adhoc

completed
2026-09-24T03:04:42.107074+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 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
137.7 s
total steps
209
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 slim writing instruments beside two empty baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the small brown plush.
move_to
left_x0.2900left_y-0.1600left_z0.1500left_gripper1.0000right_x0.2960right_y0.0010right_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, 0.7986, 0.617, -0.3798, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6106, -0.3744, -0.0132, -0.0261, 0.9994] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2965 right_y=0.0013 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5538, -1.4701, 9.2923, 1.7558, -0.0122, 0.0708, -0.0611, -0.7316, -1.4701, 9.9897, 1.7118, -0.105, 0.0708, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.16,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0.001,"right_z":0.19},"note":"I see plush animals and slim writing instruments beside two empty baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the small brown plush."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe brown plush is visible near the bottom of the left wrist view, slightly left of the jaw center. I’m centering the jaws over its body and lowering for a grasp.
move_to
left_x0.2850left_y-0.1350left_z0.0300
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]: [-0.87, 1.1847, 0.6563, -0.2935, -0.6998, -0.5774, 0.9995, -0.0154, 0.7967, 0.6106, -0.408, -0.0124, -0.0273, 0.9994] state[eef_state]: left_x=0.2846 left_y=-0.1553 left_z=0.1347 left_yaw=-0.0076 left_pitch=-0.0341 left_roll=0.0337 left_gripper=0.9995 right_x=0.2919 right_y=0.0013 right_z=0.1764 right_yaw=-0.0 right_pitch=-0.0336 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.1573, -4.1641, 9.1145, 1.4725, -0.3932, -0.0806, -0.0659, -0.4171, -1.265, 9.1009, 1.7949, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.135,"left_z":0.03},"note":"The brown plush is visible near the bottom of the left wrist view, slightly left of the jaw center. I’m centering the jaws over its body and lowering for a grasp."})
tool
executing move_to over 7 steps (0.7s)
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 brown plush’s torso now lies between the open fingertips at table level. I’m closing the left gripper around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8024, 1.4475, 0.3134, 0.3161, -0.6544, -0.5243, 0.9995, -0.0154, 0.7971, 0.6086, -0.4088, -0.012, -0.0273, 0.9994] state[eef_state]: left_x=0.281 left_y=-0.1308 left_z=0.0241 left_yaw=-0.0004 left_pitch=-0.0576 left_roll=0.0521 left_gripper=0.9995 right_x=0.2916 right_y=0.0012 right_z=0.1753 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.2667, -4.6154, 4.9983, 1.5849, -0.3053, 0.0562, -0.0122, -0.3897, -1.265, 7.1863, 1.7558, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s torso now lies between the open fingertips at table level. I’m closing the left gripper around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper stopped at an opening of about one centimeter rather than closing empty. I’m lifting the plush a short distance to verify it is secure.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8024, 1.4475, 0.313, 0.3279, -0.6552, -0.5243, 0.1117, -0.0151, 0.7971, 0.6086, -0.4091, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.2822 left_y=-0.1319 left_z=0.0257 left_yaw=-0.0003 left_pitch=-0.0493 left_roll=0.0442 left_gripper=0.1117 right_x=0.2916 right_y=0.0013 right_z=0.1752 right_yaw=-0.0002 right_pitch=-0.037 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.0479, -4.3419, 4.7795, 1.2723, -0.2613, -0.0024, 0.9109, -0.212, -1.2103, 7.0359, 1.6923, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The gripper stopped at an opening of about one centimeter rather than closing empty. I’m lifting the plush a short distance to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe brown plush has risen with the gripper and remains securely pinched. I’m carrying it forward and upward toward the left basket, clear of the other objects.
move_to
left_x0.4700left_y-0.1200left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8024, 1.1767, 0.4744, -0.1188, -0.651, -0.5255, 0.1147, -0.0151, 0.7986, 0.6086, -0.4088, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.2797 left_y=-0.1302 left_z=0.0893 left_yaw=-0.0021 left_pitch=-0.0615 left_roll=0.0516 left_gripper=0.1147 right_x=0.2917 right_y=0.0013 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.0342, -4.041, 8.2803, 1.2869, -0.3297, 0.0122, 1.0281, -0.212, -1.3607, 7.0769, 1.7265, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.12,"left_z":0.24},"note":"The brown plush has risen with the gripper and remains securely pinched. I’m carrying it forward and upward toward the left basket, clear of the other objects."})
tool
executing move_to over 15 steps (1.5s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe plush is over the left basket but near its front edge. I’m moving it a little deeper into the basket and lowering it before release.
