roll\":0,\"right_z\":0.195},\"note\":\"Two plush toys are at the left basket. I’m returning to the gray plush on the left side of the table for the last toy pickup.\"}",
  "call_id": "call_xZKyjDLDHDtMRs1JbqQR1KVI",
  "id": "fc_020bc5bf08716e1a016ab46f0b452087d0a4962662381632d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xZKyjDLDHDtMRs1JbqQR1KVI",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.07, 0.9619, 0.5385, -0.112, -0.1066, -0.0761, 0.9967, -0.0208, 0.8474, 0.7158, -0.5674, -0.0189, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3293 left_y=-0.0006 left_z=0.1574 left_yaw=0.0454 left_pitch=0.0341 left_roll=0.0022 left_gripper=0.9967 right_x=0.285 right_y=0.001 right_z=0.1786 right_yaw=0.0027 right_pitch=-0.1285 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -2.4, 7.2274, 1.8193, 0.0757, 0.1587, 0.1099, -0.1299, -1.3197, 10.2906, 1.5702, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db9de2852ea0d1d9bba07231e5d3f37f73482a46ccd1b645b11fdc383069ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f173df839cdf94771c4bcb441eba48a4dc9424f792990d3be99f0daf10b5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64b45b148947d5ab2a499ad6110e7a7d408a989a7962087b772d021b6e644e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.374 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 57 changed as sent

message 61 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.4017, 0.54, -0.0307, -0.8242, -0.6281, 0.4942, -0.0208, 0.8295, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3027 left_y=-0.1268 left_z=0.0775 left_yaw=0.1555 left_pitch=0.0046 left_roll=0.1069 left_gripper=0.4942 right_x=0.2887 right_y=0.0009 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0885 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4359, 7.5145, 1.2283, -0.4225, -0.0366, 0.8034, -0.1573, -1.2239, 6.9402, 1.7118, -0.0513, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3828, 1.9377, 1.491, 0.2298, -0.6205, -0.041, 0.9956, -0.0208, 0.8326, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.569 left_y=-0.1146 left_z=0.2609 left_yaw=0.1823 left_pitch=0.3864 left_roll=0.1112 left_gripper=0.9956 right_x=0.2889 right_y=0.0009 right_z=0.1709 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -12.0, 6.9265, 1.9658, -0.1245, 0.0171, -0.1978, -0.0889, -1.5111, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "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]: [-0.07, 0.9619, 0.5385, -0.112, -0.1066, -0.0761, 0.9967, -0.0208, 0.8474, 0.7158, -0.5674, -0.0189, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3293 left_y=-0.0006 left_z=0.1574 left_yaw=0.0454 left_pitch=0.0341 left_roll=0.0022 left_gripper=0.9967 right_x=0.285 right_y=0.001 right_z=0.1786 right_yaw=0.0027 right_pitch=-0.1285 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -2.4, 7.2274, 1.8193, 0.0757, 0.1587, 0.1099, -0.1299, -1.3197, 10.2906, 1.5702, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db9de2852ea0d1d9bba07231e5d3f37f73482a46ccd1b645b11fdc383069ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f173df839cdf94771c4bcb441eba48a4dc9424f792990d3be99f0daf10b5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64b45b148947d5ab2a499ad6110e7a7d408a989a7962087b772d021b6e644e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8XJ3hEv__qzvh6oxbTmbW8C37fUf1L-zXLovMeMOH_bCgMF--yt6nTda8ZYIjCJxfPQBLbxO-4JT0PAifFaJ6ASM9NXHPrePzuARdh044N_Pv_YIUKYtqos6Xr8LjmeRxiAc3BwueWl91hYqnycoQlpXhpX-r8xJ7dEWqN5Or0QsKGz0P4zTX6OWJnsmaLBj-Eue2KwFCu8bR4oNri2yW7EjOriKXsphogDkqQ9HyuMYgci82Ai0L6yuFlvyzvHwBhsoskWEIjIaV4ONhIlW8h1kNQwzppIS-l27q890xaweRDymhZ7Po2-KL66Iof6S5LeKFPZq57_WwqRaN2oAJ2iz99D2SSz4wdTDM5yaQhscGgDFzfG7vap2KnL3Wt9MKLj8u8AFVCcUKbUAVbHK4f77bMdB1OO0J2wvMtpMVSXOKeMjQK6E6GoUKDAa7b0rIhzoOnVUWHdla2hbhMrlR-TMpr9Sm0if3kAF5ek9ectbTUa35MmaT3GFi9m8870BHWuqq1gsx-aKjWJsj7-hP2r3lREbEKqmvmcrbtQnTR5AsA79Wqo3or3rCnZFLBDCW26ePtTV58jJ6X8r1ZYpSFGqC5Tc5AAbuDjulmEiX4Oiq-BNhQCs13dMfZJPbFuVlUo9UKNWTxZFrZzl8LvoRHRgqytDjsFv3MZm8tbIW-YyPG-lwg88UCPFZXJ0ElUP7lWO7OIsCafkXt4bc37tQB8Lf-1Pn52Qqpq44DIcsNVsfeBUbBotsMiRRz4dh0xgFggSb6gwZGDU5z_7_QHp6Fflyi4fDy5wUcrCIaW2vrxGzgUFxPg-OHI-TVYCBFb4ShvXqXMnkhFAyzg4V4f1htblcoCHzIEuBvAVx1k6d5K39M8a5bIU0qkHGM591iwvWj3_C_d_WmCRDXYAZWp2Snm6XMEu15OrHs-diWNUCl6pYqn-jihT6y6vYpx7qdS5MIQ-Vi4CS_M8Q7d1hNisIcaBZ-8XYr4osCYJl0h4gFFhMFLShKlAoyYy-nblJ0_-l6YIbHCHSjAUASen5HXUPw4yh-NOT4J2D4mv2dEFEmo05fEv_mUE4A7qj0w7bI-q28zvZK_7-9EXIogex1_dVyhKD1OjmMC4neu99EPgmpD_PDyKyE3wP-0HNqyCmx3Q0P07MTr9F5mwPEna9UPhTC5LIed2Gh0IxAMws924VorTcmxRaYQKERPrbhNf9x4tViDn97CLvbF4skLCCe3qNSXwQraqXFXmI945ZehACG6IbIyUDW2reiFlSgi1k_mEoLXoU8PRTQjA4OyWg4yhu5uropcZQDd5yt44EZVCm3ef2nbaqYxQ-2jrh8kIjWzUP1GfF6j_Q4fMSFsBprpQf7-9fGV4S-FA_XaxTzsisoDKUCXd7xUQOG0H65SgCZfRBGw_8E2oUu-L1Ko5zpExTXUAZ-g18l5s1Bkn4qA6jk4-b7lPrD8DXJEGRsFP_0rVLdpmky9dQ5mx10ukwM4qtHiWjHKeIhQvZe9YP_yE5GIxkptEezwLdWrs71jvwo3tZWpX64TPWNA8KUzkUNsdx03RYaeZms67U06HlXdYW5u-UpNOCkv4UEJUUD3K_cbTXeXWpf6mA30BnqGsBIXvZ-MfIFqjHxtUGhO7UgcHVVIQxUJ8kfNQ8FOOTIZ5r5_hkFMF838FsZxfM6v0LB_1p38OhnxMiDJzTiq95COQvI50om_RlhGf1mkjzPy5NU25EsoWFeM4KVDn1568dMS8PtLGdY6BRxDHdWJF0mYX2CQaCfsbXo5sdILu8TzRyvNDYo0CdO4es75kZDHejalEDQkQYOalSOmJModsx_70g2Pnrc_FzgmFVNLNMIM3JjkvNHBXSrASa70fCT5LH08rty0no8CilmX46-dRdzDXIGloEgXbyGdWXTT3aMdl44arGHJvzS7Yx1QdZixWYnKbJzUjE4VJiEtAxBZMA3WcngSsr2gx5VLuD0mXIUszWZ7NvhhOOUn3LlOqfArt3a-8yDMjNWzg7GotZTYFMwvKItEBPs6IPABB_Qs6FYgt8tcyD4tfxeqdZ0sStIann92ihXHwLbh5EnNd2MmPspeP3JzuYAFKztoZV94LOaPt723Vo4GknvWUtoiLmvMzs4DWqvM9Sba8TJiVRbkMRrIMtN7P5gsF02aoRMZJysssEqvTdBOJlxSYPVITU6x031LzUFi0F3MAipBqjsvqjNdvFy-cw6YTIgfsACGtvX538pb_o121t5N7iPOcN-nA4BHUoyRu1IAzTNt5Jh2krXTjn1IsWmmOgq0uvcByTo0dOsemxgZ8RqOrC5SddTnepQb8ljkZhX-zkziwvYVy25dhCZ0sBi6dAlJmFqLKv8yoT2oLmWadSMkD16ANVpAODX7OQnfcPYFSepIWCiyXU3aRHhd7s7zrMeVWRm6QaHLd7hr6PBSRwj5RYK5jClBueGi5OSisMwSkjUyKDh45yh28_xDauXbek7zOeRlbMqzMgSqyZi0zVZfucAivM6RUs6LG2uH7RPflnPos6Ntb0z187XrkVqoGDpLkRIc--nB5G7gaGvKQ3wL2kSEJ-DKjmUFCi6dWFKbpqwQgSsKlD7gVFfhaQWiwR46COy9JAp_ipl-7NQLUKWMCGNA5YoXcvEeeauIcPQPbE65OzitJu4hY9XTwt62ZrBBavDha98Ea_PJ5_-V_oWUtJZrI3Ic574t8eB2QlmKQ4dMUthQHJ0WG2zprczBgRys-xqp4s8q0pvH3av3YWnYdpYJ8ZYRQjvXlvMiqpyXMW62gbQcQpXiOqWj3fPSz6QjFsALNDJTBQ66FeNi29DhaYwrEVmcz3gYTQxHOdrFYTndMIbONrKq_ttec4tYz4F9t7yiWJDS_yjr5ncDal9JOInEh-O0eKTt2s_emRmGdrNwkTxe5tVUbcTKXpfaJHtk86r84aOmQ2F7RblH5WV6aZk-3OYj_WPZrGnQ9QxbvvD2U4SHM_qmXvurKb6JjpC4RaLhaI2A9rgTMA00szsbwvYvPrrKOrM8mNoH7uk1pweTrR9aM6vnOQ1wHGwgl0F8xVo2ZtPo8qD5w4XZ3-g4SfTBo8reisX2sR49kahLM9HHI02aQvCKwxKGwX_dk8-KJcM3FwdlNwsCSACPScNMqZ1m6EcyunfJciEixeZ4Bb3M1wGR16uhLAj8Iz7_fr98U4_F4NSBvqD_7ET",
  "id": "rs_020bc5bf08716e1a016ab46f0ffce087d0bbd27d027bb337d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.025,\"left_z\":0.02},\"note\":\"The gray plush is beneath the left side of the open jaws. A small brown-and-cream toy is also still on the table, so I’ll collect it after this pickup.\"}",
  "call_id": "call_5p7ioaMnx1HN7865vtAt4Nja",
  "id": "fc_020bc5bf08716e1a016ab46f164ab887d090c062f4d19fb1e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5p7ioaMnx1HN7865vtAt4Nja",
  "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]: [0.0658, 1.4799, 0.202, 0.799, -0.0368, 0.0128, 0.9968, -0.0208, 0.8528, 0.7136, -0.5682, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=0.0326 left_z=0.0442 left_yaw=0.0746 left_pitch=0.0867 left_roll=0.0427 left_gripper=0.9968 right_x=0.285 right_y=0.0009 right_z=0.1761 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.4684, 1.7573, 0.3492, 0.5397, -0.4371, -0.0024, -0.0342, -1.5932, 7.0906, 1.6825, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b57ff68016c4378148337e8e094cf1b33ed98e70f295a26e4c49e0cd6d2889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3bbf627f91f742fa32333040677c3cdc57c9e442ca4b6bb6d218bee21e8492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648a44045c932c6ffb4cee845aac76297ac54e1ce0e1ca4eb964a7f63e0fbbe5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.591 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 61 changed as sent

message 65 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.9255, 1.4891, 0.2417, -0.6197, -0.0345, 0.4962, -0.0208, 0.8314, 0.6525, -0.4831, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5673 left_y=-0.1161 left_z=0.2692 left_yaw=0.1794 left_pitch=0.4046 left_roll=0.1051 left_gripper=0.4962 right_x=0.2887 right_y=0.0009 right_z=0.171 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -10.6325, 9.0051, 1.873, 0.0024, 0.1343, 0.188, -0.1983, -1.3333, 7.0906, 1.6728, -0.0269, -0.0269, -0.0171]",
      "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]: [-0.07, 0.9619, 0.5385, -0.112, -0.1066, -0.0761, 0.9967, -0.0208, 0.8474, 0.7158, -0.5674, -0.0189, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3293 left_y=-0.0006 left_z=0.1574 left_yaw=0.0454 left_pitch=0.0341 left_roll=0.0022 left_gripper=0.9967 right_x=0.285 right_y=0.001 right_z=0.1786 right_yaw=0.0027 right_pitch=-0.1285 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -2.4, 7.2274, 1.8193, 0.0757, 0.1587, 0.1099, -0.1299, -1.3197, 10.2906, 1.5702, -0.0269, -0.0513, -0.0171]",
      "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]: [0.0658, 1.4799, 0.202, 0.799, -0.0368, 0.0128, 0.9968, -0.0208, 0.8528, 0.7136, -0.5682, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=0.0326 left_z=0.0442 left_yaw=0.0746 left_pitch=0.0867 left_roll=0.0427 left_gripper=0.9968 right_x=0.285 right_y=0.0009 right_z=0.1761 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.4684, 1.7573, 0.3492, 0.5397, -0.4371, -0.0024, -0.0342, -1.5932, 7.0906, 1.6825, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b57ff68016c4378148337e8e094cf1b33ed98e70f295a26e4c49e0cd6d2889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3bbf627f91f742fa32333040677c3cdc57c9e442ca4b6bb6d218bee21e8492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648a44045c932c6ffb4cee845aac76297ac54e1ce0e1ca4eb964a7f63e0fbbe5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8aWjjbTackpgpjRoUKFLuoPH0xbmfpHbeBuTsyd3w_5WLC86FcsZFnzgXNSN12uXaXkQ8VaRlIy-OTC50lzktOb_MyXhQSK3hbvgx-IfIsHhPLydtSJpb1VwRYI5GNY-Grh5I9S8EOpw9QxZ-7LSHhG5UB01KnEKFw1hGt8W86_AaDXdsCGz5mqQzAYeeOBLoDXnGdjaoer2djnA4wqZPuD9kIK-UJEIxHeqFs5fX204FlhhEUL8o2nFEdelg5zbm8SlixHBwl6BOUkrg5khrjJ1zMjOcZoeW9nZTZP7xRZO5IB7YmFraW8xwUmGJKeppUvn9Sg_ECEcuMc7AAW2uuD54GKSHblwd6naBA9uFFKmUfQdy25qsvOmpTukw4RTDiMpZSVaE1Dt13qhSvjHVmWXD2c85ZcNac-qnlwqqRBXmMz9IKMqbhnKljkCE4obyeQ9KDotQ8JiM1CKZnz2XM8DNIXfHmazWlZ-jcmnOOSYYCIX0_klonGiLiR-sKfqG_tnYJYzfRMr5zVWUCrlAOPCCDkhBayk8DN1KNAdNFa_b8OGasWpP2FaY-gCb0-EAs8QeaPRrnXU0PrwyKErN2VenAjSYzI5OcX0mSCH65ng2Hza5CKp8PfOfZoRny7R6VnTkvJeNzXd3JVb5PkHET85qrBENobTzAbN_MI7GQIC_So3DseRfz_Gv1IhTB-maSlo4GuUzVDXOcCfXcMjsFyFhIWoW4P2C3MMYtxUZF1cP8VKWVt175iNOqyHGVTc7JuKNhmRHzO5_oiS5ov3FEM55DfG-F_1Thyp-VdgKo0hPQe0914h9yXOoIEMESmG0YWc2GcghXrmZlFAT09UNLf3EVN2zhDuwgZl0LReQlJJ0YS1plvwStagr3-QsxiHEzClzQnJ98JLUra0uu6gDt43wxyHQkSX-2eVpdrbR0lMnBBaosSfpv9cw74C1vBMbDLW6GhMG0CA0hEcfu8tlLkDAWQv3YB3XSe2_u3vvtnOkNFJKU--J7vwREpI7JyRboh5mUBH5sE1dNVuPHXTSHG1ayMBfELGV-H5lbO_5yEtUcqSknIQOxxg9zIajm6pYnNKatbmqZSlcKknZmrTiJsHXu9Zo7ad-bk0zFsRMmB6i8YBJcRyBYpnlN19YOpdxbMOV3KoCLWu6HRiMCgI3bj2iwA6aLcbIuJhRwoAlq52dRW8lxv3DyBL_MM-OhON8urTSycVQAOdqppakgAe79XQ==",
  "id": "rs_020bc5bf08716e1a016ab46f19ab1c87d097c2c5662adf2ad8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lowered fingers surround the gray plush, and the descent has stopped against it. I’ll close around its body.\"}",
  "call_id": "call_rSfUIkjJLgCrBWEy9idhQw9C",
  "id": "fc_020bc5bf08716e1a016ab46f19f44087d0a7a3636194993466",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rSfUIkjJLgCrBWEy9idhQw9C",
  "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]: [0.0677, 1.4773, 0.202, 0.8604, -0.0521, 0.0151, 0.0379, -0.0208, 0.8539, 0.7136, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=0.0364 left_z=0.0588 left_yaw=0.0884 left_pitch=0.1508 left_roll=0.0505 left_gripper=0.0379 right_x=0.2851 right_y=0.0009 right_z=0.1759 right_yaw=0.0022 right_pitch=-0.1373 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -4.0957, 4.5333, 1.2625, 0.1245, -0.0171, 1.1648, -0.0479, -1.5932, 6.8991, 1.6532, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42ae3d6cf9bafb7a6e9bdd0d8e0e33a2cd1373ce33a08c5ee4d298e45d3ec04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e559e72cbf1f8a29f26bcc7431cff0b9f02943a0c817cadf4e1dce6ebded5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27742dba8c371534df71c5b415ed1965019688fea690fb6df6ad79b1d31c4b1b",
      "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 · 8.465 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]: [-0.3828, 1.9377, 1.491, 0.2298, -0.6205, -0.041, 0.9956, -0.0208, 0.8326, 0.6525, -0.482, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.569 left_y=-0.1146 left_z=0.2609 left_yaw=0.1823 left_pitch=0.3864 left_roll=0.1112 left_gripper=0.9956 right_x=0.2889 right_y=0.0009 right_z=0.1709 right_yaw=0.002 right_pitch=-0.0915 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -12.0, 6.9265, 1.9658, -0.1245, 0.0171, -0.1978, -0.0889, -1.5111, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "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]: [0.0658, 1.4799, 0.202, 0.799, -0.0368, 0.0128, 0.9968, -0.0208, 0.8528, 0.7136, -0.5682, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=0.0326 left_z=0.0442 left_yaw=0.0746 left_pitch=0.0867 left_roll=0.0427 left_gripper=0.9968 right_x=0.285 right_y=0.0009 right_z=0.1761 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.4684, 1.7573, 0.3492, 0.5397, -0.4371, -0.0024, -0.0342, -1.5932, 7.0906, 1.6825, -0.0317, -0.0317, -0.0073]",
      "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]: [0.0677, 1.4773, 0.202, 0.8604, -0.0521, 0.0151, 0.0379, -0.0208, 0.8539, 0.7136, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=0.0364 left_z=0.0588 left_yaw=0.0884 left_pitch=0.1508 left_roll=0.0505 left_gripper=0.0379 right_x=0.2851 right_y=0.0009 right_z=0.1759 right_yaw=0.0022 right_pitch=-0.1373 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -4.0957, 4.5333, 1.2625, 0.1245, -0.0171, 1.1648, -0.0479, -1.5932, 6.8991, 1.6532, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42ae3d6cf9bafb7a6e9bdd0d8e0e33a2cd1373ce33a08c5ee4d298e45d3ec04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e559e72cbf1f8a29f26bcc7431cff0b9f02943a0c817cadf4e1dce6ebded5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27742dba8c371534df71c5b415ed1965019688fea690fb6df6ad79b1d31c4b1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8iSfmyKh71cVOZ2BoUkVygo20D4_afO0pgsYA5r_-JxlI5My9bGU_5Ya6V1wI0IiwDLsaqVkuT3pib0A14ZD5SfCNhDtXp-8i57snyf5BiMAQy5dEspQLx3_-wGT1hdasKFmY2781it-hyodC0uccAE32sTh0r_8OBCAUQH_X3BtUNDuexL1JRX7EJ635LuMamh0QBR-HMjNGY31MnnAMtOMvGG56d96ehKEJkgZK2TUcVp51DyAjP6580wUQdzYOaR5A2taFqau9oSNunULyKVhxbfjJ8ZRWyf9RJ7wjq3XZHLqPDebH3ya39ciHYZA4JsRUN6NjhyDtaFILgulR-HXAyeUozngOrjGOW4ghc9xWsOElIDWVuSZEBxjneqa2XBSBNLIRtQACBm1CUcjTqNr2n3fSEB8_b8p6Apv-__sfi0I5tARzQoUKem7aOB4eZogiOq7I4865QOVaCFLvPrn_9kbb1HHQg8M1-HX68L5R31DcwovkTmo4eYE0kTUaDupPPyNBb8uqbaLWkDSPykjcGo3w5iXq6yf6dnwP5ho8RorSDCyhqHnoMLY6axpFffh__Gait_m46R9f4X6vq49uTUVgGb25R6iRRSK8akDcHCNQ64lER9CmBK0m9Pouxc-ek2JSYko3VCBXSBZSftP2BT236451VC6xMfaFGSDduAHnxu9q3wFNMjQ-ymK-9cf5RRHUbIG5NMY4CnXS8wYbMV0cpA05uqQCYoQZKuBrliE5Iok3YbO5-5ydWKX9D-iCH0PCFmnIA5lWNGU530BBmQ2qn1ifPL5-abCguxL88WKlGcp5_WXw_EFwzxbFS5Mh4tMJtMRogGrTSnM2Be0H1eg01MHCMMg9s5vymV42-JxjdIENo0tcB8uMVJFwApcG8A_5HGgwsoGddFzm65xCAklpo3eCrWeo0fF30qyVi6BI_S3G5NJph7nNghmCVepHSJ-d2svbLmM8o6QIal8_Ej4ovG_17POrdcG8JZ7kPxEIpRlttBSSgL12ktIkXSWZW1h-IiR3PWnfyDT0Wf8ZyGustmGVUyqm43-9X1mK8jiuCLds-1zTD73ROWmAQsrs8gO2nYuCBqtgebv7Kae2b6kGodCw2BJYhXcYOixcnoRJtDi5hajtgYzhNT8XAVR3JALk5xIK5zWKcdeqEUr2RUW-EswaQD8Euz3t5jJESoZNhSZYKlNYQal-c0HPc_AVv8QakY6wA-ayA8HGgKulJcqoKLem-MCrr7kNDre987C1SFqhPGurc-kxcZhXveoughWyixFzPe3_pKQxmChJmOVqMmRoLHabcCHta9XxmPwR1utx4BvS2Xfiym571TqA2PaT4xxdttzKUDa1DwpZZ3YQpTCf4Z72sU6hRaH6G4wj6d_Fx6hp07E-l7vK7HpSF2Lx6kchHv-7mVqH-J9m43bzlLXyNDrQMH0xSacDkZg9ZjqNmi29JVuHo3EctKVU17TUoDqq5DOoUEYXqXAZWTQvzIdYsP8XTHVtaIrVD3kRTuCGMRAoEZiOEx4_-uLpiO3PGsrgJpMfHsVssUXE9sgJ_wQuGufGAA6dOE6a1VJl56LGyvoGg15tlikOTgbD-gXSKWEgQDCYVQqI4x1O77GobaBSaLqJG_l65PaEQQghW_8IbiE2rG3upT7PpG5vmTfFTDgIbQ8PDJYpGJWNpX82Do_Dc6twuds8eLIQVqmTXHZ2HQ2NgDp2Pp5SBY6RurJcht-TXkN4-WtK1IwgXyLgLUSpcF65iX9BDJ5rYo3363uuRz75EnMQP3pCILS0YO5OrfY2w3LRf4U9HH8B8dxfgobzld0x0JsAKsIBkg7V0IVrIAu2xVUaTvGxJCW1XnCD295iOn6MsuTleKpa_oWLF5Jli1Zy7aLjkpo6SImtw8a2sSadRYsFHSFSL7r0F2RQRh7dSuKxVgbtXQZNOrGQBgh-T1SM8YxfLt4xo74SFrBY4pLChRd7gzWBsUy1lrRwM-8jwSO3ttEmbhaDao7iFFXigwBj7Wt0hU7MAZKpZc-47U9X6amY02C9x6zj4uP_2arE_NPyI55TQYKM1dEIXy-VWN-P6Sv_M9niRhvUYtZ_cUfmMe1mVPZ-C_9sCHGnrg8Z23VxEitU-VhNO9PkvoraxtsLRalqbyciHXf7GPeywOI9vPYEwjmxUhNCz0BFZYaaHmolvcZA6gugxGA8Q9R_CBx8ef4tuXZ9ai_Zg_1IPi5sHAubfEjd0CJKRyLwekGl5fiROzY9d62QXAZ7zZFRYyccHVLEVTVQ=",
  "id": "rs_020bc5bf08716e1a016ab46f1d41f087d08c453f68a5465ca9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":0.05,\"left_z\":-0.005},\"note\":\"The close was nearly empty, so the gray plush slipped to the left of the jaws. I’ll open, shift to the leftmost reachable position, and lower for one corrected attempt.\"}",
  "call_id": "call_sdB2OThf3giB984MWKp3km9O",
  "id": "fc_020bc5bf08716e1a016ab46f2105b487d0a767a4cf69ad7ebc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sdB2OThf3giB984MWKp3km9O",
  "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]: [0.1219, 1.9896, 0.2024, 1.5845, 0.0021, 0.0822, 0.9946, -0.0208, 0.8581, 0.7132, -0.5678, -0.0189, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3721 left_y=0.0488 left_z=0.0516 left_yaw=0.0565 left_pitch=0.36 left_roll=0.1044 left_gripper=0.9946 right_x=0.2853 right_y=0.001 right_z=0.1746 right_yaw=0.0025 right_pitch=-0.1423 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.1966, -2.8239, 0.5949, -0.1245, 0.0904, -0.5153, -0.1001, -0.1162, -1.6752, 6.8991, 1.5995, -0.0855, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e041633c379bbd71662392d545b1a7ebc083caa394f0847b1129a9ee53e5b127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00589b685371a135318fd8206b0b4f093aed638ee8e9f785f9a3607615a992a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477a5adfcc6ebed235da00e6735313951f9887e1de0b504bada9beebc51f5afa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 7.254 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]: [-0.07, 0.9619, 0.5385, -0.112, -0.1066, -0.0761, 0.9967, -0.0208, 0.8474, 0.7158, -0.5674, -0.0189, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3293 left_y=-0.0006 left_z=0.1574 left_yaw=0.0454 left_pitch=0.0341 left_roll=0.0022 left_gripper=0.9967 right_x=0.285 right_y=0.001 right_z=0.1786 right_yaw=0.0027 right_pitch=-0.1285 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -2.4, 7.2274, 1.8193, 0.0757, 0.1587, 0.1099, -0.1299, -1.3197, 10.2906, 1.5702, -0.0269, -0.0513, -0.0171]",
      "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]: [0.0677, 1.4773, 0.202, 0.8604, -0.0521, 0.0151, 0.0379, -0.0208, 0.8539, 0.7136, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=0.0364 left_z=0.0588 left_yaw=0.0884 left_pitch=0.1508 left_roll=0.0505 left_gripper=0.0379 right_x=0.2851 right_y=0.0009 right_z=0.1759 right_yaw=0.0022 right_pitch=-0.1373 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -4.0957, 4.5333, 1.2625, 0.1245, -0.0171, 1.1648, -0.0479, -1.5932, 6.8991, 1.6532, -0.0464, -0.0269, -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]: [0.1219, 1.9896, 0.2024, 1.5845, 0.0021, 0.0822, 0.9946, -0.0208, 0.8581, 0.7132, -0.5678, -0.0189, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3721 left_y=0.0488 left_z=0.0516 left_yaw=0.0565 left_pitch=0.36 left_roll=0.1044 left_gripper=0.9946 right_x=0.2853 right_y=0.001 right_z=0.1746 right_yaw=0.0025 right_pitch=-0.1423 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.1966, -2.8239, 0.5949, -0.1245, 0.0904, -0.5153, -0.1001, -0.1162, -1.6752, 6.8991, 1.5995, -0.0855, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e041633c379bbd71662392d545b1a7ebc083caa394f0847b1129a9ee53e5b127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00589b685371a135318fd8206b0b4f093aed638ee8e9f785f9a3607615a992a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477a5adfcc6ebed235da00e6735313951f9887e1de0b504bada9beebc51f5afa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8rSYXT0LTi-lpYBz-682AG_PbgiGgBAI-3AwBk1Folwm9JImWIkuXsX3EoHjCHCvdCSdX5QzG9hGq0hYMy7pIQ1Iyo7n5bLkYYhnUAlfR0yzhcyCQad6skvuEE07MR1wIZ4tAlmPL18GU35oW08IhKzaETsrDz1nnA_g4e3X3dtzqxkMLHUThf4sPgWdJqZ7EcMXenuyadKb7AjX0iRymH3vJLRBhJL-mHiqLQ3P_RGrYP4QmYfMzdQnZkbxHWr6EBijpCSNGYA5m369hKLl-pznspl-1kFZiC0BSjFVDZ_te08-9vJ1RhpYoMd269XNS_rpMOxJfl3ixJPsUnT4E2toOxkms-w88rAmU5zS66ZUQ0Ol9FXqnW5fQPeqxWWmQksMbbtjCfDZ1K7IGrgS7ox0ZSpdINaNHL6ibrNFus25_e2CUaBUSXJw0WV-ae9uv-wSb25qDbPcrAl23uEzy0as0vXneBp2NFJe9MEZfglcz0psp4aQY1P1-Wd6tJvn6A89oD-6EKFwI6WFUzl4dFKntK-Uzg6ifpRehQqLh5Gu16cFBkJh4qdJdDtamIjvvzgV7pxkhMEJfL_L5lkf1_cpqSwEl_0AsYg3ilauSc5IXne-G72YK7DeeulK0Fj_tzEhfglocxb1cvOTX4I5h6dZw6Rc2lD8vQe_MsuZ2sln9c93K4EMjnOa8AAG0dkkUm1rYpZMyQG7dRScaBhSrKRB3TziiSWCYog79GVgat7Svse-hczskGLHR3CMM_nrta9DvRm1ekM8VYuUIsi6y-DeaBZxcYdvafEdDEpzeY5v9_F78fnjz7OQIwwR4k69NKcr6xZxno6xYPS-9oxG6KJakeEM5LoWNFtOAeLgdJ5yWEOR63nAFSTzyY_aoSQOfTn1hc8S3dbGZ4c-OV7uhNo6EXUU_zhmOAXCcsNn16LTaTs-AgtTwGszUdmdTV66EbvjKNWAp_7XtCKxPMZ7wIT5XBo6pt9SegxktFMDEE3I9EnNdhqk_N77igx6A0B06GAM-wQ6Wf4eSoi_G-uCDZdntY91B-MiH5s4fvWBIYMSpY9mHAgC7qlRuZQa99iMLl_1VdWgs4t4c9D3vIGrUFmUO6-cXhl3j09-1Mm8nNRxr_taZ6EQ_E6KeLH7m_hekAluv0CYocIGFj9_i5__DCAYTr6Hb22LuVoeGCFG6U-V7Fw-aYfAD3LCMRKYe-GC7ASBYEdcS5gmFPqX6-8ufHmo0G7ukjKgMzQ0B9kEZ0OqQ2lUQ4IGv9KDb5qLoPZcJs17qyLgZ4bnilWsV8OLsO8iCohQzrgfyrVT27rasxNF_UxZWaeryLlWKqt4gX84wABSFiqoydqZuytAsLDFbvvz9Zz7Yjdmlq662jf8vzrU9PpSUcCYdA22AMYN5c5qLAoC2_-2-SVusONCPwE-61A6kQQPOpgRThk-g_5PDCICdrKW_QLmBYobJyeSBQWy7jrDRIqkizg_4GVzCfYwXFE5iMrugDJu8YYQxi-5Wy4FOiGCSSuT6D1QfAHiAETOn7GPkBGq7ulcXvzaty_pu_dVqnMq3sgmrVd1gUCn638jZwNFoxuOU1OTyFnwxw9VOA_2KZIlfP0pXt5wRrBWCTvSLRQR8ZziZ3r_x-pQtiYyCPwGOTQLLfs0Y6jqNNUzKVmZVJEDGoZd2gBMAbSHB-AKMPU88-3oYWqbYoIYhX3z7TPsjX3cG8LpKYCSZfXq0TWLa4P_sJd1UyLfCkHIo6-k0vsCDtGI6LDh2oF2ZeVtEMYbBnP7GkZJXLqVShlM3gUvF_4gFmXFwfzZjNw2-NMTNjolSWiBb8a1IRkX3gamjWJiH0OVQa26Tle3QCKFJZZ34t_-pQ-s-OH29iYVatj0s_1VBNWDjRqfsBAqRGQjzNN07Lwo3FVC6btHHhQjS8I3jUMw4LO0aWUtUiGEkLrfYUm7hwPv6UfMUy-rrcK04MjP4neS72GEHtO3OEsVl6GebDMkIFkzBGM1Xm6IkUHONWyLonOFQ2RVYyp7PfteONyXWR767xtHgVp4AMTI3SDC8Og_BjnSYprtprnSKO-M9UYU3Qo-sSUf_cOrKgH_SaVi_jss1aTZhwbkQgKAX8AcrHw84frw4zNBGSj_9tdzXX7RV6WldphYCI-MIHo3p818cM1rB4IfDVpHqnhqTu1Q94unG7aUg9GzpNzwBdmyWyl3ZfTOgDwaAR50zBifTw_tyGOkBdo9cPbXpscNuQGQ8IP793ENwYZWsx3GSxd7ADpK_PBbz4ujGlGf3KlroyuWHpMsE6G8KBbxP1n-x5TosiAGvuhxF0TyQAF8KfKTWMKdzaxpGhDRPA4-toAP7XzBub27bFrxcJVe2DHA_kfn2lLsFlqVUz1WLWX2Fvz7wA94xYOBH4Ms84mhszaAZuyn9zmbO2nI5Kzr2pwFYHNfAwCGy-nu1xyPz5BGXsD3PBF2_i2T9WZ528EYX6HBfO4hu1gnYC0PqrfTv8x9fNx5d8Wh9auxHCXr9chk0DOlyKO-ZGUEjLTB5jxkTtD-NlIbL5hJWkpfLNuLfcpZKmmFaiwtzh9EFNC0tu37P71lHFaOrq2HfnZG4-YTQ9i9IOm1TRoP32zY01_zax234_q-3Rxsv4MraOUa9cdQnApQ_4WMv3iI_uoE2_4dvnlszxutWJZsKHpKZgqvLbTF7ZnTkJzTXEvnDuPALy2Dv994rNcTL7GsTeq2b-IWaYllkwCiORXknXjZFAjg7uPQV3Ghki2F5HJgLn_9zsYT_tNsJLyGSuH266PKHwgIJTI6g=",
  "id": "rs_020bc5bf08716e1a016ab46f245f2887d0bd637964714c6a74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.04,\"left_z\":0.005,\"left_pitch\":0},\"note\":\"The arm did not reach the low target, and the gray plush remains closer to the base than the fingertips. I’ll move back over its body rather than press farther downward.\"}",
  "call_id": "call_WQC5LsGV6fTzJgtYzbywlMe2",
  "id": "fc_020bc5bf08716e1a016ab46f2a028487d0897dfc8cb5eefd29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WQC5LsGV6fTzJgtYzbywlMe2",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1192, 1.8858, 0.1558, 1.5349, 0.001, 0.1013, 0.9965, -0.0208, 0.8623, 0.7132, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=0.0467 left_z=0.064 left_yaw=0.0438 left_pitch=0.3663 left_roll=0.1252 left_gripper=0.9965 right_x=0.2856 right_y=0.0009 right_z=0.1735 right_yaw=0.0022 right_pitch=-0.1461 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.6017, 1.388, 1.2576, -0.0611, -0.1734, 0.188, -0.0342, -1.9077, 6.9128, 1.6288, -0.0366, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b897039328dbc8fd4ecc9d10034ecb2a62836760b9cebb3fa9211b70afbaa21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f8688a4285098c6c2edf0afbde1183bc1dd884b7f67ae30637d623675629ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cc9629f969326c7160d4e929691699b20b1c0d2ff08ee5a59e402ee870e155",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.451 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]: [0.0658, 1.4799, 0.202, 0.799, -0.0368, 0.0128, 0.9968, -0.0208, 0.8528, 0.7136, -0.5682, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=0.0326 left_z=0.0442 left_yaw=0.0746 left_pitch=0.0867 left_roll=0.0427 left_gripper=0.9968 right_x=0.285 right_y=0.0009 right_z=0.1761 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.4684, 1.7573, 0.3492, 0.5397, -0.4371, -0.0024, -0.0342, -1.5932, 7.0906, 1.6825, -0.0317, -0.0317, -0.0073]",
      "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]: [0.1219, 1.9896, 0.2024, 1.5845, 0.0021, 0.0822, 0.9946, -0.0208, 0.8581, 0.7132, -0.5678, -0.0189, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3721 left_y=0.0488 left_z=0.0516 left_yaw=0.0565 left_pitch=0.36 left_roll=0.1044 left_gripper=0.9946 right_x=0.2853 right_y=0.001 right_z=0.1746 right_yaw=0.0025 right_pitch=-0.1423 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.1966, -2.8239, 0.5949, -0.1245, 0.0904, -0.5153, -0.1001, -0.1162, -1.6752, 6.8991, 1.5995, -0.0855, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1192, 1.8858, 0.1558, 1.5349, 0.001, 0.1013, 0.9965, -0.0208, 0.8623, 0.7132, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=0.0467 left_z=0.064 left_yaw=0.0438 left_pitch=0.3663 left_roll=0.1252 left_gripper=0.9965 right_x=0.2856 right_y=0.0009 right_z=0.1735 right_yaw=0.0022 right_pitch=-0.1461 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.6017, 1.388, 1.2576, -0.0611, -0.1734, 0.188, -0.0342, -1.9077, 6.9128, 1.6288, -0.0366, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b897039328dbc8fd4ecc9d10034ecb2a62836760b9cebb3fa9211b70afbaa21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f8688a4285098c6c2edf0afbde1183bc1dd884b7f67ae30637d623675629ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cc9629f969326c7160d4e929691699b20b1c0d2ff08ee5a59e402ee870e155",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8zhujohWZ9cjfLSnzjKQa3ufsqubliOnFQ33Oz7a2lkyednzFu27C9DlEH32kxo-x71FunsZxxkTHRAJ77MMGdqgRapIslpXYOMRj-i2wd_24P3duaPokLA01GvK96Z_ySLq3-4aPP0Phd5UYUTS6DK_4qNEiFfPTNQmY9LARN9dPCyKP4d2zNgtRxjs1ymJkufO5fEjo5-qyZDwQC_SVhTwhvFWXhpjp1VoH2JgWyAr7r9XDM03VbnPIIPBO_YdvL9cV3HMj0wAQuyHbcVvZPa1xemsrXn7FR9_0oi9sfIDzgeJi42Bj79rcYFDwsgqUe2mskWYLrVyuyJ_wysL8iOmubxI7-Mwoe8-IitDZYx-cZsaKAGBPLgMVQDv4Pk8k350rf9mSgPpawg_71ZbsJqrAqTSVEt7vBTaDsWkF6G7j-5eIbhirrgqwSZiY4c7AFuTsji8g6Dk1R8Vy9UNkSQtBuBKgk6ocmMJD7ocmaMbrEVAZrH2fFAoUZXSojzMKyeQ_Ywj4mFU5A1gFFXUXuH5pIb1qa0sBiNoij1LtfuxN4RM5_xwJ0b3iwUDl3OOv4B6J_CctCXp4dRHwS49ov7T4DIuGwvlQ5EP3PXp4K1DRtzPp6tD56lxxh5w6noRIIPak_A95y-yEgg0frm-YBPQRsnNbVOD4yFYp0uawsPBLpyKDEZxq8xfs8AMXy5NtN_YBDFj_umh4e7K3sbLfR1Tq4Q6WP-T2zUdRfzBBehO93--arr8xGZwzBsEn4AP46MKwVPdOtkw8tZSjOdsqqzTPGdC9so_21ikdRbJ68-AHsyLM9fcsKfimq0KA7ck8dSz05rhpBypaeXcI3Ig-gyiw5yE9-OfMCLoqlcSPazkdGasuBzZm2h1CXtn6rc8S9Ftrg9eV1ICLU9X7zaY8DnxbYI6pjDREgYakIND8c8zXXlWx2-6tt3JJk5PhJMv0_JM4AGabTMJHt0NBh8YRUjLRucy0XaaE1jepgY0bl-JWwEMz_KRaJbR4b0qW_nOJe9ker3gdQakN6IKD1EHmmKvF4qPS0_S6fn27Ce0Ggh8hyIr6qOwi0kL_IYB4i4Cid4e9-8BrAUyzFSYbAp6BltuIQzI8hPAdHhqm2iN0kbUoghjx0GUFH1xTpUuRyFCOumeTQihUyE3PPw6nhz_IKoR6gmCcsUn3AhqUfDQ4fl_Ici3Czcfc2ewsENPbtmyNLydUMjqvzRN13HVlVe8wmbRzNYz7G5yNbHyiTCmgx7rUQJ1MZTc65MuIrq7f3uCmqgsmwZ29kCuUArkmDslaT3LEQTyP3Sww1iG9hc87uKFNx7sPmSvuez8MwJtB6NXwS21smCXKTKubzKU3E1bBl_JLTiKSFxgJ3YgYy_Hsgc7293vcVWgGjhRilcNf2qV0Nfb58P25riZajoRprPMmq0e03M5K0dnCe6T9OR8hmjKN9vrOLCTNvJIi5zFV0Isnw0kf4nspVTTaKAXzPkquUekbNa0gQCm-R6baaC3RDH7jeii5zUOeuEDx1DSyaNyeWs2dpMGiLrGU-oi0WeeODC09dGjy-javZbFiFahoAAo_c7d2N7xe93ZxkGRQ-JRAJhnPEyI6eabX5UY9dL_IvKWwXd4vRO_GpVAzqqwvZunBBJLmQSnKVwM3YsyxrrGcctdFehtqEvRvSb3RRrb4GAT908rJncpyD4sNm_mVzrVjNusZdMcZDldQxVS6qsgILsdR3Bm5spr3qmdtC2Y0wtXs8iXgNfF8JpJZZrLQ8C6za43Fqi2gG-hfY2ms4JqLQY9ZlusOpbIMoQmh0KFo1otuidzmkCGIAxvcTGhYIJEcf_mJeC1pe909tqQOXcTl9NgXCE5t_0IPiUv-_Lp0PcZlL8i5Nr8jLSIrcUmf8RMx6nej7rGKf3XWxtH2kyKagbEU3LyHLtFi9178AMRx4wdHhZmZdCCqJ4pIuNIZhMmDGKJ0F_jP2_TiT9TLpWSHcKvtQFbUp2kAncwQt0U7fcg==",