move_to
left_x0.5200left_y-0.1200left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3759, 1.6577, 1.4242, -0.4896, -0.3393, -0.2348, 0.1167, -0.0151, 0.8024, 0.6083, -0.4088, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.4626 left_y=-0.1155 left_z=0.2202 left_yaw=0.0235 left_pitch=-0.1138 left_roll=0.049 left_gripper=0.1167 right_x=0.2919 right_y=0.0013 right_z=0.1737 right_yaw=-0.0002 right_pitch=-0.0423 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.1299, -8.5812, 9.812, 1.7607, -0.149, 0.2711, 0.8132, -0.1983, -1.5932, 7.1726, 1.7363, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.12,"left_z":0.14},"note":"The plush is over the left basket but near its front edge. I’m moving it a little deeper into the basket and lowering it before release."})
tool
executing move_to over 6 steps (0.6s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe brown plush is lowered inside the left basket’s rim. I’m opening the jaws to leave it in the plush-animal 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]: [-0.334, 1.9106, 1.3918, -0.2604, -0.3283, -0.2321, 0.1197, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.5106 left_y=-0.1131 left_z=0.1249 left_yaw=0.058 left_pitch=-0.1685 left_roll=0.0658 left_gripper=0.1197 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=-0.0002 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.3487, -10.7829, 7.6923, 1.9707, 0.0269, 0.2418, 0.8816, -0.1026, -1.1556, 6.9949, 1.7167, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is lowered inside the left basket’s rim. I’m opening the jaws to leave it in the plush-animal basket."})
tool
executing move_to over 9 steps (0.9s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe brown plush has been released into the basket. I’m withdrawing toward the gray-and-white plush on the left for the next pickup.
move_to
left_x0.2700left_y-0.0250left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.334, 1.9106, 1.3918, -0.268, -0.3351, -0.2428, 0.9953, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0273, 0.9994] state[eef_state]: left_x=0.5095 left_y=-0.1115 left_z=0.1239 left_yaw=0.0699 left_pitch=-0.1733 left_roll=0.0653 left_gripper=0.9953 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=0.0 right_pitch=-0.0431 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.335, -10.5094, 6.6803, 1.5946, -0.1392, 0.0659, -0.0806, -0.0752, -1.2923, 7.1043, 1.7167, -0.0513, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.025,"left_z":0.16},"note":"The brown plush has been released into the basket. I’m withdrawing toward the gray-and-white plush on the left for the next pickup."})
tool
executing move_to over 19 steps (1.9s)
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 gray plush is left of the wrist-camera jaw center, with its body closer than its head. I’m shifting left and lowering around its torso.
move_to
left_x0.2550left_y0.0180left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3187, 0.8677, 0.683, -0.5579, -0.3286, -0.2382, 0.9966, -0.0151, 0.8078, 0.6083, -0.4088, -0.012, -0.0273, 0.9994] state[eef_state]: left_x=0.2811 left_y=-0.029 left_z=0.1671 left_yaw=0.0747 left_pitch=-0.1344 left_roll=0.0472 left_gripper=0.9966 right_x=0.2922 right_y=0.0013 right_z=0.1722 right_yaw=0.0 right_pitch=-0.0477 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [0.6496, -1.1009, 6.7897, 1.6972, -0.1099, 0.1099, 0.1294, -0.1162, -1.6752, 7.159, 1.7851, -0.0415, -0.0708, -0.0122] 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_x":0.255,"left_y":0.018,"left_z":0.025},"note":"The gray plush is left of the wrist-camera jaw center, with its body closer than its head. I’m shifting left and lowering around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe fingertips have contacted the gray plush, stopping slightly above the requested height. I’m closing without pressing farther down.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0261, 0.8478, 0.1345, 0.0677, -0.1471, -0.0429, 0.9968, -0.0151, 0.8082, 0.6083, -0.4091, -0.012, -0.0273, 0.9994] state[eef_state]: left_x=0.2662 left_y=0.0225 left_z=0.0479 left_yaw=0.1083 left_pitch=-0.0781 left_roll=0.0634 left_gripper=0.9968 right_x=0.2922 right_y=0.0013 right_z=0.1721 right_yaw=0.0 right_pitch=-0.0485 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [0.2667, 0.4991, 4.2188, 0.652, 0.4322, -0.2613, 0.0024, -0.3214, -1.306, 7.2547, 1.6972, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips have contacted the gray plush, stopping slightly above the requested height. I’m closing without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe jaws closed empty; the gray plush is farther left and forward than the first grasp. I’m reopening and shifting toward its thicker torso for one retry.