  "id": "rs_020bc5bf08716e1a016ab46f2ef86087d0b2e6804b71e2dee8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.045,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.275,\"right_y\":0.12,\"right_z\":0.13,\"right_pitch\":0},\"note\":\"The left arm is blocked near the table edge, so I’m lifting it clear rather than forcing the gray-plush grasp. The right arm will approach the dark pen on the open side of the table.\"}",
  "call_id": "call_d4sqoPHY0fRK2YBb14axM4gW",
  "id": "fc_020bc5bf08716e1a016ab46f329c8c87d0a3d2423ff8aefaf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4sqoPHY0fRK2YBb14axM4gW",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4072, 0.902, 0.6769, -0.3283, -0.4191, -0.1459, 0.9967, 0.7155, 0.9874, 0.5144, -0.2668, 0.5316, 0.3912, 0.9997]\nstate[eef_state]: left_x=0.3105 left_y=-0.0517 left_z=0.2015 left_yaw=0.0059 left_pitch=0.0615 left_roll=0.1021 left_gripper=0.9967 right_x=0.271 right_y=0.1216 right_z=0.1244 right_yaw=0.057 right_pitch=-0.0499 right_roll=-0.0237 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.5932, 8.9094, 1.4921, -0.2808, -0.0122, 0.0122, 0.2393, -2.6051, 6.0103, 1.6142, 0.4029, 0.1587, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3cb0f25926dbc60f9358887bc8339f6c69011143a61df35e66e2664694f28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ee5cc15d3387d953aa4b459d6f1c52487a6cd69788251a3902b821c406d6d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b60b11db0c7bb11e546de3d9035dca2b40e055e8b5514637195548946691767",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.429 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]: [0.0677, 1.4773, 0.202, 0.8604, -0.0521, 0.0151, 0.0379, -0.0208, 0.8539, 0.7136, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=0.0364 left_z=0.0588 left_yaw=0.0884 left_pitch=0.1508 left_roll=0.0505 left_gripper=0.0379 right_x=0.2851 right_y=0.0009 right_z=0.1759 right_yaw=0.0022 right_pitch=-0.1373 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -4.0957, 4.5333, 1.2625, 0.1245, -0.0171, 1.1648, -0.0479, -1.5932, 6.8991, 1.6532, -0.0464, -0.0269, -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]: [0.1192, 1.8858, 0.1558, 1.5349, 0.001, 0.1013, 0.9965, -0.0208, 0.8623, 0.7132, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=0.0467 left_z=0.064 left_yaw=0.0438 left_pitch=0.3663 left_roll=0.1252 left_gripper=0.9965 right_x=0.2856 right_y=0.0009 right_z=0.1735 right_yaw=0.0022 right_pitch=-0.1461 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.6017, 1.388, 1.2576, -0.0611, -0.1734, 0.188, -0.0342, -1.9077, 6.9128, 1.6288, -0.0366, -0.0513, -0.0073]\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 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]: [-0.4072, 0.902, 0.6769, -0.3283, -0.4191, -0.1459, 0.9967, 0.7155, 0.9874, 0.5144, -0.2668, 0.5316, 0.3912, 0.9997]\nstate[eef_state]: left_x=0.3105 left_y=-0.0517 left_z=0.2015 left_yaw=0.0059 left_pitch=0.0615 left_roll=0.1021 left_gripper=0.9967 right_x=0.271 right_y=0.1216 right_z=0.1244 right_yaw=0.057 right_pitch=-0.0499 right_roll=-0.0237 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.5932, 8.9094, 1.4921, -0.2808, -0.0122, 0.0122, 0.2393, -2.6051, 6.0103, 1.6142, 0.4029, 0.1587, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3cb0f25926dbc60f9358887bc8339f6c69011143a61df35e66e2664694f28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ee5cc15d3387d953aa4b459d6f1c52487a6cd69788251a3902b821c406d6d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b60b11db0c7bb11e546de3d9035dca2b40e055e8b5514637195548946691767",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG87OngDRv0kuQBwT6peYfXbaHmZfqwujBOhyrnCZ2LAJlHZaOwr5BeTlso8LQ8HF4DE3IKGwlkcviVYvFfcaZgStJahyrcUNEE6X0LQ0gIRGbP_CKfEZSyfFU2MmX06cbnEGB_bjNxs1eQnBIuQpETL-GgAEtCBaki3ZicEVy5SdZoWf4X9Hib5OFHXbufGGx1b9pV8KmTUETUrtxSUywsVpIswn_tubIUIS1ZL5zoSGOc1oxrDCKMwBN6RC1FQxfQ9mELydATH7oyWxb5mJV5IgovcjfeWVyPA1WHr93FKlL1ti-q5UOgO-mrkY7Dy1G5kfn31iKFPRnoiLFSkfKR0vl9xNhuyoiEPYYJFl16kS3Q_aD9RzxDSUu_SJ1PHVAZZIUXPpG9JJY6w0qB6i_l9mXX2WoOqtVMtsSNEFWRS6LlN2k8gPjjvjdbXQhNj1EcjoFxUj1Px5rZLB6bszqNsoOJdrTS2lzQhEnmNlDvbGKJ3BE6u9AT0kZMYmjPghv7nnY3XoVVsyvQ66LQRg8Zocs719nx75fYciNiWuI4Ts2_tX5NvG9-w36hMsliqcrHNw4kU3jlykj-Us5w5nv-FBvAcBF_8PC7qO2CLrI_Y11Fo2YBtJIWo5cPWMRX1zCD27ZiHFkDZsj2qAdJaiSIt5PNNkWB4tcd-WZyGX3bTKC5JY2l4OZ5AY2hyvfM2bJ4CkP1zWmGuvgAmYBfGAA2PpgsP6bBU1giuaeijv1ctFTN5iCkguNOOud8zADV_CrO7VtssL4dAb4MY0eN3McwOHEFENjMJufZLIWviA4FDmACFktpXDcTs9_7kujWyiq5DzG6mWDQx5dUoM4jLmR7D7tY-LXMrmfQPTMhT8deIq2Ufg0Ky9WAUlgLWzWZJySCGTBnbM4QCRylEdeNsNB01DEjEGysi2TX-hjl8yafyclwSyrun-8vPaaBmyZor4yFUsuJvJXJD31qIs2Oc4iughlBrcqiCbeG_cTMY3IsRnZ5fmTlL624GYVcBAqh6EqOx5bbDVSoUh1UFKSWr2DdXp21r9ROQNR2y7MZUBjdMAYoM_KZXKlPhrD_2CmHGUHDKY8ld1IPamMTAJiNYjfV2eg3qmnzcZ-EP1LCVU_sc3hX-eJrdDlYMob7Wk9eil-J4lHEzbeT-eWczjGj_YdkaslnNtX2ciFyxPlXgkMHa5Xi_YS0izfbagC8Adql-7W-fGLRF5Maz2utbmbkKAX5m8dfclSWe85fkezGX21tOQtLtsEu3IiEIQNF0Tzay49o7RJVJxkHbhQ9fzWosPWI6MuV92MgOS1syagqxOOFjFS3wU5t6vpesKtw_Hcvb3zXMjftoNEASw7fKTan0soB1rbmTw44XG8kwjPNK2KYoSYF2gWCYjxWBKk1txtqz2eAIgYnLF4tVLy7_VdUZKhCx8WeuHyzReBXwE_yd2q-Elmzo6YgIuuVFgk9xK-YTwBBPe5ZJsKF9_S7GL3KM2-AhZl3Hq7ZREmENcWOoMYjWukB62QiyJtqURvpPJHAE4OOC795-GlQ1WdkPTdGYcNai6z9BVdY_JuBLw53Jz15Z-jDGqwcIAFHdYoaxPd0AxYVhK9hgfHxL4UuWGMfQogIpD1Q8_SYtIvbu5aUCD60nqNuYEF1tJl2gq6CR4W29KHLCr2nX7rXS2g_4_bJVdvRMwzvB4ZcwG1La1ENlufmXb5CfbU9YFq4pdws9tzwajCm0EY5WOq2vF9O7JUA_D6CVt6mgu9-My5-7MJcskc_8e18-NBapbVlXMZsEgOaxVpL6yAJqVsFtPicRWLNt9LzQ7l4H-3VhrTpQdbaQxqgQOCr4W2AMh-o-hNIti1gC6JQaQlUc7rzSkWgpO2SI1vh6FPFxtzzykKzs3ypKqeWj5ceVIOqH3syUcQzTChJrY_T_7qgmiNroje6FYrE6eZrctiT_8PTiNg7Fn0t5tJ7KfBZJKIdIyesNnMQYTfUxuYSJ6JdofEzWMgrgr1Bi3dnjF6z-0Mb-IB79wXObZPP_sK1ZaAjxMHPnY0JbXJgUnnNDdr8w11CKdPTrgXkWWr7zuL3NbQIF0VMkfwEMGd7ippnOj1PXjfpVExz2HkpuH7rsP1q_6d_WgCx-EZP-svbaSiXt311-Nt1JXZ-Gh7uS4hVeDSDKZyJSoH_rRLXkIKKqJZ0IYU0HZ0w2yvzzRvOQFv7iVKLye715FYULYRxVwn3vf4Vwms5O-YELA0EV-xqT5d--bkl3j5LsUY2SdrgUuUBSeDsGFavsgquTcaEgZMYBtZA6kw-XgjH2kSgXK_jqOYxMl84cJ_KxSZwWV2zXAJ1oC0V6SI0w3HRAd-9sd5J1WmIiF4iyC67lTk3Da6TxzaXTjzPw26clPdvFlVSppQ==",
  "id": "rs_020bc5bf08716e1a016ab46f368be487d0adadf277721f7405",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.11,\"right_z\":-0.01},\"note\":\"The dark pen is nearly centered in the right wrist view. I’ll lower to table level with the jaws crossing its narrow barrel.\"}",
  "call_id": "call_ENBe9iGtAWya3gnKEf9tnexW",
  "id": "fc_020bc5bf08716e1a016ab46f3a910887d0a75d2e568331dc90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ENBe9iGtAWya3gnKEf9tnexW",
  "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]: [-0.408, 0.9085, 0.6765, -0.3508, -0.4225, -0.1654, 0.9968, 0.6552, 1.5352, 0.1791, 0.6945, 0.4973, 0.3672, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=-0.0505 left_z=0.1952 left_yaw=0.0177 left_pitch=0.0366 left_roll=0.0988 left_gripper=0.9968 right_x=0.2865 right_y=0.1184 right_z=0.0109 right_yaw=0.0376 right_pitch=-0.0003 right_roll=0.0208 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.4547, 7.2137, 1.8974, -0.1441, 0.1734, -0.0073, -0.5675, -2.2359, 0.8137, -0.1783, -0.0122, -0.2711, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44159aa2400401b102a2103e04a8fd8747815a0b7ccc0b24c752053f1c84fe07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ac1d61ff73c93b782552f7936cc11b83844604179c4cd1f82d8ab5a18b0167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73552bbc20452642e0a451163cc0fbea03922e7c6907211a9ec5b10e3072bc78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 6.251 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1219, 1.9896, 0.2024, 1.5845, 0.0021, 0.0822, 0.9946, -0.0208, 0.8581, 0.7132, -0.5678, -0.0189, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3721 left_y=0.0488 left_z=0.0516 left_yaw=0.0565 left_pitch=0.36 left_roll=0.1044 left_gripper=0.9946 right_x=0.2853 right_y=0.001 right_z=0.1746 right_yaw=0.0025 right_pitch=-0.1423 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [1.1966, -2.8239, 0.5949, -0.1245, 0.0904, -0.5153, -0.1001, -0.1162, -1.6752, 6.8991, 1.5995, -0.0855, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4072, 0.902, 0.6769, -0.3283, -0.4191, -0.1459, 0.9967, 0.7155, 0.9874, 0.5144, -0.2668, 0.5316, 0.3912, 0.9997]\nstate[eef_state]: left_x=0.3105 left_y=-0.0517 left_z=0.2015 left_yaw=0.0059 left_pitch=0.0615 left_roll=0.1021 left_gripper=0.9967 right_x=0.271 right_y=0.1216 right_z=0.1244 right_yaw=0.057 right_pitch=-0.0499 right_roll=-0.0237 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.5932, 8.9094, 1.4921, -0.2808, -0.0122, 0.0122, 0.2393, -2.6051, 6.0103, 1.6142, 0.4029, 0.1587, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 0.9085, 0.6765, -0.3508, -0.4225, -0.1654, 0.9968, 0.6552, 1.5352, 0.1791, 0.6945, 0.4973, 0.3672, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=-0.0505 left_z=0.1952 left_yaw=0.0177 left_pitch=0.0366 left_roll=0.0988 left_gripper=0.9968 right_x=0.2865 right_y=0.1184 right_z=0.0109 right_yaw=0.0376 right_pitch=-0.0003 right_roll=0.0208 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.4547, 7.2137, 1.8974, -0.1441, 0.1734, -0.0073, -0.5675, -2.2359, 0.8137, -0.1783, -0.0122, -0.2711, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44159aa2400401b102a2103e04a8fd8747815a0b7ccc0b24c752053f1c84fe07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ac1d61ff73c93b782552f7936cc11b83844604179c4cd1f82d8ab5a18b0167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73552bbc20452642e0a451163cc0fbea03922e7c6907211a9ec5b10e3072bc78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8-PMJxEH1qykW8QSrSLLI5gHXY4CfFfzE6O8UZ9zcOMuTnKfj4TDgFcmcUZEOJBtVSiOWk9-YST-e83RK5ZnaxPxPUumNLotK7olBXZQ2TLmsN3oti-tmIilk7nk7_1zN9mD0pXZskw0jrrDOPd1fj9ayRHDUG2EuWMb_v_7kGObvk4dB2qfuPSdp_mRmdviJG-OLCiKn6HMCnxNrllcB9eU4HzCaoA-6_x3QOv7I446qHwW97A9ytJF1BaDAOFPV8EMLwLatvV_31L_R9B_Y6HY5CVuQ4IPkxvk6ZL31aleutyzEcrsKD4Fxmif3UZ_CaNgJ7NQrH0IHWfsKl3XvpQ7YnEgR8si-i-CndVeOuE8Az6HRO5y8bR-en18XWIo7ivUVHzxFkONiNnKDun9lrqTNoIh3VVqFVAEyguaKw1FoTq48ibqqfitO_VWPwir-RG5vJrYWqPefNm2R4kq36AE6fvCER-OGHDSqCCayliFoCsRpC1KYcn23mug0_0VQ9QQ69wrhyXYXBFBdJCY0mNlBOeF8eXOy3memkMvS71f7UIiOrUhKpIZkbj4QyRj8BjXDFoe8lIdoGqUFwxFvNiix-kfBy1LvN6IbYme0NA_MShsM94VCbrCUFg92IE4e_lP8uSgWB6Do3ll4-74tIEhygNp4MDid7B3yu89vT_c_f-bR_4ZFCNa1b-gS1IwSLeUpivAmYItvjPc_nUYbLUxwtOX0YT4O-xaDVt_yRG8BdwYFTPj1paQaUZglz8dL4zuRxcrFmts9YNjqlL6Ah43LAszZAq0i0owZlZ7BgFQoLcQDjLXGL2N3CG-IBT8y2R8T9_nm2BXtKq3vNmOX2lBfyI-Zbv9089C5J6AzlzfA7fvQb4PV3tC5Qr3-5kwaQYSQfFo6rVGvuz8Sw80Czsl7eMOyOeTp7x0s27Z1VZdBHWV2IN_5A5NLre3Z3qE6iurdMvT6o0NLEeWxqZCOIoN1jK5Wyhugjshptdlu6AeDrE2Aki5tqmO0f6Zs7tSpzCtKf0lhCUO04AP__QjzvENlv6-xaRVuowhoD2OHcqcqJsSuKmL-h64ayFFczg3gSv6AtEtqIPNtwKt7dZWxvJZmrzIRHN8yQrOkQ6WNWbze4O6eo7ZkLOuMPB_2WD-D4TB9CfFE7DfcZM3Li56nSmSDvfdyn7vU0TWuBmacivTE0plj2yTHzsff35wRoLchDQa0JJSkW7BTlq6Aa7GaaDVW6Bz7H5rpdmEU48-PCdCRYa7WXQYyoIWPcHQ75AOaf6gP_USFMsGrSwDfv1wqR6w==",
  "id": "rs_020bc5bf08716e1a016ab46f3dca5c87d0827c37725e08b9e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark pen lies between the lowered fingertips. I’ll close around its barrel.\"}",
  "call_id": "call_dmgla30leIcb03R1CPW4v0vd",
  "id": "fc_020bc5bf08716e1a016ab46f3e463487d0bb5604cdec84981a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dmgla30leIcb03R1CPW4v0vd",
  "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]: [-0.4084, 0.9089, 0.6758, -0.3523, -0.4225, -0.1665, 0.9968, 0.6533, 1.5406, 0.1711, 0.7185, 0.4881, 0.363, 0.1349]\nstate[eef_state]: left_x=0.3081 left_y=-0.0505 left_z=0.1945 left_yaw=0.0179 left_pitch=0.0343 left_roll=0.0989 left_gripper=0.9968 right_x=0.2862 right_y=0.1193 right_z=0.011 right_yaw=0.0452 right_pitch=0.0053 right_roll=0.028 right_gripper=0.1349\nstate[joint_eff]: [-0.0615, -1.812, 7.2, 1.7118, -0.1538, -0.0122, -0.0122, 0.0889, -4.6701, 4.506, 1.3895, 0.1832, -0.0073, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445b99a34a0549a8d17da2f5a0b6ab00a9c99a9bd7ec9507e9de2ee630966a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de77bb61f0c812c37d80ec91dc0911f31f25c646bd048e6b8702908f8846bbed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472beb59736b1f47a908252bc6caa2359e1d0c4615b1d2041e7b7753cf20c4a6",