move_to
left_gripper1.0000left_y0.0500left_x0.2950left_z0.0300
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]: [-0.0284, 0.8497, 0.123, 0.0696, -0.1413, -0.0448, 0.0108, -0.0151, 0.8082, 0.6083, -0.4095, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.2635 left_y=0.021 left_z=0.0429 left_yaw=0.1023 left_pitch=-0.0899 left_roll=0.06 left_gripper=0.0108 right_x=0.2921 right_y=0.0013 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1162, -1.1829, 7.3504, 1.6435, -0.1636, 0.0171, 0.9304, -0.1709, -1.1419, 7.0632, 1.7265, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":0.05,"left_x":0.295,"left_z":0.03},"note":"The jaws closed empty; the gray plush is farther left and forward than the first grasp. I’m reopening and shifting toward its thicker torso for one retry."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe left jaw is now beside the gray plush’s near edge at the arm’s lateral limit. I’m trying to pinch that soft edge without pushing into the table.
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]: [0.1547, 1.1976, 0.1421, 0.3283, -0.0059, 0.0532, 0.9955, -0.0151, 0.8101, 0.6079, -0.4095, -0.0116, -0.0269, 0.9994] state[eef_state]: left_x=0.277 left_y=0.0479 left_z=0.0103 left_yaw=0.1177 left_pitch=-0.1674 left_roll=0.0525 left_gripper=0.9955 right_x=0.2922 right_y=0.0012 right_z=0.1713 right_yaw=-0.0005 right_pitch=-0.0511 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [0.2256, -2.6872, 7.9248, 1.8632, -0.0024, 0.0806, -0.1978, -0.0342, -1.4974, 7.0359, 1.6728, -0.0317, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaw is now beside the gray plush’s near edge at the arm’s lateral limit. I’m trying to pinch that soft edge without pushing into the table."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe second close was also empty. The overhead view shows the gray plush is substantially farther forward than the fingertips, so I’m lifting and repositioning over its torso rather than repeating the same grasp.
move_to
left_x0.3650left_y0.0250left_z0.1300left_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]: [0.1558, 1.2049, 0.1459, 0.3302, -0.0002, 0.0525, 0.011, -0.0151, 0.8108, 0.6079, -0.4091, -0.0116, -0.0269, 0.9994] state[eef_state]: left_x=0.278 left_y=0.0473 left_z=0.0101 left_yaw=0.1143 left_pitch=-0.1688 left_roll=0.048 left_gripper=0.011 right_x=0.2923 right_y=0.0012 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.2803, -3.2342, 4.9573, 1.5751, -0.0904, -0.0171, 0.9304, -0.2256, -1.2513, 7.0359, 1.7265, -0.0317, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":0.025,"left_z":0.13,"left_gripper":1},"note":"The second close was also empty. The overhead view shows the gray plush is substantially farther forward than the fingertips, so I’m lifting and repositioning over its torso rather than repeating the same grasp."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe new view places the gray plush’s head near the left workspace boundary. I’m approaching that thicker, reachable part from above while restoring a straight tool orientation.
move_to
left_x0.4050left_y0.0500left_z0.0350left_yaw0.0000left_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]: [0.0086, 1.2598, 0.7017, -0.1699, -0.1036, -0.0498, 0.9953, -0.0151, 0.8146, 0.6079, -0.4095, -0.0116, -0.0273, 0.9994] state[eef_state]: left_x=0.3622 left_y=0.025 left_z=0.1211 left_yaw=0.1108 left_pitch=-0.163 left_roll=0.0403 left_gripper=0.9953 right_x=0.2925 right_y=0.0012 right_z=0.17 right_yaw=-0.0003 right_pitch=-0.0557 right_roll=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.4991, -4.588, 8.3761, 1.4969, -0.0855, 0.0806, -0.0806, -0.1709, -1.0598, 7.159, 1.6923, -0.022, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":0.05,"left_z":0.035,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The new view places the gray plush’s head near the left workspace boundary. I’m approaching that thicker, reachable part from above while restoring a straight tool orientation."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe gray plush is now at the fingertips, though its outer side remains near the table edge. I’m closing on the near side and will verify the result before carrying it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.168, 1.6409, 0.548, 0.5644, 0.0948, 0.0265, 0.9966, -0.0151, 0.8188, 0.6075, -0.4103, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.4133 left_y=0.0568 left_z=0.0615 left_yaw=0.0604 left_pitch=0.0353 left_roll=-0.0139 left_gripper=0.9966 right_x=0.2926 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [0.1436, -5.053, 2.5231, 0.7204, 0.2173, 0.0757, 0.1245, 0.0068, -1.6205, 7.0496, 1.7021, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is now at the fingertips, though its outer side remains near the table edge. I’m closing on the near side and will verify the result before carrying it."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe jaws stopped just above an empty opening, so this may be only a light pinch of the plush. I’m lifting a few centimeters to see whether the animal follows.
move_to
left_z0.1300
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]: [0.1406, 1.6444, 0.5331, 0.5919, 0.0887, -0.0067, 0.0484, -0.0151, 0.8196, 0.6075, -0.4103, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.4132 left_y=0.0463 left_z=0.0604 left_yaw=0.0558 left_pitch=0.0438 left_roll=-0.0388 left_gripper=0.0484 right_x=0.2926 right_y=0.0013 right_z=0.1684 right_yaw=-0.0002 right_pitch=-0.0618 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [0.0479, -7.1863, 6.4752, 1.58, -0.232, 0.2173, 0.6764, -0.1983, -1.2513, 6.9949, 1.6679, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The jaws stopped just above an empty opening, so this may be only a light pinch of the plush. I’m lifting a few centimeters to see whether the animal follows."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe gray plush appears to remain with the left fingertips during the lift. I’m raising it clear and moving over the plush basket, watching for any slip.
move_to
left_x0.4900left_y-0.1150left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1406, 1.4681, 0.625, 0.2539, 0.0769, -0.0082, 0.0498, -0.0151, 0.8211, 0.6075, -0.4103, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.4029 left_y=0.0469 left_z=0.0949 left_yaw=0.0666 left_pitch=-0.0263 left_roll=-0.0394 left_gripper=0.0498 right_x=0.2927 right_y=0.0013 right_z=0.1679 right_yaw=-0.0002 right_pitch=-0.0633 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.1026, -8.4034, 9.853, 2.3223, 0.1245, -0.0464, 1.0085, -0.1983, -1.4154, 7.159, 1.6923, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.115,"left_z":0.24},"note":"The gray plush appears to remain with the left fingertips during the lift. I’m raising it clear and moving over the plush basket, watching for any slip."})
tool
executing move_to over 15 steps (1.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe overhead view shows that the jaws caught the basket rim, not the gray plush. I’m returning the basket to its previous position and lowering it gently before opening.
move_to
left_x0.4050left_y0.0500left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3405, 1.7039, 1.4132, -0.4278, -0.3122, -0.2806, 0.0525, -0.0151, 0.8211, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994] state[eef_state]: left_x=0.4777 left_y=-0.1079 left_z=0.2043 left_yaw=0.061 left_pitch=-0.1158 left_roll=-0.0053 left_gripper=0.0525 right_x=0.2926 right_y=0.0012 right_z=0.1676 right_yaw=-0.0005 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.3624, -9.6752, 10.1812, 2.0195, -0.022, -0.0073, 0.6227, -0.1709, -1.2239, 7.0496, 1.6923, -0.0366, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":0.05,"left_z":0.065},"note":"The overhead view shows that the jaws caught the basket rim, not the gray plush. I’m returning the basket to its previous position and lowering it gently before opening."})
tool
executing move_to over 15 steps (1.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe basket is back on the table with the brown plush still inside. I’m releasing its rim; the gray plush lies beyond the left arm’s lateral reach.