      "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 · 4.702 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1192, 1.8858, 0.1558, 1.5349, 0.001, 0.1013, 0.9965, -0.0208, 0.8623, 0.7132, -0.5674, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=0.0467 left_z=0.064 left_yaw=0.0438 left_pitch=0.3663 left_roll=0.1252 left_gripper=0.9965 right_x=0.2856 right_y=0.0009 right_z=0.1735 right_yaw=0.0022 right_pitch=-0.1461 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.6017, 1.388, 1.2576, -0.0611, -0.1734, 0.188, -0.0342, -1.9077, 6.9128, 1.6288, -0.0366, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 0.9085, 0.6765, -0.3508, -0.4225, -0.1654, 0.9968, 0.6552, 1.5352, 0.1791, 0.6945, 0.4973, 0.3672, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=-0.0505 left_z=0.1952 left_yaw=0.0177 left_pitch=0.0366 left_roll=0.0988 left_gripper=0.9968 right_x=0.2865 right_y=0.1184 right_z=0.0109 right_yaw=0.0376 right_pitch=-0.0003 right_roll=0.0208 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.4547, 7.2137, 1.8974, -0.1441, 0.1734, -0.0073, -0.5675, -2.2359, 0.8137, -0.1783, -0.0122, -0.2711, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 0.9089, 0.6758, -0.3523, -0.4225, -0.1665, 0.9968, 0.6533, 1.5406, 0.1711, 0.7185, 0.4881, 0.363, 0.1349]\nstate[eef_state]: left_x=0.3081 left_y=-0.0505 left_z=0.1945 left_yaw=0.0179 left_pitch=0.0343 left_roll=0.0989 left_gripper=0.9968 right_x=0.2862 right_y=0.1193 right_z=0.011 right_yaw=0.0452 right_pitch=0.0053 right_roll=0.028 right_gripper=0.1349\nstate[joint_eff]: [-0.0615, -1.812, 7.2, 1.7118, -0.1538, -0.0122, -0.0122, 0.0889, -4.6701, 4.506, 1.3895, 0.1832, -0.0073, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445b99a34a0549a8d17da2f5a0b6ab00a9c99a9bd7ec9507e9de2ee630966a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de77bb61f0c812c37d80ec91dc0911f31f25c646bd048e6b8702908f8846bbed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472beb59736b1f47a908252bc6caa2359e1d0c4615b1d2041e7b7753cf20c4a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9GAPngFnrsaGWq0gRzHbR7bEJbizCp0-qEF8Him8ym0X6-RqcnArgXRa1qvyJn7ZI9rUUOrKmWUBUWj3WFKDu6GiwcFmsu0qWt5zIM9J-L3JRlNb190W8CH9uMfJeSeSPye7bCiHQiFYXtigcQpJbZ79Cvm5202UbH5T7Le98zvhj740hQioTZN9P75NzuSImsIlIrlFmn463RMgBowRHS4phuUl3-1PEfefP_hV8cqjopjtbuI78WJao4CruNICx7_j91aFLXAbqHogjgYjDYaeAiq5eeApRk3J-S4aKi0NHt1IUsEVOxm4FgQe-c7JEHn72uySS43PCwjelJDJUFYjwW2YUNYippgxEnNCRNuYMxhBLB1yutYb55LrxiEfVpx8N85juCgyxe1bUwJb0848PR-bu47eNPoATXqmKBSp8E_v5H4p4nOFE0xMDSAYyDVMEDYNJoE9esrSFs7AkdBV0RA6TaMsRDsOi6HDZumtT5BDXzNyvGVuCsAGrgjfmwJNBN3_0IZRUXXfg46GsEBExEB8CBbO2Z1khb-HncVIyb6BovsNX2BDnl3LU-HZa9Nl_i0dXZzt33OPGAAB9DC02vMUJR3vZmoHfD-0o0wwm2yL_-rynUDRJQ5BgbCaTSJclWOkmkEkzbXXjs9Nz0o6fmMHVSpDkaTrBElIj8RAmEycswUfjZY7jiIdcVYVizdfnuUr-TTFZCxH8W5lBR33_AEwsgszZfEbp0IBiUc_hyaV0g9GY30dEJ1yjZez5JTYkyqzEK0kxzZ6gd3r5unqzPsEdmWIP8S79zwkgPFb3vC9s5D7f-gvs5dKvUXmt-Lpw1-pV2D74Wgid4lYoF_I0B85Xu2KQgMl6hJZO3uHT_YGTRr1AFJq4MCIPkmwHEJ4P14lWyXcgtFxVW7JsNBCI6RjccJSlMVKHrc8FVfsxMvihlUFtlv5e6TwZlPNDEAXNu2isJkLX7HSfe3Ybx7w929wLbMaNw7Avp7NqPHEyP4YMCcnLcE6ArAiB7JAwQCZeAFJ2FXvPEUTk5A6defwHGPt95O0iIdxLIb5SxLojs4VBHJr7nX-Ugi3IwiQP1GjVgDvHn1F-OlDaUHoL76veFt0WipSBx3BWeAlD8Vl84pEKqkxwlHq9rz1dDnCs76CX2F1eqgN5DNW33zetKEk7U0jsPj6EqmKOO3jYklrv24LHt6MyzkxA0aT-C2INaCknNvVmBigkx-YK40HLtiirzH7A_lOstTbdL0DVrHwHL1ks-Fwa8it3eOsX2O8MnV6eeTh7Qcq8ehUbmn85UnlFRk5anVVQZ8hUdg0OKQavJtbjsWtrtGB-F1F8T5NEOMdVRwzgMIXVtDZp_dhL3YSqgMG2N4_lN62KQNUBYqkx5prrKK-7Kl9xkb01rkgrQJyUazEtmCefLul6owLH7eCA2xhrfc4Lf-otJhCqv6L9FQTk4CmR_XWFxxMjs21kZECd9uUA_b_jlh0JkFhDrxHLajutBqOgbmvKadQhATsK3PZ3aZhXckF6pkgEMhcy9Ysx8uc4MdOWFmELXeJ5QzSUlvn4CJ684qnZPmssxHsVRkeLax9jMNstX7J-Kg_TcYpAiG4kwasiYi5q4kxKsVPYecQKW-hu_C_V5j-PZbxx8mXpp4UfrRayHDO_U25cnMVKoQXdxXPD-qVKpvmMUGvlNMsqTfdMHLfqj379_XLWN34D1p6Rz4_Z8s_wy72BKvoCUqqq44JNYgOcxEqO_jImc9BbeKt5_JxLjNux4OR4C3yYWj465vsZMXqLWYQwVXKLCple0ohrQnLe2_zU1_aglo3pp3dq_YHmkMwm4u35FfNS-SPWwBRzUDiDCLeu22eHd42qNOdLZqNwgj-NNyL5vdlexMgwSXSjpdVy5E9BnC6EhTQwVRUfjmzUsZSs_Y0oTGVvoszGnp4M5kDptSULspLr1Du3RaypzX9RElrFWssvTg3G6aAkUIpNJUnj5CPIRSi_W0UTLLtT84O89RarValEJ1WF0LGCtGNU6tok46NCHEqpBs8aCqm3_NfckZNGF55BQUKbA60grmeV5puofDN9KM-l2_7bVPjvvAv-b7Oeee1A3SZT2WWhRyx4YjS3aqLmL6REF1S3Hzjg7gF5pL-It2HsyiUexiZEX8RT29mRMFz77o_KxK90xYy6_LR8WVUuQOlVY_4ZWo3XfjmMAxtXSD5tHB1brwYIFTTpKUjK0iih_5KXXVvQQ6ZpUM6srQukWYiA6_tOBE_sJNA==",
  "id": "rs_020bc5bf08716e1a016ab46f4121b087d08f7ab3f6079bb343",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"left_x\":0.385,\"left_y\":-0.15,\"left_z\":0.12,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right gripper has a pen-sized gap. I’ll lift to verify the pen while moving the left arm above the small brown-and-cream plush, well away from the right hand.\"}",
  "call_id": "call_r7zAAjYXN7C3PRBZCoqCRKYC",
  "id": "fc_020bc5bf08716e1a016ab46f449ab087d08d17cc67d9861709",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r7zAAjYXN7C3PRBZCoqCRKYC",
  "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]: [-0.585, 1.4879, 0.7456, 0.004, -0.498, -0.3592, 0.9968, 0.6529, 1.1244, 0.3031, 0.1776, 0.4782, 0.3595, 0.1352]\nstate[eef_state]: left_x=0.3703 left_y=-0.1398 left_z=0.1022 left_yaw=0.0062 left_pitch=-0.0679 left_roll=0.0531 left_gripper=0.9968 right_x=0.2843 right_y=0.1196 right_z=0.0756 right_yaw=0.0545 right_pitch=0.008 right_roll=0.0341 right_gripper=0.1352\nstate[joint_eff]: [-0.212, -6.9402, 8.4444, 1.5897, -0.3297, -0.0708, -0.0122, -0.1162, -3.1111, 8.9641, 1.5702, 0.2564, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b1ebca30c78a03ef9cb1a91be01b48d44a4492a357c91f7ac805434bfb73c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a528149b21028d789c82deb3278c17f2d08cf8fb8ecf2814ada3aec46168b74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f484816960fac8520de9b3fb5aa588a83de610d7ce43b856c0516476384731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.26 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4072, 0.902, 0.6769, -0.3283, -0.4191, -0.1459, 0.9967, 0.7155, 0.9874, 0.5144, -0.2668, 0.5316, 0.3912, 0.9997]\nstate[eef_state]: left_x=0.3105 left_y=-0.0517 left_z=0.2015 left_yaw=0.0059 left_pitch=0.0615 left_roll=0.1021 left_gripper=0.9967 right_x=0.271 right_y=0.1216 right_z=0.1244 right_yaw=0.057 right_pitch=-0.0499 right_roll=-0.0237 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.5932, 8.9094, 1.4921, -0.2808, -0.0122, 0.0122, 0.2393, -2.6051, 6.0103, 1.6142, 0.4029, 0.1587, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 0.9089, 0.6758, -0.3523, -0.4225, -0.1665, 0.9968, 0.6533, 1.5406, 0.1711, 0.7185, 0.4881, 0.363, 0.1349]\nstate[eef_state]: left_x=0.3081 left_y=-0.0505 left_z=0.1945 left_yaw=0.0179 left_pitch=0.0343 left_roll=0.0989 left_gripper=0.9968 right_x=0.2862 right_y=0.1193 right_z=0.011 right_yaw=0.0452 right_pitch=0.0053 right_roll=0.028 right_gripper=0.1349\nstate[joint_eff]: [-0.0615, -1.812, 7.2, 1.7118, -0.1538, -0.0122, -0.0122, 0.0889, -4.6701, 4.506, 1.3895, 0.1832, -0.0073, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 1.4879, 0.7456, 0.004, -0.498, -0.3592, 0.9968, 0.6529, 1.1244, 0.3031, 0.1776, 0.4782, 0.3595, 0.1352]\nstate[eef_state]: left_x=0.3703 left_y=-0.1398 left_z=0.1022 left_yaw=0.0062 left_pitch=-0.0679 left_roll=0.0531 left_gripper=0.9968 right_x=0.2843 right_y=0.1196 right_z=0.0756 right_yaw=0.0545 right_pitch=0.008 right_roll=0.0341 right_gripper=0.1352\nstate[joint_eff]: [-0.212, -6.9402, 8.4444, 1.5897, -0.3297, -0.0708, -0.0122, -0.1162, -3.1111, 8.9641, 1.5702, 0.2564, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b1ebca30c78a03ef9cb1a91be01b48d44a4492a357c91f7ac805434bfb73c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a528149b21028d789c82deb3278c17f2d08cf8fb8ecf2814ada3aec46168b74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f484816960fac8520de9b3fb5aa588a83de610d7ce43b856c0516476384731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9LH3zDy80e6InfKNjHTjjmCup731e_gJ1HKETjLf7H6Vg9C_RwwiVGc3wPnn7zuxHBMv56WzvI_yKpzuotUls_6VwctgZxc2QbL6abHadJI3cf8XcEspaODE_5CG_jpbxSLf5npyCZj1gIR-6FdJ1fqc4_amvuL7qzDVjDkLuVURe1b_KPQBchIZiseKcl-zeconSAcqRnBpcvNr38Z_7ndFu0jXE8F0amyggZQYywFHRlrABdw_NSf6iG6mseoXUw4RMuJDu3ldijWlpHdbP_pdWAoC7dsCedqmCa75kNVXeP5AXALDBokZlY-JJx7fVPALHnFSn2PgEmncj91VdjgZN4dnri5lCEbPfrgrhIs25lFkbQzH19SNRYrYBwL3vI8pd8a1IdcY-frWS1I85lTpdPhI2rq3LursbsSn5zlSScw4TpzwcGPJLgoSlIGrwWIJ-8h9auP--Gvzyu3xQDENGv-4TZy_bzjij8S3TXoe5GzrgkdEe6tFJzeos9SZuHI64iVMwGYG2MtSkPn_0ScdM8xnek0s-lsgmeX_hzTyMVfPNK04bAfSfA5lvsWCImv7qhEdZH8s8iPX9NDhRGqHr92wTMAB9HkWlOznuIqG3HtOaPKRnsZTIUVbWAR3qIusrwkDdqIDvZ0f-MY_vPoqQyjbupFbWrSMDfEu-aeMKSEcwNwhwVKYbE262niLsLkuOTD_YYoToC02AQnyjZDVGX2vYxoXBMLagHlwibe2YgVgWaDhGURvG18ct7X2F8iTaaCLUcMp-dK31Hd5vbSGazgqzAKlq61HtYJSwFMOEIn2sDjlz8ZJdsOKjgGHrE15H01F-yA1V_VczqdaTG-Bp7GlvxmXabHE-Rh32euMZmok2swt7uYKAiFmOch13AfmbCukDSqiOLVWzXwD0u1bFNJV7ZTseKez2NFxmKED9LcYwZWuVVaD5rUD5pIMQMdOOG-_SIa9xFO4vthLoR4Se01B4hx50rWuMwNAgODomAdEzYhsYU8ED3Lg3QQQN8lN_H9VSWbzJaPJscCTJpfL4zpa0pocexsmOtI3ZJRnErf_J6HvgZkZrKkFyWnvart_Bnjfuief9b6yy6XRhqCatcPAW57ElQthwgro7SebdFVDWMM-Z1xIRhgbDEZCEtU-l8pHc5oESEXTYycZZ_MrwQ70P2_BzHWBgNTFomKnopkV3jfjNdC0b5yJhCE8W_JpCXLORPiqtFY9bu-RR4OQS4oAEKnbsp7zGeyJIBNy1m6I_0x_gRtWmT1Ytaqqzc7CZ99cAL0n8T_ACxKd-CwTogcQN49nr1R3yqW97BxeHg9ve-kBjHFtmY_TXWvPlxuBkNAf6PiTVP-7ZA7ozaQX3x44vPhXfxCxMDhZVLLUH4oeO7YbE63Iug7J8qFKiHF1diujAGE90ZO8A8YhdkJWTBBkXPaHK-skI6r8BbskMf8yduxv6swHJk4B6esGxgoQkG4cuj67SE1LhIMDXt5poNwyeJx_7wIJmvxWy950DFuDbzE4iNSiTYDqEQ2a4cCnzr2VJrCr3ncv7mvaNqqyyj6uEAEVCAriuQNIoGOdYrYf0pZ1GxFC6meepPdmJ5",
  "id": "rs_020bc5bf08716e1a016ab46f48325487d09cd0fcd2780885c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.18,\"right_z\":0.23,\"right_pitch\":0.25,\"left_x\":0.37,\"left_y\":-0.15,\"left_z\":0.015},\"note\":\"The dark pen has lifted with the right gripper, so I’ll carry it over the right basket. On the other side, I’ll lower the left fingers around the small plush.\"}",
  "call_id": "call_i9JLgaFSSy3GoLtqlw5oLD59",
  "id": "fc_020bc5bf08716e1a016ab46f4a4a6487d09dd75508dbf54324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i9JLgaFSSy3GoLtqlw5oLD59",
  "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]: [-0.6086, 1.7721, 0.6178, 0.3885, -0.5026, -0.3775, 0.9968, 0.4313, 1.8168, 1.301, 0.1383, 0.3267, 0.1375, 0.1398]\nstate[eef_state]: left_x=0.3698 left_y=-0.1496 left_z=0.0152 left_yaw=-0.0029 left_pitch=-0.0882 left_roll=0.0565 left_gripper=0.9968 right_x=0.5199 right_y=0.1808 right_z=0.2121 right_yaw=0.0666 right_pitch=0.2136 right_roll=0.0236 right_gripper=0.1398\nstate[joint_eff]: [-0.7453, -6.694, 4.2188, 1.7021, -0.3785, -0.0708, -0.0122, -0.841, -9.9214, 9.1556, 1.8046, 0.0952, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6befb145ed4a1e71078cd173816fbbbf7b8e292b5805c8ddd0c73fd63675ddea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b6def62cd3ed973ffa61603493258d2f1b9d4c44d5313b03a9925becd2590e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d63846c2679a3407a4e21d2aaeff8f8a66d71def3dcc78a09b04886720cbe4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.275 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 0.9085, 0.6765, -0.3508, -0.4225, -0.1654, 0.9968, 0.6552, 1.5352, 0.1791, 0.6945, 0.4973, 0.3672, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=-0.0505 left_z=0.1952 left_yaw=0.0177 left_pitch=0.0366 left_roll=0.0988 left_gripper=0.9968 right_x=0.2865 right_y=0.1184 right_z=0.0109 right_yaw=0.0376 right_pitch=-0.0003 right_roll=0.0208 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.4547, 7.2137, 1.8974, -0.1441, 0.1734, -0.0073, -0.5675, -2.2359, 0.8137, -0.1783, -0.0122, -0.2711, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 1.4879, 0.7456, 0.004, -0.498, -0.3592, 0.9968, 0.6529, 1.1244, 0.3031, 0.1776, 0.4782, 0.3595, 0.1352]\nstate[eef_state]: left_x=0.3703 left_y=-0.1398 left_z=0.1022 left_yaw=0.0062 left_pitch=-0.0679 left_roll=0.0531 left_gripper=0.9968 right_x=0.2843 right_y=0.1196 right_z=0.0756 right_yaw=0.0545 right_pitch=0.008 right_roll=0.0341 right_gripper=0.1352\nstate[joint_eff]: [-0.212, -6.9402, 8.4444, 1.5897, -0.3297, -0.0708, -0.0122, -0.1162, -3.1111, 8.9641, 1.5702, 0.2564, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6086, 1.7721, 0.6178, 0.3885, -0.5026, -0.3775, 0.9968, 0.4313, 1.8168, 1.301, 0.1383, 0.3267, 0.1375, 0.1398]\nstate[eef_state]: left_x=0.3698 left_y=-0.1496 left_z=0.0152 left_yaw=-0.0029 left_pitch=-0.0882 left_roll=0.0565 left_gripper=0.9968 right_x=0.5199 right_y=0.1808 right_z=0.2121 right_yaw=0.0666 right_pitch=0.2136 right_roll=0.0236 right_gripper=0.1398\nstate[joint_eff]: [-0.7453, -6.694, 4.2188, 1.7021, -0.3785, -0.0708, -0.0122, -0.841, -9.9214, 9.1556, 1.8046, 0.0952, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6befb145ed4a1e71078cd173816fbbbf7b8e292b5805c8ddd0c73fd63675ddea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b6def62cd3ed973ffa61603493258d2f1b9d4c44d5313b03a9925becd2590e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d63846c2679a3407a4e21d2aaeff8f8a66d71def3dcc78a09b04886720cbe4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9QERtdV1CUqyzan1Ri2GoFfSoxFOKC62Jq9w-BkyWlCqan5AFyPHndBXY0S-FIKuqdzGX4IJcGqwLB36H8mAsQgpiZw87hdu9RgMtwbqx8jGjY1LSGsc_nwkOwSyC_3zHhccS9yDURDpRLxRYxBOyzPYM-IcdqWaDh8epBuNL7YnhAZ9W_RyD3Bx0X6xLPt0VHyOZb9llgBPDnRBPTQMOBl2sLMD9GqnvMsMfKIe1IHPDsqcgnVLJA59CrdHCXMQbla9e5pYEfaZdLbAQX7v-ga-9v3MY34cGBkOkL2CmzI8CJx6yUS4bGmH5PNgH0Qsdb2vE9StbyVo0IRWH5kQm1NAIuyuAbpGkTqADflLfvtNvAVGegdjBee-eKZ0WHhx7KQlXtvjsz3u9bcDNyuazufs_cPynzRdvPHi-3TFBi1VLkzUoVXf8cWau21D0nZazULX2Qre4gsbxz2XLt-WuctM1vanajRk_Ed6dleFswrt9IEOL4ujd5PXvl--o7a-alxv1kJS0kfJgZQJtz8i5wDs17YQPEJ52_dWo4R00skaEu7Q8BI9ccOOjJ-4QjbwCklmeDUu7-C7HWqrAdrd8A36yck4P2gasi0lP9Za9vLrvXdlOOAfJxg6KMMT9Z6SUc1_05Fmh2QYZtjUauNWlHuHOnp667DNf9WOQpgmFvy50A5uDNkz-5Vzgsj7wcgStXn2H9rJHtJU7cS7IrSIatwNYTjmkm6CsM-AW3WCf4xwOe8sKXUeJeuJd1JSHCV_2_OQ5rW2V2WOkIRHvhy4C7IzZscUh65MpY473Pe97EgGc8-Eg59969kQpxXG2KWWMFj5Iool-PlMAloIYSpTQrFLIuDEHzg7cA8sizp9yJC1LkQyAUPje1bG1dEzcdUs1hWsPwA_IdPhU2kiTrstgLA7CBQRKWOTXxgqPPSEKl0tzcz5B_T6UZiqRobEZinfnMYzmmkzUdJPam1aqI4nEPiEiiQ2yVEVbOfjFKUOcZyseEdFsWnwybSoh6lq1OrjBERPZ6taMvlGpugUDTVWSwZ4U3IG04u0e7G15ypOZAiEU7uvRX9mANFrSaS2aZovY2o-cdzD4_i7kKyNqqLc701__2O-jHg0SCexqlxkH2uOTzpwVUOW9AWfHxC5nimqDDN4ShxEf5pm8t8Ik0MOqGkDFQP8721MzhB__Tq7VLhXGROEW0LuVL4i5t2HeooPvzLGPKt3YtY3UvvALTFl7xiupcTrvU6getS_7W8YYyxhhGr_UUes3IEI7p-K8SA_AEDscQ3Wjbwd6leaaa6LPe9-cA18fNG9zfGauAbbZlcdorS5_6fbnoKh_KmCfG5Rotm19379BtV11bM-WGZOqoZ7aJeHPBfCy6wZNcv_8E2cZXVk7k69x6Ghv3LiUlnOTN-tekvd-REe7S-ACIYZTDDQ==",
  "id": "rs_020bc5bf08716e1a016ab46f4f159087d0b1cf3ca786d53cec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":0},\"note\":\"The dark pen is over the right basket, and the left jaws surround the brown plush. I’ll release the pen and secure the plush.\"}",
  "call_id": "call_QOVjcN6SrRtVpupHbjDc3sVp",
  "id": "fc_020bc5bf08716e1a016ab46f4fdba887d0898c7f4c1cebe903",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QOVjcN6SrRtVpupHbjDc3sVp",
  "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]: [-0.6102, 1.7794, 0.6102, 0.3985, -0.4988, -0.382, 0.2959, 0.4286, 1.8309, 1.301, 0.1242, 0.3275, 0.1345, 0.9955]\nstate[eef_state]: left_x=0.3679 left_y=-0.1497 left_z=0.0115 left_yaw=-0.0047 left_pitch=-0.0936 left_roll=0.0535 left_gripper=0.2959 right_x=0.5205 right_y=0.1793 right_z=0.2016 right_yaw=0.067 right_pitch=0.1874 right_roll=0.0102 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -7.9111, 5.3128, 1.4237, -0.2711, 0.0171, 0.8278, -0.1299, -11.1521, 7.3231, 1.9609, -0.0024, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6cfa0435f7540db09e88dcb7dd76d1f3582c9138d11ccee95cd604c6bd0eab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8998afae13a75d88877b2e798eb706d485c363162540d3a8457997b08ca03961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb55ac4cdc7a7d8e1a56ca5ae7b5c46dade3c026af845d3136f1f70c9e9f0bdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.212 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 0.9089, 0.6758, -0.3523, -0.4225, -0.1665, 0.9968, 0.6533, 1.5406, 0.1711, 0.7185, 0.4881, 0.363, 0.1349]\nstate[eef_state]: left_x=0.3081 left_y=-0.0505 left_z=0.1945 left_yaw=0.0179 left_pitch=0.0343 left_roll=0.0989 left_gripper=0.9968 right_x=0.2862 right_y=0.1193 right_z=0.011 right_yaw=0.0452 right_pitch=0.0053 right_roll=0.028 right_gripper=0.1349\nstate[joint_eff]: [-0.0615, -1.812, 7.2, 1.7118, -0.1538, -0.0122, -0.0122, 0.0889, -4.6701, 4.506, 1.3895, 0.1832, -0.0073, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6086, 1.7721, 0.6178, 0.3885, -0.5026, -0.3775, 0.9968, 0.4313, 1.8168, 1.301, 0.1383, 0.3267, 0.1375, 0.1398]\nstate[eef_state]: left_x=0.3698 left_y=-0.1496 left_z=0.0152 left_yaw=-0.0029 left_pitch=-0.0882 left_roll=0.0565 left_gripper=0.9968 right_x=0.5199 right_y=0.1808 right_z=0.2121 right_yaw=0.0666 right_pitch=0.2136 right_roll=0.0236 right_gripper=0.1398\nstate[joint_eff]: [-0.7453, -6.694, 4.2188, 1.7021, -0.3785, -0.0708, -0.0122, -0.841, -9.9214, 9.1556, 1.8046, 0.0952, -0.0269, 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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.7794, 0.6102, 0.3985, -0.4988, -0.382, 0.2959, 0.4286, 1.8309, 1.301, 0.1242, 0.3275, 0.1345, 0.9955]\nstate[eef_state]: left_x=0.3679 left_y=-0.1497 left_z=0.0115 left_yaw=-0.0047 left_pitch=-0.0936 left_roll=0.0535 left_gripper=0.2959 right_x=0.5205 right_y=0.1793 right_z=0.2016 right_yaw=0.067 right_pitch=0.1874 right_roll=0.0102 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -7.9111, 5.3128, 1.4237, -0.2711, 0.0171, 0.8278, -0.1299, -11.1521, 7.3231, 1.9609, -0.0024, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6cfa0435f7540db09e88dcb7dd76d1f3582c9138d11ccee95cd604c6bd0eab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8998afae13a75d88877b2e798eb706d485c363162540d3a8457997b08ca03961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb55ac4cdc7a7d8e1a56ca5ae7b5c46dade3c026af845d3136f1f70c9e9f0bdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9Um0Qfw9GlI-8I616Wap8zzllWWZSjRGshkpL0aEL8CvwS4bkUwEykhEmD-X8DuYd19UhVRsdZ8JbCjF3XA7qEgYKBmIwOo7m5LyyMbIX-lkM3V8FkdEk6EnC1EsOoQORByHLYJae5292fANJviw2pzhvXYUAyjSOCtSiFKvZ6fg9ZP7pHPyxB59Mqp8u-IPAIf7AD74uxLLmJqATAQakfb7J7VFLO6vWJfUjI9rDOl2CYlH6CKKZG1-QB46ZnwKML8-ey2OmY4UKYXFv3TfTu-s5ybv9L9i5KVQSfomeNSSbaMTkOTIwzZrr_EcwAN64v1dyw1GCXMrJoIGegE7hmYPxcZkBgtDV8na5oYOsvc-PsLOxPiq-dVPF5GMxzpOsxUDi4bG2pcBUiql89YnGnaE5UQj0aIdJZ03Yn8qWjIxaN30chgpNAY1CICPsZuh09Y08ZosLwYEnYyP6Iz7XMFnWMivtYF1HsItKyk1kRVrKK-d_Dg6UJJXn437vNneY4sDvDIqo9OTxmel9h3-KJOIoTkQBAMLYTyOV_pUd-d5bu-XyYjjXe6qLLKEO753XDqN2_8uCozHXI707uhSKvuaUV4MCYv85ddTydz3AGJ8-6-JNKBUGaxBqAfJ_sc7L1qxzeogJ_NZ5FBmPh1Ej9z38GotV9WLdyQP5E2HVDzUNj6H5l_h9RzWpGPCToCIH6c9CrBpxuuNq3phJ2RoR-co7dRmHDtW7uWvZOGYETe39V74xVO4wjVA79xw5TVE8rUPnT3D-mOqjcnrXi-sFpQRt6KUfx3c9imjFpjmc7L84L4V0qyEavbf3fTxf2kom5dU3Xp7n2B8ZncQ1EtglRtf9XOPs0SwObm504VAG4HdSC7oqtSWMbBpAXtaMcA6RL_LbGzZjvYNIGsz1CMFq22Nc2Ugdx6jPUUqGpjy0e4pZKknB7eCV17PXLAaz7---tKA1hKDlXqT5BCqdQ5zkYcr3_yySJE_85aVwTA-qtPuiNour7tzUnpgXAPMA8lg3QRKOH1IL9GEScLixMbubgjYRGieckFp8NQWlf1VQLteKu8ZMoL4Bso0_KP3g3jmtsQ2sixebvC--gN5Uinb34C2vqpx9eUnw6ys9awDs9SKWtTTWlfqKx6edf017ABHLQFvWzxkmjqHh7r5YXSSpsRdY48aA-eI5g6ujpDiNfIS0EzZFG8oqjzsRhcrkcvKso7efuD_ka6mpc4iQXCOdIbJELsRuEKef9I2FNtkIu8NVte_kyP6kg8P8HYBqzfNRZLPxrCwc_bsHFKmv9h5clYRPTj77ty-Lh_Sq_8j_wDOdcR-ycvcNPikqSqMR6oxhDyV3JQ4Li83tEtNibJi9eA4sJGsXvuFHkgfGrkzTfIVcjBQpo-5xyHP-SM5s0bE5llSMCEaM1BVrfOMhHb5HLTkiNZ8zWWqMRskfUNsrTjm8uWVwiVQciYiR5ILSI7TVCtoaUsSLbJvRaWozwc6nLRP5WRq_LfqjN1zkYiYqW0-SRmbgCanRnUyP-famV6IaYwdti-VTLzSpyyTecb7IuZxBd73DFRGX7DmSLI8iCpDURuV5AEI2ubnLwHwvip4QO",
  "id": "rs_020bc5bf08716e1a016ab46f53176887d0bf7dce58fdfe713b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.13,\"right_pitch\":0},\"note\":\"The plush grasp has a solid width. I’ll lift it to check while the right arm returns above the blue pen.\"}",
  "call_id": "call_rJ6J8TAugXSuxB3gM2snkdB4",
  "id": "fc_020bc5bf08716e1a016ab46f53e9c487d0bfcde10a494e9fc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rJ6J8TAugXSuxB3gM2snkdB4",
  "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]: [-0.6102, 1.5558, 0.7189, 0.0216, -0.4969, -0.3832, 0.2981, 0.926, 1.3067, 0.6838, -0.1284, 0.6521, 0.511, 0.9964]\nstate[eef_state]: left_x=0.3611 left_y=-0.1454 left_z=0.0703 left_yaw=-0.0026 left_pitch=-0.131 left_roll=0.0771 left_gripper=0.2981 right_x=0.2865 right_y=0.2087 right_z=0.1291 right_yaw=0.1124 right_pitch=-0.0031 right_roll=0.0072 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -8.0889, 8.6906, 1.5067, -0.2759, 0.0073, 0.2076, 0.335, -5.8872, 6.653, 1.3309, 0.5006, 0.1001, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5dadaa600bf846b33b0b40222b3b28b3b4b7e9d1b1af38c27134b9b46307ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba54954e751b654797d54cbf4b39a8d70b44cb15ad7af6b99da576e5905ce23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5aacc2c18418a4fdce529d2a8831cc981c75ba24544180fa2cc70e2b1afbd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.822 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.585, 1.4879, 0.7456, 0.004, -0.498, -0.3592, 0.9968, 0.6529, 1.1244, 0.3031, 0.1776, 0.4782, 0.3595, 0.1352]\nstate[eef_state]: left_x=0.3703 left_y=-0.1398 left_z=0.1022 left_yaw=0.0062 left_pitch=-0.0679 left_roll=0.0531 left_gripper=0.9968 right_x=0.2843 right_y=0.1196 right_z=0.0756 right_yaw=0.0545 right_pitch=0.008 right_roll=0.0341 right_gripper=0.1352\nstate[joint_eff]: [-0.212, -6.9402, 8.4444, 1.5897, -0.3297, -0.0708, -0.0122, -0.1162, -3.1111, 8.9641, 1.5702, 0.2564, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.7794, 0.6102, 0.3985, -0.4988, -0.382, 0.2959, 0.4286, 1.8309, 1.301, 0.1242, 0.3275, 0.1345, 0.9955]\nstate[eef_state]: left_x=0.3679 left_y=-0.1497 left_z=0.0115 left_yaw=-0.0047 left_pitch=-0.0936 left_roll=0.0535 left_gripper=0.2959 right_x=0.5205 right_y=0.1793 right_z=0.2016 right_yaw=0.067 right_pitch=0.1874 right_roll=0.0102 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -7.9111, 5.3128, 1.4237, -0.2711, 0.0171, 0.8278, -0.1299, -11.1521, 7.3231, 1.9609, -0.0024, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.5558, 0.7189, 0.0216, -0.4969, -0.3832, 0.2981, 0.926, 1.3067, 0.6838, -0.1284, 0.6521, 0.511, 0.9964]\nstate[eef_state]: left_x=0.3611 left_y=-0.1454 left_z=0.0703 left_yaw=-0.0026 left_pitch=-0.131 left_roll=0.0771 left_gripper=0.2981 right_x=0.2865 right_y=0.2087 right_z=0.1291 right_yaw=0.1124 right_pitch=-0.0031 right_roll=0.0072 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -8.0889, 8.6906, 1.5067, -0.2759, 0.0073, 0.2076, 0.335, -5.8872, 6.653, 1.3309, 0.5006, 0.1001, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5dadaa600bf846b33b0b40222b3b28b3b4b7e9d1b1af38c27134b9b46307ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba54954e751b654797d54cbf4b39a8d70b44cb15ad7af6b99da576e5905ce23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5aacc2c18418a4fdce529d2a8831cc981c75ba24544180fa2cc70e2b1afbd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9aPoFR8vEGP2ZsAs66QR2iB2J9a_2mLIkkYnb3Q2CN4yhqjjMibz3nZqowAlN5YBMUjbNMhiMm4bdutb9Z9bv79kRit3LWfUXMhvO8-jaNmfvFKZ-F5dyclsyaBICMNwnUUlwEOalpaIy5tZBkhPsFpsvRN7C3_HkNBUggMwaUWT5HMrUD3s68qfZYIP7adeGItLzNBFF_xNcLJOT_WupmSrYC0sUUg4b-CzwKqNecqZMCeaYDKiCJIUIJbfsBflnjVEUsCj7ikcRXcEieLaTbIy9sMRGg_HYtHAxWsGStNpGDIm7BwKvtwTYnDStDTUi1SV8EfDl-F4QLg2Gl8FK4yql4fZGssEojST5PLf2C0EPoxqxzlf1UzHF88ZXvdjPT6cS0f_x_HUzMnJ8TnaU2nnxcD8tP2kQLnvfChqYWSxhAnR_ozXv1PsG_c-_f5pjDBtyCQ2hTOy9h4NGGCTQOKDSp6bAtaLc0l9RhCaK717vHLH27te-gQyNy3KO-KeWhgMrvUkrZRrg3fVGux2f2taGg37JkF9J5K_FhO6tNAFI6GcAlBubCZ7Eeu8gqXvGRHJjzqgAuxO9ofxD-2fdVCtrkPX2Al2b6HOmnaspSHTJEHL395BNuYdmw0pNvcwekuTz8GiChiKj7rGVhRWMUnwtrZOIpEjgGxDrEi-rEpVClh9Ga_3M0ZPZpAlojD6lLMkcBMJ1nW3QL87ez-9vVXmq305PY93deau7N4-WW89nVuEUKJyKLr-00gNEfXsRToN_0SdlvxpBaSE6ltF1N80fa3I_T7WedX7a2BHQBz957kEm_lgxJ4x3T2HoMNrzMoXEgm_1woXXxrQQyv6HhnSgdcs-Xsft-p0Zs1FVkbJi9PFTKGVsE6qI77U8gCNim2GuijcqFkO-QQeL2vXImHXsMKVZkaScpx7LhCNf73XhtddlRjge8Ojd9g-iduo6M12DboaoCqDqjjTsJuYrTAOshzmWl_TtrvUwcICuw1DhfprGVsHO_eMkCmB9ovkYEGW2gRDmonCsgP9W30HXc1s94eiaVu0Ef6-IRbNq6RxIBVo7eUETN5UFWegAwJ8wPD7_v9PbGQNswwYOH49shNvYUr91QWkwhOOmylXM6b6S8odZbLFgA0k0qXMJKtgV_ukuS18i-k8CtwgaBXWqZMLeqQlH8DS4BGCO62V8pT0L1F2vh2tc7BqN2r6Os2r2AWxyKzImZjbCt2E7phrVkciehfMAyqtnY4rbnB4haXXZnP-Y7AQV5Y-YykoPij3uLqr2rRRhvhZZxp1DVgFwrJWwbH8Vxa0fSxF7TEzYCvMJWP54st5fd-lOLmEfIK2oFZrZmMKzXWeBO16auslIp4rI1sRPx49XFky1zSWP8-3o6FMDLQu8tqO7lKiJgUJn5YRf2lU6F21bGL_nRQlByQ6ikb7NC9JEZlw68zd6SSAUQpclZA5V618Dl_IDzIpEk8rqfrxLbU1S4ngCIn37AIryxKgscUKZQsOsIrl0yHJ7y45vUinT7tWR0gLhCch6I3E35NkeuonS77xCbIednD4hNfd8bpU32rGjTJMW5z-6OwSC2QU3r8ZCmwC1cTaHsVHfVJakAzocGGObTltEm8D_AZxwYL4pYeB_1PyB5RUiPIIbN4m0kuWMKtCEXxv3ufO-FMwBL0irdGQOwSpI2kcOnechho3P72GpU-CFe0sg=",
  "id": "rs_020bc5bf08716e1a016ab46f57fc7887d09d51817a705267e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.585,\"left_y\":-0.145,\"left_z\":0.3,\"left_pitch\":0.45,\"right_x\":0.28,\"right_y\":0.2,\"right_z\":-0.01},\"note\":\"The brown plush has lifted securely, and the blue pen is centered under the right jaws. I’ll carry the plush well over its basket and lower the right hand to the pen.\"}",
  "call_id": "call_1hN76X1KINipA66r7F0eLCiT",