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]: [0.123, 1.5616, 0.6716, 0.1665, 0.0395, -0.0246, 0.0541, -0.0151, 0.8249, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994] state[eef_state]: left_x=0.4007 left_y=0.0461 left_z=0.0603 left_yaw=0.089 left_pitch=-0.1618 left_roll=-0.0369 left_gripper=0.0541 right_x=0.2928 right_y=0.0012 right_z=0.1666 right_yaw=-0.0005 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1299, -6.3248, 5.7778, 1.7411, -0.2564, 0.3639, 0.5397, -0.0889, -1.4564, 7.0359, 1.663, -0.0366, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The basket is back on the table with the brown plush still inside. I’m releasing its rim; the gray plush lies beyond the left arm’s lateral reach."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe basket is released and stable. I’m raising and parking both arms clear of the objects before stopping for operator assistance.
move_to
left_x0.2960left_y0.0000left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1249, 1.5612, 0.664, 0.2001, 0.0425, -0.0387, 0.9953, -0.0151, 0.8249, 0.6067, -0.4103, -0.012, -0.0269, 0.9994] state[eef_state]: left_x=0.4037 left_y=0.0467 left_z=0.0638 left_yaw=0.0961 left_pitch=-0.1357 left_roll=-0.0489 left_gripper=0.9953 right_x=0.2928 right_y=0.0013 right_z=0.1666 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.2256, -6.5162, 6.4889, 1.2576, -0.0269, 0.1245, -0.1294, -0.1436, -1.2786, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0.001,"right_z":0.2},"note":"The basket is released and stable. I’m raising and parking both arms clear of the objects before stopping for operator assistance."})
tool
executing move_to over 11 steps (1.1s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe two categories are plush animals and pens/markers. One brown plush is in the left basket, but sorting is incomplete: the gray plush is beyond the left arm’s lateral workspace limit. A retry caught the basket rim; I returned and released the basket and parked both arms. Please move the gray plush inward before continuing.
give_up
hindsightAt approximately left_x=0.405, left_y=0.05, left_z=0.06, the jaws can catch the left basket’s front-side rim rather than the nearby gray plush. A gripper reading near 0.05 did not identify the grasped object; the overhead lift check revealed the basket moving. The gray plush needs repositioning inward from the left edge.
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]: [-0.0242, 0.8398, 0.7216, -0.4343, -0.0154, -0.0376, 0.9967, -0.0151, 0.8539, 0.712, -0.5163, -0.012, -0.0299, 0.9994] state[eef_state]: left_x=0.3043 left_y=-0.0011 left_z=0.2099 left_yaw=-0.0044 left_pitch=0.0087 left_roll=-0.0133 left_gripper=0.9967 right_x=0.2929 right_y=0.0013 right_z=0.185 right_yaw=0.0015 right_pitch=-0.0977 right_roll=-0.0022 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.347, 9.4291, 1.7021, -0.0757, 0.0122, 0.1294, -0.4718, -1.0735, 10.0581, 1.58, -0.0562, -0.0415, -0.0171] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The two categories are plush animals and pens/markers. One brown plush is in the left basket, but sorting is incomplete: the gray plush is beyond the left arm’s lateral workspace limit. A retry caught the basket rim; I returned and released the basket and parked both arms. Please move the gray plush inward before continuing.","hindsight":"At approximately left_x=0.405, left_y=0.05, left_z=0.06, the jaws can catch the left basket’s front-side rim rather than the nearby gray plush. A gripper reading near 0.05 did not identify the grasped object; the overhead lift check revealed the basket moving. The gray plush needs repositioning inward from the left edge."})
tool
give_up: The two categories are plush animals and pens/markers. One brown plush is in the left basket, but sorting is incomplete: the gray plush is beyond the left arm’s lateral workspace limit. A retry caught the basket rim; I returned and released the basket and parked both arms. Please move the gray plush inward before continuing.