  "id": "fc_020bc5bf08716e1a016ab46f598c4c87d0b555e0c7b803d281",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1hN76X1KINipA66r7F0eLCiT",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3695, 1.9369, 1.5387, 0.1997, -0.4343, -0.033, 0.2997, 0.9279, 1.7706, 0.3927, 0.6994, 0.6632, 0.5247, 0.9965]\nstate[eef_state]: left_x=0.578 left_y=-0.1403 left_z=0.2736 left_yaw=0.0261 left_pitch=0.3844 left_roll=0.0739 left_gripper=0.2997 right_x=0.2888 right_y=0.2101 right_z=0.0106 right_yaw=0.0974 right_pitch=0.0515 right_roll=0.0674 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.3573, 9.4017, 2.0879, 0.0806, 0.2613, 0.1441, -0.253, -3.8769, 2.3316, 0.6081, -0.0513, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46749cf29493dc17010b58cd62c82221adb25bcc2e78a031e632401540da6f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a93a485c1747a856697d72e8027e615513e055a7f1c36a2149c00e602383e97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b380ec94a556e3d696c466bd9c9663964e91e4aac23c48091548eed68306a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.69 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6086, 1.7721, 0.6178, 0.3885, -0.5026, -0.3775, 0.9968, 0.4313, 1.8168, 1.301, 0.1383, 0.3267, 0.1375, 0.1398]\nstate[eef_state]: left_x=0.3698 left_y=-0.1496 left_z=0.0152 left_yaw=-0.0029 left_pitch=-0.0882 left_roll=0.0565 left_gripper=0.9968 right_x=0.5199 right_y=0.1808 right_z=0.2121 right_yaw=0.0666 right_pitch=0.2136 right_roll=0.0236 right_gripper=0.1398\nstate[joint_eff]: [-0.7453, -6.694, 4.2188, 1.7021, -0.3785, -0.0708, -0.0122, -0.841, -9.9214, 9.1556, 1.8046, 0.0952, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.5558, 0.7189, 0.0216, -0.4969, -0.3832, 0.2981, 0.926, 1.3067, 0.6838, -0.1284, 0.6521, 0.511, 0.9964]\nstate[eef_state]: left_x=0.3611 left_y=-0.1454 left_z=0.0703 left_yaw=-0.0026 left_pitch=-0.131 left_roll=0.0771 left_gripper=0.2981 right_x=0.2865 right_y=0.2087 right_z=0.1291 right_yaw=0.1124 right_pitch=-0.0031 right_roll=0.0072 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -8.0889, 8.6906, 1.5067, -0.2759, 0.0073, 0.2076, 0.335, -5.8872, 6.653, 1.3309, 0.5006, 0.1001, 0.0757]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3695, 1.9369, 1.5387, 0.1997, -0.4343, -0.033, 0.2997, 0.9279, 1.7706, 0.3927, 0.6994, 0.6632, 0.5247, 0.9965]\nstate[eef_state]: left_x=0.578 left_y=-0.1403 left_z=0.2736 left_yaw=0.0261 left_pitch=0.3844 left_roll=0.0739 left_gripper=0.2997 right_x=0.2888 right_y=0.2101 right_z=0.0106 right_yaw=0.0974 right_pitch=0.0515 right_roll=0.0674 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.3573, 9.4017, 2.0879, 0.0806, 0.2613, 0.1441, -0.253, -3.8769, 2.3316, 0.6081, -0.0513, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46749cf29493dc17010b58cd62c82221adb25bcc2e78a031e632401540da6f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a93a485c1747a856697d72e8027e615513e055a7f1c36a2149c00e602383e97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b380ec94a556e3d696c466bd9c9663964e91e4aac23c48091548eed68306a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9fr8wWGeYYOTf1II1v1eTJibhhrAamGI8iKLBjheVUTq4Wzil9qlotO0Ov8eiwFqHyY_9Zu2KJTYzHuQrpCeSDqEfnMP3dzbwkz4wDvzmVlgbdBqes3KG1NuuleHgnQe6sEFl0LovLGGgkyEbuicrEZizNPm0hln3ro8r-HC-LGSXBYjEwnlBKdVForsBvX-AUlQfMk8LipFnivu1Qu1LaRVSHvq5zMw3iYGF5JKwLypnqTxEkHaQr-KednO06AnLy3S9pPpYQnjuGi6lkUrea6bybsWcwb1OQ_vJhRQUQ8jesptK9JhmpVIX5YSrqyHwuKva4iAHVd55FDCg3Ca_uxrESo9_7DQw8SDYgHXOPvBnh6vuR40Ixz1b0EYecjb3JkrSzVV3uuT_f3vL2Lvxf2lzWOQGEuUVWsqSZK0by91gzpsH94uCB1tr1V1Oon3oCTvgM4mQf94fwyX_bn1XvSA0Al01Iv2IOfo9UOxVRlMgEtZJdiOWnza1MzpCrBibFaPgIaVXf2jurSyZWHlPCw7oZSqrpWNZJF4ID-eEaozuurBEs39mQ-9hf3UZ873p6Xg64-tqDwRuVd7KuH6ddO_kw3scLE4EVjG0sXJ66Z5RyCdgv_pJ7C4k-3c_PnWacuvok9ecM7WGK7f_3_rWv6IIpoypPm5uiA4ekD6cf9pAhFD4TZV7WCMR_hr1NRgdn71g7KZ88T9aQbEpSKvynbOLbLb1J_56Wbs6TCKFjCzpukBqi_slLUbWmO9UHasd8nx4T4tEhJbsD1GnFlmmriyP9xqQ3vfnjmbU1_APTJNMvLaLXDJmGPrrnKLnpP5N4Nq1cuonX_nAjm8lPHYEB69GUVaw3VapT_uew3Cgwm_I51rL3Dt_pqla2ILAy1TSVYSL7IfnfaGPMEKraj_y-LJPUDI2IiJ8chsHq-PRioMV_gP978tL2Qbx3YUuttdg5G0f7kf9xmPT6fUT68III6fbkzsvXL7KV7VCDm9vCi7n00hTGmVACaY06M9RVShiLKUJ1bnqelKnr-PjbQEp-5rStZUPIlQJxN6JeCz-KqLYY5TgcOETIYj9rDSGSglj3gm_LTQ4DPzxdt1N0pLywytB5_0ulFFDM9H90fB28j-AS4_z8IBY8eIMCMu-pubaS0SzJPBiyG0xsq1FOLMiKrtoNwzKourzdq8SGXDQIH9RRkaRWrla3AJ--4x2WfxbSxjOR_-4ORu4AMjBmVY5SILCXHX6mnXs8RWMrtOoM-jc=",
  "id": "rs_020bc5bf08716e1a016ab46f5e52b487d0a1c1983e45497f81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The brown plush is over the left basket, and the blue pen is between the right fingertips. I’ll release the plush and grasp the pen.\"}",
  "call_id": "call_oKm1S3vNXzyOsEbjezalQ6ub",
  "id": "fc_020bc5bf08716e1a016ab46f5ed13887d08201818a6ea4e929",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oKm1S3vNXzyOsEbjezalQ6ub",
  "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]: [-0.366, 1.948, 1.541, 0.1967, -0.4297, -0.0406, 0.997, 0.9279, 1.7824, 0.3885, 0.7296, 0.6621, 0.5232, 0.1482]\nstate[eef_state]: left_x=0.5802 left_y=-0.1397 left_z=0.2676 left_yaw=0.028 left_pitch=0.3735 left_roll=0.0698 left_gripper=0.997 right_x=0.2894 right_y=0.2113 right_z=0.0105 right_yaw=0.0985 right_pitch=0.0606 right_roll=0.0769 right_gripper=0.1482\nstate[joint_eff]: [-0.4581, -12.1368, 6.8991, 1.8828, -0.149, 0.0904, 0.1001, -0.2256, -7.1179, 4.1778, 1.2137, 0.1783, -0.0464, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1c1acb0396bfaee83a7bb944577140e3840bf9d8707975d29681892175eb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84b59cb952d0179d72119c99fe272cb917735c3541cdc599a1056795617204c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9338fe80ce57bb2f8024f737595e20b04f19347cacba9b689ddf176d3765fe34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 8.967 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.7794, 0.6102, 0.3985, -0.4988, -0.382, 0.2959, 0.4286, 1.8309, 1.301, 0.1242, 0.3275, 0.1345, 0.9955]\nstate[eef_state]: left_x=0.3679 left_y=-0.1497 left_z=0.0115 left_yaw=-0.0047 left_pitch=-0.0936 left_roll=0.0535 left_gripper=0.2959 right_x=0.5205 right_y=0.1793 right_z=0.2016 right_yaw=0.067 right_pitch=0.1874 right_roll=0.0102 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -7.9111, 5.3128, 1.4237, -0.2711, 0.0171, 0.8278, -0.1299, -11.1521, 7.3231, 1.9609, -0.0024, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3695, 1.9369, 1.5387, 0.1997, -0.4343, -0.033, 0.2997, 0.9279, 1.7706, 0.3927, 0.6994, 0.6632, 0.5247, 0.9965]\nstate[eef_state]: left_x=0.578 left_y=-0.1403 left_z=0.2736 left_yaw=0.0261 left_pitch=0.3844 left_roll=0.0739 left_gripper=0.2997 right_x=0.2888 right_y=0.2101 right_z=0.0106 right_yaw=0.0974 right_pitch=0.0515 right_roll=0.0674 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.3573, 9.4017, 2.0879, 0.0806, 0.2613, 0.1441, -0.253, -3.8769, 2.3316, 0.6081, -0.0513, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.366, 1.948, 1.541, 0.1967, -0.4297, -0.0406, 0.997, 0.9279, 1.7824, 0.3885, 0.7296, 0.6621, 0.5232, 0.1482]\nstate[eef_state]: left_x=0.5802 left_y=-0.1397 left_z=0.2676 left_yaw=0.028 left_pitch=0.3735 left_roll=0.0698 left_gripper=0.997 right_x=0.2894 right_y=0.2113 right_z=0.0105 right_yaw=0.0985 right_pitch=0.0606 right_roll=0.0769 right_gripper=0.1482\nstate[joint_eff]: [-0.4581, -12.1368, 6.8991, 1.8828, -0.149, 0.0904, 0.1001, -0.2256, -7.1179, 4.1778, 1.2137, 0.1783, -0.0464, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1c1acb0396bfaee83a7bb944577140e3840bf9d8707975d29681892175eb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84b59cb952d0179d72119c99fe272cb917735c3541cdc599a1056795617204c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9338fe80ce57bb2f8024f737595e20b04f19347cacba9b689ddf176d3765fe34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_020bc5bf08716e1a016ab46f6212c087d0a75daf222e2bc6cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_x\":0.23,\"left_y\":-0.005,\"left_z\":0.13,\"left_pitch\":0},\"note\":\"The blue pen is held at a pen-sized width. I’ll verify it with a short lift and return the left arm toward the gray plush’s nearer end, away from the fence-side obstruction.\"}",
  "call_id": "call_hG8KVxWj98KgmhlqWyy1nNHE",
  "id": "fc_020bc5bf08716e1a016ab46f67337c87d08c25aa3bb450b496",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hG8KVxWj98KgmhlqWyy1nNHE",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2558, 0.4316, 0.3603, -0.4522, -0.2977, -0.1268, 0.998, 0.9279, 1.417, 0.495, 0.2214, 0.6437, 0.5201, 0.1528]\nstate[eef_state]: left_x=0.2423 left_y=-0.0061 left_z=0.1455 left_yaw=0.0473 left_pitch=0.0667 left_roll=0.05 left_gripper=0.998 right_x=0.2841 right_y=0.2084 right_z=0.0778 right_yaw=0.1152 right_pitch=0.0276 right_roll=0.0556 right_gripper=0.1528\nstate[joint_eff]: [0.3077, 1.3744, 6.8991, 1.917, -0.0757, 0.105, 0.0904, -0.1709, -6.7214, 8.4171, 1.58, 0.3785, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecedca1c1695e9e0e6abee0a9d4c26f4d86e70efe6b3e3fbb443b6688fbfd04b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1e24d42582a64a0dd774eb255b9f3c56134a57f56c1111e8320d83101dc859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b87c6edd4da53b2609127bd86b42ae26a35001ab01de6068d01108d466d18a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.665 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6102, 1.5558, 0.7189, 0.0216, -0.4969, -0.3832, 0.2981, 0.926, 1.3067, 0.6838, -0.1284, 0.6521, 0.511, 0.9964]\nstate[eef_state]: left_x=0.3611 left_y=-0.1454 left_z=0.0703 left_yaw=-0.0026 left_pitch=-0.131 left_roll=0.0771 left_gripper=0.2981 right_x=0.2865 right_y=0.2087 right_z=0.1291 right_yaw=0.1124 right_pitch=-0.0031 right_roll=0.0072 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -8.0889, 8.6906, 1.5067, -0.2759, 0.0073, 0.2076, 0.335, -5.8872, 6.653, 1.3309, 0.5006, 0.1001, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.366, 1.948, 1.541, 0.1967, -0.4297, -0.0406, 0.997, 0.9279, 1.7824, 0.3885, 0.7296, 0.6621, 0.5232, 0.1482]\nstate[eef_state]: left_x=0.5802 left_y=-0.1397 left_z=0.2676 left_yaw=0.028 left_pitch=0.3735 left_roll=0.0698 left_gripper=0.997 right_x=0.2894 right_y=0.2113 right_z=0.0105 right_yaw=0.0985 right_pitch=0.0606 right_roll=0.0769 right_gripper=0.1482\nstate[joint_eff]: [-0.4581, -12.1368, 6.8991, 1.8828, -0.149, 0.0904, 0.1001, -0.2256, -7.1179, 4.1778, 1.2137, 0.1783, -0.0464, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2558, 0.4316, 0.3603, -0.4522, -0.2977, -0.1268, 0.998, 0.9279, 1.417, 0.495, 0.2214, 0.6437, 0.5201, 0.1528]\nstate[eef_state]: left_x=0.2423 left_y=-0.0061 left_z=0.1455 left_yaw=0.0473 left_pitch=0.0667 left_roll=0.05 left_gripper=0.998 right_x=0.2841 right_y=0.2084 right_z=0.0778 right_yaw=0.1152 right_pitch=0.0276 right_roll=0.0556 right_gripper=0.1528\nstate[joint_eff]: [0.3077, 1.3744, 6.8991, 1.917, -0.0757, 0.105, 0.0904, -0.1709, -6.7214, 8.4171, 1.58, 0.3785, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecedca1c1695e9e0e6abee0a9d4c26f4d86e70efe6b3e3fbb443b6688fbfd04b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1e24d42582a64a0dd774eb255b9f3c56134a57f56c1111e8320d83101dc859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b87c6edd4da53b2609127bd86b42ae26a35001ab01de6068d01108d466d18a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9zJFDbuHVP1baA7e_X-ixRYTkTUBwe66vn13spjwvTykPXZM11kKPnH4LD2WBR1UZTIakGOSK32GJ9tybMGYM13u9g60378I7zQbtYMAKwmwIBZxqXVXzxWsoinybcgrSyGJU6Bt5yiDteXuxen1u_er2dTfrgN0uj6LQXBIBmcl0eckLpVUPxY1NX7qmX1SQCLPfr9qI84pfJNwV00geuklKQuk_2uzSvClXvTygLh4hglsXQmaXGKJxmGL0Bhzj6oYRrc-rmeCrZZgID2jHAYw5RcL17ChDrg-OU7XrIOnVg1JtcsgCNkhEiIIbr_HAFZTOkSNDpgOdZCVaYb_vGPwwtgrmXsa4LQx3sQ7IPToY_Z_VHiIfuCfziIZSZWNFeTvYTthagttXUcZphQrwg258b730prGTthioTWa5SpQVCLbpwH6ECOql94sSJnaf2bMbwoT18fY7a_hEkNGlIMu3RzMD9sjlTlm6AJ2qoJs1nlMjf9fJ_oXtjcsTZLVtoaz6hhbGFruiN_vx9GYtP-b8gLsaF44e5y5VwIN1X83MijKRAMrG5bQQEfJhW4LKXSWlS-amgpmSxNQicpO5hqFgj2hthmo2dq2-U1bo_3klYqaH28QDX-ONsZkUAKFZE4UoI85XCwqJsek4wGXWSTtYt-_zGR557q9WHd0-WxJbv_z_LUm3GqRT6QPv9POQpq6qPZYyvuber5xFodx3Frj3qSHoVm9x3MU5h-mlx0pGjG5D8Tu3hrZWskIAszy84cP7lpIZRsax0FnG8tz2mec7822m7GAPtJrxWasJEb11F3RKAUX_qkiBFgZimT3ddH0S3umnXjEhl_yyMaMvf3Ny5Y3C004arT_5ey7vXSilxzzJyTeXEtbPmAqEXPmRCoBIAt8u-ER5fSI1XQtdzAHMr19nb2tjgHXgHPCuRaLivwQ1yx-lQxjEHxTKopf_a1ROgxfYIDb_AaHp7ZiiuYlAGAB99tdOr4SVP9TXCMfFUWoRPYzSytUBKNwC2jlC0ECfA_NCZCjgzKJHuouATekv5Q3lTh2T9VUvOA0eiJtbt2n-pc43kqMxKdXcC9Uxs1ImAyLRK2NIjNn5F5_u6TB7ef6TkaaU2_68RUoDZy8lFlbESMEllXN6DAnyTML8NijU8stBPwBmHaZvBY5vVd6t9vOkQ3fDiM5RhHYPxLNxtAo_YZ0vOJtWNaesLk_kVvqb9alkx5necBD2LHPFf_nLC4vPsgmXzxBAP8pFe0Uk0uuISPBvnIOCBRFDvZnIOCtSR4xw3_ws3jv5AvCELihPDzrYBZmeaZdupuQlyrH5PAbn-TyLF1446raxs6YSt8ylInRoe35_EA3JDJhNyQse9e4BBxW_CaZXqzmnL60CiAg0sUOjsBC8L4_qyyRepMpEg1a71rmsgEIMiv30gb3eiu0VDTDOOkRyqzr2YZVWO1TiMyJWNpL4Q_MsTr5NiVe6xBjXDBIpUbo2Czfk5JCbsOZgyMD7WEJp39toGWPRM28ijIUiwGasDNOFA8pT-LNm5AqIzlRt8kLYgtWASdrBq7vgo-1Da2xlo18DqsM9I8xB6fdHIqKjqYNvdqbXGmRx1P257oeUE3REilKVbteSbd_gKt8HnDjOWsOqCWkY6KmLcRKN5WgaK8z7G4gnrYbyJdeIi-ukFZ47mk9HdPHdqMYC-c93X6-LrXlkl07FXDEI4BFLQO6JQidNhNeoDLfjIZbLD_1byS65IarDpX02TDjW6PhXLaYynUBIVM0O00b7TwEyzV6ImDdhNI1HuFn5wWIY6RbVyH2LbzIeigRkSMhNFRfaRBTiSpex1wNEphgeOFOk-Ig1iTYTrVfmRUipB-1kn8nQtCu3aahvZNJQBWfw21ZR0ZWNCgxeMLuL8kBw-RoG3SQQ5MqfJ3UvZu9p-m7hiBkzv2ZMkvaSlxrwFbjXrtTKs3zsGH0G4S7o_r3j-mLzirXE3ZqCktIc7begLFT8kE_qk3n8vATbMgZndZ9B4NTWWCgx3aus9u_sWSW4cdUBT_lJUER8QDy-00GagNP3n11-OZhY0kfR7F2L8T8aZ7WYRKvCEFhrFZK04Eg3AlI53RddjWubVBtbG_u3dhu_D22r36yh1TgCnWoHpr9wpjnT7jInUyC3crcXGjlvVy0gcx9q_nIeJSalP6uY5EqU5d9jUVnNu-XrsdRjZt22k--we-7WJI56h_bZhTmBuFMI80jkou5NK540WmhOd-jGfgLtIrOniFcekhcE03jG7jfCrVYa06e0x0Lofi6cqpPjUim3-C6Bn4i7IM_Bkxrn4mEv_Eq_T_qSMSq4I5x_dKlgYTEvATsajkWRDc0GvlzLSzUl2TsI44CN9UtR77J6vaXtwy21HgVI59bENWYrTaQfWhvhgQz1qrh2z6OMgu4Cfjeu6uCALTItm_k_pHcL9QjiUYY0VB3dx1a9BmTwFqcIC0tMRcoUQdhZBamSviFPCWanp-LgACR9J_iG2nEr7hakxjXB24GMBaL_CHIKfVthLASzFRsAtEE3xwxbEllwoiaCveSnWpWrgO1O1i2-s7MyX5W4LhwVvzZryxCJDLGucxK7GOXqFexUQR6IYHpCSr0SgCTBJyaaytSDrTHTRaAGtNt38LImwFT-87DMzEKxSG-CC2NIixRhZyvukTPwMO1PL90LrfnCDp36wqpbH-fSy9R--kOeoWZV-h6qnUDuy7xH15B9yjf7pgLexn3jylSmGhNDskmGGUYTG4YNgSnI6EDPvpL6QcWZV-ZDXjKKL3WU8jbai8YI9dU1av0Nhi8-H2T1U6aAcbF3IZhTpY4-iU5RPru8CaLtB0XBmVqrLn8JKh5QkTGvz2exLscatZK1mpI4B_V8eFGrabYC4fy7fwnp-k8tnMDDG5FvNM9QkpVTEUxx17gxrXGS5XG9DOL3-slHj48FaWKK-YBE5PF7eIShP2gHNnQFkMkVcJMquYErmObWsocZHG8gRs6kRuKxgzjeg941HkVK7hHAfAq9TQf_20XWFf0loy6FXVeKML0lMA2XXgxBnMnH_fiLPcDZrFheLthyl1AkrL1_2j6GruLCfDzwXELmmUR181cJfC84Mp5hnrCU=",
  "id": "rs_020bc5bf08716e1a016ab46f6c3d2c87d0a25f4d4780e724db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.18,\"right_z\":0.25,\"right_pitch\":0.3,\"left_x\":0.285,\"left_y\":-0.06,\"left_z\":-0.005},\"note\":\"The blue pen has lifted successfully. I’ll carry it farther over the right basket and lower the left hand around the yellow pen, which is clear of the gray plush.\"}",
  "call_id": "call_AzIkUumjFt6FuJI4OJCFlX62",
  "id": "fc_020bc5bf08716e1a016ab46f72bba887d095d3e751da33598f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AzIkUumjFt6FuJI4OJCFlX62",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.5304, 1.742, 0.0349, 1.1213, -0.5388, -0.2974, 0.9981, 0.3779, 1.8896, 1.4231, 0.1497, 0.2199, 0.107, 0.1528]\nstate[eef_state]: left_x=0.2858 left_y=-0.0584 left_z=-0.0011 left_yaw=0.0599 left_pitch=0.0709 left_roll=0.0412 left_gripper=0.9981 right_x=0.5512 right_y=0.1812 right_z=0.2308 right_yaw=0.1178 right_pitch=0.2607 right_roll=0.0486 right_gripper=0.1528\nstate[joint_eff]: [-0.3897, -3.5487, 1.9487, 0.8034, -0.0024, 0.0562, -0.0073, -0.6769, -10.441, 9.5932, 1.7998, -0.0269, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72c44db279bdfb46b043cab0bd3ab9f63cc08d7a75315e59fc1c6bbc12c472c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfd231b0790c229369e82ea5aeaa3dbf051d882f1046e198b05c0dddbe5abab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c45bf12c1e577457dba68046ea97f38170b18d9ba88b2c21e44df2c4b79b460",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 10.92 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3695, 1.9369, 1.5387, 0.1997, -0.4343, -0.033, 0.2997, 0.9279, 1.7706, 0.3927, 0.6994, 0.6632, 0.5247, 0.9965]\nstate[eef_state]: left_x=0.578 left_y=-0.1403 left_z=0.2736 left_yaw=0.0261 left_pitch=0.3844 left_roll=0.0739 left_gripper=0.2997 right_x=0.2888 right_y=0.2101 right_z=0.0106 right_yaw=0.0974 right_pitch=0.0515 right_roll=0.0674 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.3573, 9.4017, 2.0879, 0.0806, 0.2613, 0.1441, -0.253, -3.8769, 2.3316, 0.6081, -0.0513, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2558, 0.4316, 0.3603, -0.4522, -0.2977, -0.1268, 0.998, 0.9279, 1.417, 0.495, 0.2214, 0.6437, 0.5201, 0.1528]\nstate[eef_state]: left_x=0.2423 left_y=-0.0061 left_z=0.1455 left_yaw=0.0473 left_pitch=0.0667 left_roll=0.05 left_gripper=0.998 right_x=0.2841 right_y=0.2084 right_z=0.0778 right_yaw=0.1152 right_pitch=0.0276 right_roll=0.0556 right_gripper=0.1528\nstate[joint_eff]: [0.3077, 1.3744, 6.8991, 1.917, -0.0757, 0.105, 0.0904, -0.1709, -6.7214, 8.4171, 1.58, 0.3785, -0.0171, 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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5304, 1.742, 0.0349, 1.1213, -0.5388, -0.2974, 0.9981, 0.3779, 1.8896, 1.4231, 0.1497, 0.2199, 0.107, 0.1528]\nstate[eef_state]: left_x=0.2858 left_y=-0.0584 left_z=-0.0011 left_yaw=0.0599 left_pitch=0.0709 left_roll=0.0412 left_gripper=0.9981 right_x=0.5512 right_y=0.1812 right_z=0.2308 right_yaw=0.1178 right_pitch=0.2607 right_roll=0.0486 right_gripper=0.1528\nstate[joint_eff]: [-0.3897, -3.5487, 1.9487, 0.8034, -0.0024, 0.0562, -0.0073, -0.6769, -10.441, 9.5932, 1.7998, -0.0269, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72c44db279bdfb46b043cab0bd3ab9f63cc08d7a75315e59fc1c6bbc12c472c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfd231b0790c229369e82ea5aeaa3dbf051d882f1046e198b05c0dddbe5abab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c45bf12c1e577457dba68046ea97f38170b18d9ba88b2c21e44df2c4b79b460",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG98djIIqBYjex-zQwzwJVXsQ1F8SRdNAxwq1HFvWoyFOGlig9AgXy2xSOFNZULLz-BvOEfxLMboLEvJuYcHJAAvfrRsYdYaMAdfBnb8RvXR16y-Md_wpfc0UFQjtg9SpHzfQELDAlf7GXDQLNFUSNU7EId0Oj3Rk5af4HCkmCTlo0vzkyfDLfpT24hizCDYnBx8tjeL113xIcQAzseqJGXnuP19ae7GU5W24L8S-Y5TMwTgSnbH2kByqL_MGsoH2jv7K9e-UeYsd1J1vcZOPY3EuonPy0RH65yf70NO8s2e-HCLq3ebRfdVga2x_4pdG_rP7j_4iaOFleXQ9Hd-Eah-ge6ojHQm3Gdau0tB9kupGchFEgfp_qUwVk4cokmMwgXJInSWMOeMjsKoR1KOEe9DoGVBFeuiqkTEllJQepmuYZWPpydE61GUnXwaJIZ7mw7R9pmRV06v16KNL-myzI1ZsDp_yktm5z0MXOEE_C3ECornQA1RageQ3YiNdZuQuBiTQrDZPf5YT7XSmnRbP0AN4pFRYtrx8BO0J-eYX_APcVP9a1CifVDrYZHdTKTc91osH6cLWm-WHI2Qo-1-hgRCp2qCWIW9Qbze5IynNSm2Gz42JoWaPGvpvLj2We-HhBiRImPB-pSsS6g2DfqHf80orEYjKA4OAK2dxbfdnpeG1A_Vg95COpN98SH5n_S1MY50Ri9CP0Hj9iCT1OqrqxYgOIa_ieXOelc-n-gHa4RoiHneysQQa4aTCnNubVzYbd0kcKBK9R7k8kOJh1ScIKlwpSIHk349iaa9-CGb3QpsEZXR6PcU025BlVqql1pWqL2gkhmUO3x4vB9BA6UXbO3r1NW90jN4wLnwQ-E0-GiBWzsy1KYH3Hyli8a9SMpfqnExlQC7lvaYI-RdT3p0NJTKFwX5ltHZpgbZMfu6lFcjiKYsyssvGGtpdfPH6iHVnd1XF5nvRxoi7iapcBb-TG18aNQCv6HVQzEQVDAEQJS4KwKxO4EaLcdn9f5ETenoNkj85leaxyPxnFnOhkbWCK56d40TD7iJaJq9QYW35DnV10KGvLgqtvr98fe02CaRPn925wd5p0L0XQtcJXCvkcFDPN3-7EUpDDJSC9N0sIurO9FqAWBQ-YWAxI9Hk899vL0d1XWtp0bQV0oPG1VfufJ53n2aobb_IdrRr9es6m5dCU4Z7VKjnNZMlFKzdM20fBKVZwFdRPboVsup9EqSh1uxim4VljtvJjLrD2jrQ__affv7pupmyF3g8cv04F6xEFP3NJeluxr5hjgAoihELVwRg13PlJ76YCj5WNBAWJIMNfmITzu0lpYZQsJfPto3TUGz7O9Ewuf9bCsrHl5vWzoC75IHA7fIHNyJstVNiYqS_Hwf28fn-O1eFvSnFGEbNarLlNvXDufj0Ic_K4qJ78YXI7HKkjOYdlZmrVat6l1eDYiqCpcnXmLkKok3ZLZcYhk4J0A0ALccq1D0weAbC4yJfPHS6rluY43oeNODKUVVN6Mvt5mN9xy48K2uF_EHp5Z9ryfBJWrGxVadEFH_Ik_lKHY0iUTjf3RA1-qUbmCs8BXkQ6KI5pnsqLA3Ak5qNXWQgCVPrXGsdXi-Vf_TagG50TsBbUC5ypwjUJQdbV070477_Q3HifYGEfRDNPcUsB4ew6_36BbqwD-670CNa55RRqf8KwyBJIvZ_70V0dJw30_eISKRZZPPEjJaHWdikTC0m2xvi3pRz9uqRDEDthS3uNL1_joBt2HOApyovf9HTZNRkxhibLW9d5q3Yvh01mNwRl_zNMd6HWm99hGxcjeOcqiYnscy2xAiDKSAXe58G84NvuC55ZuhVuPGLN6ZIAwVZKXextx4B8CI2wyCpc5ZDIHtARJOywfMtPlW_HEaOFXGbo_AyFBEPNM2rhUYHVNHIBF5gYAXIg6_gzsM11N-IkkD8MVcbvCrmIZY5T7f25YYV9aqQcAdvkms4Tm3-JULKTbv4DTeQFYaz8lx7YquuezCNCMAxp_DgjczMzBAQxZxxE0AWmbQD-OfnoOHXw3h",
  "id": "rs_020bc5bf08716e1a016ab46f78316887d08ee6bca185cd6e2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_y\":-0.035},\"note\":\"The blue pen is above the right basket. I’ll release it while shifting the left jaws slightly left to center the yellow pen before closing.\"}",
  "call_id": "call_IYsK7UcwEQsBUwfeqKJGJcgb",
  "id": "fc_020bc5bf08716e1a016ab46f7c0ab887d0b2bfcc2bb0533fa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IYsK7UcwEQsBUwfeqKJGJcgb",
  "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]: [-0.3935, 1.7588, 0.0044, 1.2072, -0.4397, -0.2321, 0.9981, 0.3737, 1.8984, 1.42, 0.131, 0.2081, 0.104, 0.9951]\nstate[eef_state]: left_x=0.2889 left_y=-0.0346 left_z=0.0 left_yaw=0.0829 left_pitch=0.0753 left_roll=0.0333 left_gripper=0.9981 right_x=0.5508 right_y=0.1806 right_z=0.22 right_yaw=0.1275 right_pitch=0.2303 right_roll=0.0416 right_gripper=0.9951\nstate[joint_eff]: [0.2256, -4.0274, 1.812, 1.8242, 0.0513, 0.1832, -0.0122, 0.1573, -11.4256, 7.3094, 2.0684, 0.105, -0.0171, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a10acc0d3acad20a8d6c2b13e8351a85315f3367d777a160cc2b6d6eec36ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5bd685aa48682a2df8315ee55cbf757c7e206e2f157252e1a1fecce7b8092b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb0aff0202523957f7d0e22a3a5c44f60d0d68fba55869855d3fc6ecba53d99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 11.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.366, 1.948, 1.541, 0.1967, -0.4297, -0.0406, 0.997, 0.9279, 1.7824, 0.3885, 0.7296, 0.6621, 0.5232, 0.1482]\nstate[eef_state]: left_x=0.5802 left_y=-0.1397 left_z=0.2676 left_yaw=0.028 left_pitch=0.3735 left_roll=0.0698 left_gripper=0.997 right_x=0.2894 right_y=0.2113 right_z=0.0105 right_yaw=0.0985 right_pitch=0.0606 right_roll=0.0769 right_gripper=0.1482\nstate[joint_eff]: [-0.4581, -12.1368, 6.8991, 1.8828, -0.149, 0.0904, 0.1001, -0.2256, -7.1179, 4.1778, 1.2137, 0.1783, -0.0464, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5304, 1.742, 0.0349, 1.1213, -0.5388, -0.2974, 0.9981, 0.3779, 1.8896, 1.4231, 0.1497, 0.2199, 0.107, 0.1528]\nstate[eef_state]: left_x=0.2858 left_y=-0.0584 left_z=-0.0011 left_yaw=0.0599 left_pitch=0.0709 left_roll=0.0412 left_gripper=0.9981 right_x=0.5512 right_y=0.1812 right_z=0.2308 right_yaw=0.1178 right_pitch=0.2607 right_roll=0.0486 right_gripper=0.1528\nstate[joint_eff]: [-0.3897, -3.5487, 1.9487, 0.8034, -0.0024, 0.0562, -0.0073, -0.6769, -10.441, 9.5932, 1.7998, -0.0269, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3935, 1.7588, 0.0044, 1.2072, -0.4397, -0.2321, 0.9981, 0.3737, 1.8984, 1.42, 0.131, 0.2081, 0.104, 0.9951]\nstate[eef_state]: left_x=0.2889 left_y=-0.0346 left_z=0.0 left_yaw=0.0829 left_pitch=0.0753 left_roll=0.0333 left_gripper=0.9981 right_x=0.5508 right_y=0.1806 right_z=0.22 right_yaw=0.1275 right_pitch=0.2303 right_roll=0.0416 right_gripper=0.9951\nstate[joint_eff]: [0.2256, -4.0274, 1.812, 1.8242, 0.0513, 0.1832, -0.0122, 0.1573, -11.4256, 7.3094, 2.0684, 0.105, -0.0171, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a10acc0d3acad20a8d6c2b13e8351a85315f3367d777a160cc2b6d6eec36ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5bd685aa48682a2df8315ee55cbf757c7e206e2f157252e1a1fecce7b8092b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb0aff0202523957f7d0e22a3a5c44f60d0d68fba55869855d3fc6ecba53d99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_020bc5bf08716e1a016ab46f7f08a887d081858e4f65197acb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The yellow pen is now centered between the left fingertips. I’ll grasp it and park the right arm so the left can safely reach across to the pen basket.\"}",
  "call_id": "call_yK3mld7lvhHp2lsZYQVkHNk4",
  "id": "fc_020bc5bf08716e1a016ab46f874c1c87d0beefd3ccd330c3d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yK3mld7lvhHp2lsZYQVkHNk4",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 1.7588, 0.0055, 1.2278, -0.4446, -0.2333, 0.1697, -0.1555, 0.8474, 0.7036, -0.4019, -0.2184, -0.1078, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=-0.035 left_z=0.0046 left_yaw=0.088 left_pitch=0.0958 left_roll=0.0244 left_gripper=0.1697 right_x=0.3066 right_y=-0.0057 right_z=0.2085 right_yaw=0.0773 right_pitch=0.0387 right_roll=0.0314 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -4.2462, 2.2632, 1.4969, -0.1001, 0.0122, 1.033, -0.1983, -1.4017, 6.8581, 1.8584, -0.2173, -0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79676235ce20acd3dd1907b39293fe59467e5bf2104fb9eddaf47d0859219f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8418aa323f7027eb03a85995948206808309805c9f9715eaa21b7ed041a19f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ade6e7bb7fb519de0486fb72c1262a25ee24deae41dc1ec5127c23e5d7d069a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.43 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2558, 0.4316, 0.3603, -0.4522, -0.2977, -0.1268, 0.998, 0.9279, 1.417, 0.495, 0.2214, 0.6437, 0.5201, 0.1528]\nstate[eef_state]: left_x=0.2423 left_y=-0.0061 left_z=0.1455 left_yaw=0.0473 left_pitch=0.0667 left_roll=0.05 left_gripper=0.998 right_x=0.2841 right_y=0.2084 right_z=0.0778 right_yaw=0.1152 right_pitch=0.0276 right_roll=0.0556 right_gripper=0.1528\nstate[joint_eff]: [0.3077, 1.3744, 6.8991, 1.917, -0.0757, 0.105, 0.0904, -0.1709, -6.7214, 8.4171, 1.58, 0.3785, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3935, 1.7588, 0.0044, 1.2072, -0.4397, -0.2321, 0.9981, 0.3737, 1.8984, 1.42, 0.131, 0.2081, 0.104, 0.9951]\nstate[eef_state]: left_x=0.2889 left_y=-0.0346 left_z=0.0 left_yaw=0.0829 left_pitch=0.0753 left_roll=0.0333 left_gripper=0.9981 right_x=0.5508 right_y=0.1806 right_z=0.22 right_yaw=0.1275 right_pitch=0.2303 right_roll=0.0416 right_gripper=0.9951\nstate[joint_eff]: [0.2256, -4.0274, 1.812, 1.8242, 0.0513, 0.1832, -0.0122, 0.1573, -11.4256, 7.3094, 2.0684, 0.105, -0.0171, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 1.7588, 0.0055, 1.2278, -0.4446, -0.2333, 0.1697, -0.1555, 0.8474, 0.7036, -0.4019, -0.2184, -0.1078, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=-0.035 left_z=0.0046 left_yaw=0.088 left_pitch=0.0958 left_roll=0.0244 left_gripper=0.1697 right_x=0.3066 right_y=-0.0057 right_z=0.2085 right_yaw=0.0773 right_pitch=0.0387 right_roll=0.0314 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -4.2462, 2.2632, 1.4969, -0.1001, 0.0122, 1.033, -0.1983, -1.4017, 6.8581, 1.8584, -0.2173, -0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79676235ce20acd3dd1907b39293fe59467e5bf2104fb9eddaf47d0859219f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8418aa323f7027eb03a85995948206808309805c9f9715eaa21b7ed041a19f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ade6e7bb7fb519de0486fb72c1262a25ee24deae41dc1ec5127c23e5d7d069a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-V9IjUYuEvt3w-oLX_hszDy96mPs_FaZszux9vodPPID-WVwDywgzxgy8Pmu2BLjnH4IXZ-GaVToU_4MSBAHUAUpi7AiopiucPvR24Ty4zz9Tiv7S-yuf1I6EUWqkZnYdKb6PNHoqHMerl1ZK6Nl3XEW59vJhEDV5_drN3E62t8Og05U2Il0hQyz1QV5IXN15LFbMfJknQ4ujIAJzuNBVzP9c9rfHFWRSSajD-Iv10dMGMENHu4xg2uxiwJBmDYOemsJy9BneGR1xBFp7NGBbXb7CA0UUs2KflBRY_1e32Iv2QSmoFucp5GWEhN5TMTm8oIYdqBmJ7iaUDBUCie3kDXldUcBnA6Ivq1LjDXpte06zu6uVLHTK7j-RqQ8PA42RPjPmanH1ZBE_XnB3lmSI1Bqv6m5p7bVY1JgZEIoy27h3QtN4CSDzyXO8LpQ5Pkvb20q1C2FvIdjJ7Y3bJu6G2HIF4g8e_R2iZ8sapt_LPVcU6D9fsBwPMyH8n6Sb36BVFtpUAOQrOPVtPhc7hFENXEfts0FZawvZiUZJfYpynJmCoYO1jDzaB6iDdyodTmQj1EyDle7EecS3jxsoM3Qwlls77ZB61BumCNsCC7bGt0rjKYPBYQ3pUeU6E0Pxlj8tgKxMKu9aF0TOdw32AVjxh-hyToo_4L0QNO-NRqZOYW5Pxxv8phg2dAXFrBhk_H5C53PBv-L4SyAXRbRg4UPdgNWP2G2kaAjS7rQnYXLbwZ-pJW3Xy0EngApds0ABi4gK_1qwyS0QwJsHBhU6-P68-3B9QeClFKdW2-icg3Dxk4piPXVThV9RUelSjd4-W7W1_eKRJahH673kIVRhIg0TiK8sMQxImvjKmtJ53ezrdO43GkYZNeCcfq-wA-FhKjOs9YNrD04saq_O1nonu9dDCilaNlniujepkkgfWewO-xBumDEFosmZH_LS6760wOo7LAptnYvXGkIQ27x5TyscdVQ6yOGk2-Nl1EiNM8AYLGe6qvt8fD-0A4KMZKwXUNZdPvEP5PNogf9CaqucbXeyFMukaQHe0BHPe4OAWHh_rKTeuDSbePy1klheaiyjuevlKFUMXVL-YkiBIMJ_Zn06oz_HGRjW1YEzIm6c4pdDbrGYa6RKcNPWuSr8KtEPdl2uGzYpuE7cthG0l-qdRmAWBi3UOqr9QlrUXdCE9bL0A1L7mPnZVcCtfk1s7L1GJF21h1nwSdnEVhIFEgiQGcrLQmjmTYJyakl21CPPKiZTLmsAw4vOn5DHae4wszF5lFSa6oEjmDLKLym-HNmjyqPdTNqoh8JiH6RLJCR50v5_D71HUgXdYrphaxBW_An4VJvbOJN6_yqdjJwZp39FJZhfAXVPXyrnHNRcFdJNEQQE8Wuh9m-lGNJh_qVaMzlE1vgxMEBOSvge4WSFOUQbWAdkgw6AjqgCgAwkF-Pq70GBr0jDHW63gmPpio_KooBJEAe63uzHMxwmG4CEKUFRVzB6SUAWdF046TGAtxFvKljDOeW4vLn-N07fhSkwcsrpD-YZwb06QOhyvzjTLqrxmREYCzynMmcHQpIwM4qFlwIF9oLuMgeTc94dlEkUSezZyqKTHZfUkp1J3GS02cZLi3Df5UueQsuTM2JNEJl01YwfJXscZK7HiC2DvYzb5SzrKz6w88vJR1-twqWFVeQszxCdC-_5QpoS84I9K4po2RuU0aKeD-h_1gWvL2C5aNK6bWzY7PSoYyCLxhuhU2ZcGRGlBsa1ZcXQBmLcOV0ORnebtnOVmpCmnWdrqCi8afaClySv3Nzpsufysss3VQvaQGHi0ErGssXj5Hmtqph-TVV7TjTOqsUawLpe2b75lPaZIZT19qsTcTqZqNelPv1HMgZ3vQalx1bNV22VCagTWVF-uJOLrGOB5NHoxo198siDHFqx9pCy9gdlC5s_s8MKTR8OJeK8bkk0Bzvjp0oZEXz6VZYuI3z7ZAj1qqYKc8WHkkRd9eyRqyHbCHllNFMDGZQ1iCmN1Bhx6K6b4L2HBCyxVNdeBXW7reETNL0Kf2QZ5_U6B3gfbKZzY3k0tOyhrT_mvcEX4S7q916XdJJbRu-vHRRn2-eIpaV9ArWnqS5Ay2iy-PfT_mtERAiew7JYP4p5C7TNoJ9Ns9V9X7rQCEA4Cvt8yfTqfOS1mMk2QTCm9n_HcwggAkq38l-7xABKGcM6BdQKsonYG66fAZ5AhUI8VsePx8njAC2HZ0xTkU5NZ3twdpNe78webKbF38-gy__A_7VvOM2Ur46pMIikNy7GYWdf2ziNU-M6PwE6pL6IAQlyRSXqWKCkvgI-VRpxO3Ny0TTtmROYS6VzpWbJoe8eqzBdj_H-u85CHlpgwUQfZ01AVm_FNBOciwBLxMCjJ3GhsDsqTeNNjRBUF0lkZnMO75RHri4XgrYo1hicxP5pYimSyj3iYaUP-j7R5IQCGIeF3FCkKln3_2CMgtdHoAf_fRchxAUbFthuyUOFI1i0OWfssJbkKuVW9GqiBqHut_ffNGfxFIMWjwD8PuQ7zle-CBlswxuqNUEAQ0z6QZMwXt7Txfgvn22WtMC3lExy-aVxDg2-SHYiyEeDnbCWWvDdSX-TDmzc3KBCyDIOLz9c7AoszMNA0RiRLIycry9NWIxJ38-ub1KJ5mS3O9pjgMiHkYZFPsBPOxXqCrYIok8IBs10qn4qVbdg8gPbmNliJRRlUWL9aPoJsPKZ_zkt2ErTe6p27e7rrgHbqjQZSJXAWyAffiYKFM-tQ41VHdamonTvWaWNtpdfadz0pKDoqmECYGBf9TgbOK6D7TvtoBEO1eLYcaxoRUxqQYnpJT5kbeOH52d3vnCyVRPUYB3SJCIESytwiGE0QC4inR6yt9cHmfn6fJ0ACKAtZI5J_nj9s5Wt9_vIAc3FNmeMLplTfjRA8qPTlXy8wfieMJfKt8VVv0fI3SSy1SJhUPmcNalzixkpkNSdaxJq4XvXWNsalgjWe5YLfaH4CdbuOkvPcayXUtKx2tkNqS17DchGvqYSKqjYKuWD-6V4FU_a6JgbAApu7-zuTPx6glsVW3QaRncHY_NBj83BXMuEVoKbWYMkzO_QnOYfXwrTCzK6fdjAMmlP5-jA0wPB29w4vD8chK0hu00OPHG5TcoDttPHvXzvGnp_Rn75lHs1Tinmj-__uQ_auEe6BuzyTZJlDhf-md_NnU4hp01YfMbXOjfeCzhFq82Il9pyXNs6HpOn5WFM9FJJldbXwICKtbUw3Ehmkg2n54yuNpohyT1gertGLN7d3lrMD5zvCnYQ0XqyHUK6Z0pNwLNrl6fTo4B4fs0AAysUcBS_eh_ViqYtkoOBc32pF6LayRUy3_KwgqgRw9NSSPlhuWM9eAUBR5yHMW1F6Cm2p-CQ8Y8qqYrC7fFWo8pHbbn38gxyzm4jo-I0jJ51dQ1bBtoITZTGWNCsb-kCOqdc1FjA08KohPkvlrBznuVVyHcwpLRZUqNZUE5AxHHTqL1xA7XKpGRpUITPXrxT84NQuIX-J_5tHnMm0OONH1wSSafF6HFF5LV_kcM3p8fMIU95UD3ZUdjekbZ8cthBo86r6wZa0waYypo_N-9o421WHhfSWC2IN0fsv22QcQbEBUxeVsSh0SwJV_tdrI06F9BMULg1sI-n4v7M_vQhdztLyDA0ub4pxWGExzs4uVsDhalvWs5I2TXoA2Bo1-gAGizPtKGezUiki1wtlQxV2s4ZjKeDYjxuLz0wtnFrsddGwlv0yQJk=",