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 · 8.506 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6106, -0.3744, -0.0132, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2965 right_y=0.0013 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.4701, 9.2923, 1.7558, -0.0122, 0.0708, -0.0611, -0.7316, -1.4701, 9.9897, 1.7118, -0.105, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ac387521543667011b17e9240a98674ebf02dba81b17595b7690f6fa147477d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726c88bb7799c83870d285fb8d7be1f97a8215d761733c03b9449265062dccc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31766dfe186d1ab1c01ab0cde26a8c8805a252d105d8f98a3e15e87c52129c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 5ac387521543
wire blob 726c88bb7799
wire blob f31766dfe186
call 1 attempt 0 · /responses · status 200 · 6.011 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNgb8zrfbnSO2iAQxindxzo3q_mrPQUJWYPvexkHKsJYvCRKAoST5wvTawziV-JwqChZcqBmgXnJ-Z6Do02u-Vzn7lZq1DBSZ0fFewf4Cs6mqn4Hmt7zfv4xbpBsFsHZCg7xyX3QfwfXh3NecQylL6T8yYAO4hiimhNHTDwDwmTBK4ZYVPEiiKOQK3szwPHy0C5bTHzts_1fegirUYJnu5kBbUrchOpkqqA_XvjLrAw-aWMkXdC2nNL6m937JzxLz8w3KykEPca5-Zthb-puoW9NPC2ipXkZYGIGL29GrASHCyO1OvZ2YLpen5Oy4KiSp5qAFCFPcfObpG0wqbvn_a0W24MezqTfvKBUDhr3gTIwJ_a9RqlC-gaozK_xJ04cjvcBIatTpHjHPIrSwCtDdhDUnnFnM1FxxfWV-hBd5aTs6riaAcE-Xbb3k3AXE3xhp9s0mhEZI40exs9xs1n8y2S8zCneFpEG0U4GVDyhatnEr_ORU5-R9LHsIRqV_MPBn4B06O1EXpHm7dOvJY2sx1TFq-_7-L__rrSSKAkuwQInzSU0HkbO7d8qlpFBx919wBH1aQ-k5-SlJM1x9RncPw_wNU6005o8oIqYDm-eEDDHiyPVfLDMcZD7gW7kcnsM44PbBpvS7NbwyVwUEh17YUXKpm1HwluVYAPHjCP2w1AoLrxT-zuTJhjvkNTG9GDi8d1Bd97nzYiLjuvxAdMpNs-afMcIlq5lQHNposxlZ3tqQztLtKhmEX1mMRrs65JthXU6Ykm29ZP26gg10tfrd5q_xkXVi6AN5MLLDMypfmrDMcIjmkNENKS6apxyzDsmFlFQPfQxXACjL4nF-llMlpiF7HVKmrT_twg6NTeMcxoHeqHOxxuhxp_GOsnYBMxcwLIp0TVMnVt8-JzFDqfftIZiNEv7--af8gdhtvfgEP_HAcrPC-zPpW0hRNsnCUunouvrYd1A5P-Y3-0L2uBLQ9HjrsQVKV8CxubPH84-5dwTtkQOWn45zlqz_AYjf-OMc2R8ZnF-hpUo37t0V1duw3vlvaCvEYUxz-jpP2fUnkZJWA5rW-BP0dbKZwkAYgaEcGXiCab5s_bFnecEciJ-4ypCqwoo_cilWrLwozTbLUexL-vo1OJn-fSMnXIOXb0yAeo8h0wIdXSldNZeY-5cnD-Yd1Z-Zds5MSoROXz2ocYg9XMO1um8F3xG3xivZA3L9RrEfoZ6Cq3M9wLciToGMrb6uPL2jXLaQcEm90_0SPeSklaButCUjWeRpwmTS_OvMmvKjVnzUrhDJJrqGjlmRpIW6qhB7dJr0Kgr6Ve9W96pgLQCw38sL13jCES0lVK4HxYdYFptC_8MT_V4-KRmplasJkUPS8u_ZZzZ3U9jXF8L7g1dNVSCvw-VtqSOBHUrK9JISz5sp_MKQtxXVAwyQ2HuyO663uWg_mtpF6-oj9In7wZRepraIRxp6Kbi2oFEZUN8OiLloZdTR6KI8kfXHQ9uejyCAXPfLfYnpZ5seaa4OE4qw1rrgYgL4NfT0uEZxW5YuqifCjy1JWq5E5zpJorCIbl-F_2ClafXTpVoe55WnkgCEDm7lk5Rzx6iYCsCjZHsrSgx4UwxqUyjhvTIHOncD3z7DxiEgSrxWE5toeNHp2ma-dBMz5eywkBitc5t-3y1u6w3wtw94XBUSkasnh_v_pKDqN50Yj-bvXZvHTB9kBaApqLVLto0U7i649SfU2OWOB_6s_coAR05ECL9aX9uzUvre8LYwZcqINfxD1suKqsxinZ_HxhoIb6j6DEE7A4-Ro0LNywhcvnuapjBRTJPHqgwR44XtxcvwBjmkG6fphjtmE4gmpAlkgYz2n0sX_4O5I66GSNAVcdGrZxbHZjPTeIuwd5iJjUvVUXf71YMjnQh15an1KKm4WqCUv7gyb_NaAmNvDw_SyMluFfFj_WFR_mCFw5Y4v1aizSu1VhXrJOIRJs38wxJBVQ3fthHFz6Z2T0u94uFUQlJfOpzjzllFl02qf4QaAeoZdslYftkeWO7FReZ8_ilOJ4CIfLyA5vWZ4sFiA3iJ_dmb8bsCK9eNKp_S0bx9xruBQQ2cAK3jMG4HgnTyoYKrRVOogedToysnrMt92mntzUO8OhTG2aK_g1bbIVVvQRKdhoRxt2RJPjp_9nlSqbIojPyJjeK1Ft9jyE3VoMPrteYvBukNhx7Ao9pen188YxE0ye_FSdAM4VvKVwgXDUuOch4DxYYhL1gMg6Yz1TIkU3Ik7rTxjMwhGqhSJFsMSJdO5kVS_ouVFuJf1EtMWudqUQKXIvONB9gGeptZgzrWDSzRey8rkdg9NRNSVTc0Yoovt6-YYsejyd0uI5019AEYc-nTniCfM9cJDbbaCJ7LRBo3SR4R4owTYFA_fbphS93_N8SPGooSv4MjSRJSzJITNmrz0_erkKBGbAR66G4TSZtXJB3TbqrxfEjZw_Pm0vs7A1hfg00TLKsd6iJTvnVxY8amkR2_5bvpYK7RU0ioXnCMKW_4zuavZV-kVIRBvQ0zAGCsPaBSntYKpQq1wIX57XnVD_uXSy8gxGx0hpDrAzf6vY0qgBICoFaqa6BK7bWqvBQaKJAC0eTuUGy1dsutBX5xryJrAP600LMLHqVVd0GI2zTeO7BElKHECqPJ_zr6qSl3BMxulK7v1FtNol0JX9_boBOl9v-wLUQbsq53SusWhBnrbmeOtT71xf2w1RhE7QuEKJqAq5OT0dJQAtQD8_07XRxVCOir5m8aKDdqJIvQUCCgsUXdaLx2DMMc2XUdyAbgGihpKCloiC5qXRmRdowBUdUZsadgm4mxo45W7cAL_fgg7jtw==",
  "id": "rs_0ba00d5543dc2df5016ab49359449487d0ba85b58b6804df78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.19},\"note\":\"I see plush animals and slim writing instruments beside two empty baskets. I’ll sort the plush animals into the left basket and the pens into the right, starting with the small brown plush.\"}",
  "call_id": "call_zqo4hahnUDXXlWtCYu8sZRzp",
  "id": "fc_0ba00d5543dc2df5016ab4935f3cac87d0ab9387f148fd3052",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zqo4hahnUDXXlWtCYu8sZRzp",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.87, 1.1847, 0.6563, -0.2935, -0.6998, -0.5774, 0.9995, -0.0154, 0.7967, 0.6106, -0.408, -0.0124, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2846 left_y=-0.1553 left_z=0.1347 left_yaw=-0.0076 left_pitch=-0.0341 left_roll=0.0337 left_gripper=0.9995 right_x=0.2919 right_y=0.0013 right_z=0.1764 right_yaw=-0.0 right_pitch=-0.0336 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1641, 9.1145, 1.4725, -0.3932, -0.0806, -0.0659, -0.4171, -1.265, 9.1009, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be75008a00f6a868c892ab3168bc0d01a2162c0f3e202a0c6032e60c0cc2be65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6da0b6fdbf83ea0c2bf4c53459846267515d14eb067d4abd4b0ac82345d5294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71d655dedc2f9b07321ebda1add40d646cbf409e1c95497190e55bb25442e12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob be75008a00f6