  "id": "rs_020bc5bf08716e1a016ab46f8c04ec87d09d80fe9fd16927db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The yellow pen is held with a barrel-sized gap. I’ll lift it off the table before carrying it toward the right basket.\"}",
  "call_id": "call_5lTokt7ntM7nwmqAqWXygWCN",
  "id": "fc_020bc5bf08716e1a016ab46f951eec87d09ed3ce4bb79b9edc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5lTokt7ntM7nwmqAqWXygWCN",
  "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]: [-0.3939, 0.9352, 0.1638, 0.3298, -0.445, -0.2363, 0.1716, -0.157, 0.8528, 0.6964, -0.4213, -0.2256, -0.1268, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=-0.0372 left_z=0.0988 left_yaw=0.0952 left_pitch=0.1702 left_roll=-0.0177 left_gripper=0.1716 right_x=0.3038 right_y=-0.0044 right_z=0.1998 right_yaw=0.092 right_pitch=0.0088 right_roll=0.0265 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5111, 8.9504, 1.9023, -0.1294, -0.0073, 1.033, 0.0205, -1.7436, 7.5692, 1.956, -0.0806, 0.1294, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a64bf0091f2b18285467418f34823ff6ec3ac8a174609beed76f8b7e6bdcac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c9fac41c7720b14dc5b25731fbea90dbb0cd2a923bbb65765a31d7cf5cf528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceab044bf86d4b42412bec551437ae4515fd726ef4239694762a248bdd1ccdca",
      "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 · 11.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5304, 1.742, 0.0349, 1.1213, -0.5388, -0.2974, 0.9981, 0.3779, 1.8896, 1.4231, 0.1497, 0.2199, 0.107, 0.1528]\nstate[eef_state]: left_x=0.2858 left_y=-0.0584 left_z=-0.0011 left_yaw=0.0599 left_pitch=0.0709 left_roll=0.0412 left_gripper=0.9981 right_x=0.5512 right_y=0.1812 right_z=0.2308 right_yaw=0.1178 right_pitch=0.2607 right_roll=0.0486 right_gripper=0.1528\nstate[joint_eff]: [-0.3897, -3.5487, 1.9487, 0.8034, -0.0024, 0.0562, -0.0073, -0.6769, -10.441, 9.5932, 1.7998, -0.0269, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 1.7588, 0.0055, 1.2278, -0.4446, -0.2333, 0.1697, -0.1555, 0.8474, 0.7036, -0.4019, -0.2184, -0.1078, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=-0.035 left_z=0.0046 left_yaw=0.088 left_pitch=0.0958 left_roll=0.0244 left_gripper=0.1697 right_x=0.3066 right_y=-0.0057 right_z=0.2085 right_yaw=0.0773 right_pitch=0.0387 right_roll=0.0314 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -4.2462, 2.2632, 1.4969, -0.1001, 0.0122, 1.033, -0.1983, -1.4017, 6.8581, 1.8584, -0.2173, -0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 0.9352, 0.1638, 0.3298, -0.445, -0.2363, 0.1716, -0.157, 0.8528, 0.6964, -0.4213, -0.2256, -0.1268, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=-0.0372 left_z=0.0988 left_yaw=0.0952 left_pitch=0.1702 left_roll=-0.0177 left_gripper=0.1716 right_x=0.3038 right_y=-0.0044 right_z=0.1998 right_yaw=0.092 right_pitch=0.0088 right_roll=0.0265 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5111, 8.9504, 1.9023, -0.1294, -0.0073, 1.033, 0.0205, -1.7436, 7.5692, 1.956, -0.0806, 0.1294, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a64bf0091f2b18285467418f34823ff6ec3ac8a174609beed76f8b7e6bdcac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c9fac41c7720b14dc5b25731fbea90dbb0cd2a923bbb65765a31d7cf5cf528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceab044bf86d4b42412bec551437ae4515fd726ef4239694762a248bdd1ccdca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.4,\"left_z\":0.25,\"left_pitch\":0.5},\"note\":\"The yellow pen has lifted securely, and the other pens are visible inside the right basket. I’ll approach the basket’s left side with the pen held above the rim.\"}",
  "call_id": "call_8ZQgYhQhLX4oPpRvXHpuy6YL",
  "id": "fc_020bc5bf08716e1a016ab46f98656087d0b424ce51972adde2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ZQgYhQhLX4oPpRvXHpuy6YL",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8658, 2.4382, 2.1094, 0.2081, -1.0035, -0.1944, 0.1716, -0.1574, 0.8566, 0.6926, -0.4309, -0.2256, -0.128, 0.9964]\nstate[eef_state]: left_x=0.5288 left_y=-0.386 left_z=0.2408 left_yaw=0.1799 left_pitch=0.5002 left_roll=-0.0837 left_gripper=0.1716 right_x=0.3024 right_y=-0.0043 right_z=0.1951 right_yaw=0.0922 right_pitch=-0.0078 right_roll=0.0297 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -14.6803, 8.8274, 1.2967, 0.3101, 0.5055, 1.0281, -0.1026, -1.6615, 7.2957, 1.8095, -0.1392, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e25628d2358a31fe9904871ddf8b3b1cb512aa50bbe72738069e9d24ba8b9fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863f43dbb306c338942062b8d66d93c08a6236e245f62b6a8958db45804ac99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127c54ababca33cfb366e07ddeb1111403b2be28bc48770899f48517a208635f",
      "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 · 8.751 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 136 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3935, 1.7588, 0.0044, 1.2072, -0.4397, -0.2321, 0.9981, 0.3737, 1.8984, 1.42, 0.131, 0.2081, 0.104, 0.9951]\nstate[eef_state]: left_x=0.2889 left_y=-0.0346 left_z=0.0 left_yaw=0.0829 left_pitch=0.0753 left_roll=0.0333 left_gripper=0.9981 right_x=0.5508 right_y=0.1806 right_z=0.22 right_yaw=0.1275 right_pitch=0.2303 right_roll=0.0416 right_gripper=0.9951\nstate[joint_eff]: [0.2256, -4.0274, 1.812, 1.8242, 0.0513, 0.1832, -0.0122, 0.1573, -11.4256, 7.3094, 2.0684, 0.105, -0.0171, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 0.9352, 0.1638, 0.3298, -0.445, -0.2363, 0.1716, -0.157, 0.8528, 0.6964, -0.4213, -0.2256, -0.1268, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=-0.0372 left_z=0.0988 left_yaw=0.0952 left_pitch=0.1702 left_roll=-0.0177 left_gripper=0.1716 right_x=0.3038 right_y=-0.0044 right_z=0.1998 right_yaw=0.092 right_pitch=0.0088 right_roll=0.0265 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5111, 8.9504, 1.9023, -0.1294, -0.0073, 1.033, 0.0205, -1.7436, 7.5692, 1.956, -0.0806, 0.1294, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8658, 2.4382, 2.1094, 0.2081, -1.0035, -0.1944, 0.1716, -0.1574, 0.8566, 0.6926, -0.4309, -0.2256, -0.128, 0.9964]\nstate[eef_state]: left_x=0.5288 left_y=-0.386 left_z=0.2408 left_yaw=0.1799 left_pitch=0.5002 left_roll=-0.0837 left_gripper=0.1716 right_x=0.3024 right_y=-0.0043 right_z=0.1951 right_yaw=0.0922 right_pitch=-0.0078 right_roll=0.0297 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -14.6803, 8.8274, 1.2967, 0.3101, 0.5055, 1.0281, -0.1026, -1.6615, 7.2957, 1.8095, -0.1392, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e25628d2358a31fe9904871ddf8b3b1cb512aa50bbe72738069e9d24ba8b9fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863f43dbb306c338942062b8d66d93c08a6236e245f62b6a8958db45804ac99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127c54ababca33cfb366e07ddeb1111403b2be28bc48770899f48517a208635f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_020bc5bf08716e1a016ab46f9e70e087d0b4ab8c47218d2afd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is above the left side of the pen basket. I’ll release it, then move clear to check the final positions.\"}",
  "call_id": "call_MMMpsTKcnDYDGgnYMfdi1vVj",
  "id": "fc_020bc5bf08716e1a016ab46fa78db887d0981744f93bb7f7f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MMMpsTKcnDYDGgnYMfdi1vVj",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8646, 2.4538, 2.1109, 0.197, -1.0138, -0.21, 0.9954, -0.1574, 0.8585, 0.6926, -0.4332, -0.2256, -0.1314, 0.9964]\nstate[eef_state]: left_x=0.5301 left_y=-0.385 left_z=0.2302 left_yaw=0.1886 left_pitch=0.4882 left_roll=-0.0758 left_gripper=0.9954 right_x=0.3023 right_y=-0.0043 right_z=0.1941 right_yaw=0.0941 right_pitch=-0.0118 right_roll=0.0279 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -15.9932, 6.7761, 1.6728, -0.0024, 0.1734, -0.0317, -0.0342, -1.7846, 6.9812, 1.7021, -0.1099, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de090de92b4853c1323ee10e99e0aaadd6442d2d3de98319cd6f48555d427c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea05f5983352cf0d3762d45ecd05cb0040a845587c124f287228e2eba651d0f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731107e25f0820323647b1f37b3f5c6c1b67212cc53ffba51268f3376b610e4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 7.697 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 136 changed as sent

message 140 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3939, 1.7588, 0.0055, 1.2278, -0.4446, -0.2333, 0.1697, -0.1555, 0.8474, 0.7036, -0.4019, -0.2184, -0.1078, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=-0.035 left_z=0.0046 left_yaw=0.088 left_pitch=0.0958 left_roll=0.0244 left_gripper=0.1697 right_x=0.3066 right_y=-0.0057 right_z=0.2085 right_yaw=0.0773 right_pitch=0.0387 right_roll=0.0314 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -4.2462, 2.2632, 1.4969, -0.1001, 0.0122, 1.033, -0.1983, -1.4017, 6.8581, 1.8584, -0.2173, -0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8658, 2.4382, 2.1094, 0.2081, -1.0035, -0.1944, 0.1716, -0.1574, 0.8566, 0.6926, -0.4309, -0.2256, -0.128, 0.9964]\nstate[eef_state]: left_x=0.5288 left_y=-0.386 left_z=0.2408 left_yaw=0.1799 left_pitch=0.5002 left_roll=-0.0837 left_gripper=0.1716 right_x=0.3024 right_y=-0.0043 right_z=0.1951 right_yaw=0.0922 right_pitch=-0.0078 right_roll=0.0297 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -14.6803, 8.8274, 1.2967, 0.3101, 0.5055, 1.0281, -0.1026, -1.6615, 7.2957, 1.8095, -0.1392, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8646, 2.4538, 2.1109, 0.197, -1.0138, -0.21, 0.9954, -0.1574, 0.8585, 0.6926, -0.4332, -0.2256, -0.1314, 0.9964]\nstate[eef_state]: left_x=0.5301 left_y=-0.385 left_z=0.2302 left_yaw=0.1886 left_pitch=0.4882 left_roll=-0.0758 left_gripper=0.9954 right_x=0.3023 right_y=-0.0043 right_z=0.1941 right_yaw=0.0941 right_pitch=-0.0118 right_roll=0.0279 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -15.9932, 6.7761, 1.6728, -0.0024, 0.1734, -0.0317, -0.0342, -1.7846, 6.9812, 1.7021, -0.1099, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de090de92b4853c1323ee10e99e0aaadd6442d2d3de98319cd6f48555d427c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea05f5983352cf0d3762d45ecd05cb0040a845587c124f287228e2eba651d0f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731107e25f0820323647b1f37b3f5c6c1b67212cc53ffba51268f3376b610e4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_020bc5bf08716e1a016ab46faab6e887d086aa40a723118b02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0,\"left_z\":0.21,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow and blue pens are visible in the right basket, and two cream plush toys are in the left basket. I’m parking both arms to inspect the gray plush and the brown plush that remain outside.\"}",
  "call_id": "call_5aHAZnlEXgbKGbOGRYZme798",
  "id": "fc_020bc5bf08716e1a016ab46fb083c487d0a2df87b2ca937494",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5aHAZnlEXgbKGbOGRYZme798",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0563, 0.833, 0.7361, -0.4335, -0.1112, -0.0917, 0.9967, -0.0315, 0.8227, 0.693, -0.4828, -0.036, -0.0437, 0.9964]\nstate[eef_state]: left_x=0.3049 left_y=0.0061 left_z=0.2193 left_yaw=0.0714 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.9967 right_x=0.2932 right_y=0.0007 right_z=0.1917 right_yaw=0.0137 right_pitch=-0.0416 right_roll=-0.0043 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -1.7299, 6.2974, 1.7656, 0.1392, 0.1783, 0.1245, 0.5128, -1.9624, 9.9487, 1.6435, 0.0269, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649d0e741ffcea335a7fc2a05fec898fbd9fc8bbfb77612fb9ad7a5361f95a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349281b4d71b605d7da1add2ef727735c7c20784da49c6358e3c6cf53b00ce2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccf0d94864b9bdf0ca74478b184d3d4eb3714ee7792ae516bb1efb098bc15d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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