wire blob a6da0b6fdbf8
wire blob c71d655dedc2
call 2 attempt 0 · /responses · status 200 · 2.785 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6106, -0.3744, -0.0132, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2965 right_y=0.0013 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.4701, 9.2923, 1.7558, -0.0122, 0.0708, -0.0611, -0.7316, -1.4701, 9.9897, 1.7118, -0.105, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.87, 1.1847, 0.6563, -0.2935, -0.6998, -0.5774, 0.9995, -0.0154, 0.7967, 0.6106, -0.408, -0.0124, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2846 left_y=-0.1553 left_z=0.1347 left_yaw=-0.0076 left_pitch=-0.0341 left_roll=0.0337 left_gripper=0.9995 right_x=0.2919 right_y=0.0013 right_z=0.1764 right_yaw=-0.0 right_pitch=-0.0336 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1641, 9.1145, 1.4725, -0.3932, -0.0806, -0.0659, -0.4171, -1.265, 9.1009, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be75008a00f6a868c892ab3168bc0d01a2162c0f3e202a0c6032e60c0cc2be65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6da0b6fdbf83ea0c2bf4c53459846267515d14eb067d4abd4b0ac82345d5294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71d655dedc2f9b07321ebda1add40d646cbf409e1c95497190e55bb25442e12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob be75008a00f6]
[blob a6da0b6fdbf8]
[blob c71d655dedc2]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNqCzn64UnqeLtBEnBbMDKb8WbfSVH-siJ7twTOybFuNsDhFHq3XV5v_J0AZ29i5wm6nTfZGdnXYw4oQmGfEmPEAuC84Eov7QEMquYRjSqeKKNlzXIjc_n3oOmYbhSoBf7F6iSIfv_iW5z2XayZ6quJTwf7s3p1TVdTvUKcSGd1tsx98aBUJKG6A1GfhFYAI28W9hxJcJjhj8-_Jnpy56Ki4y1ANE0WLaVESdUPStSodojyTj5LykTG6YoF7fv-_JzAdZn3sirnyTR-K5J_iHB1Svzh-BWBaRnAI-DDWKjljq4l0sfMH_VgGeAISMIF_d1p3y52cKKDlJfrCVthy1hKspNSh01EqWwiKFGh8Go3RWxaMtkEXoN1FoF2byBIyiM_-kCoKLZ9PBF4aZ4Y_6jCh5UZWNZro1naeUof5g4Ha8ikbRGNXPsFsI_ZyRfzeFYpY1HmYeLleJ0BCFHsMurVadIm1VJcRnAX95kYT9qVEbzBYaMlaHOKASE8_keeJT2xBVznhFeWXJF7Ko-SOITO-TK8PZsyCqoZWN1XWi7-H057S0JT6vXW0NOJoKFEswNnoMD5W-giUoD6ysuS9r67ZdP3cB97Z-Ztn-OSkdv6m9WvOr40hfV4EIsnLIqkvEv7htUVNyE9VHxpF-NIy0ouofaPjpuf-Gj4Z4RDPnQ1z8KPVMDB6rUhxsPAqS2Gmhi2W-D_oLY02FSZVnIneb13a6-d1YLhqDIsopsCZoO8oPBa0YGxnGdf0Mxx2iO2iUtKIPbXLuTIIY0X24h3gqOb7fjE4oBjPruzyKIcj6SX3ub5DqMdiW0f-UyI9MyHUSwRtR5_dmV422EhJXVa91W9z2EFfjUer4676muXf9CXCt5vmalp0tbdDASH5p1cmgbvcSCwMzELpM7FUec4FgJYXsKtf1zlXJ5o4mChFwYoYUxCzqaNYs4vf9e2gJ13gJ7aGGUD1oAVZGawuFFbG3f08tpPu4ftbik84KWPXa8-GiXZUUpZirsFeafzOpeySQax0TobVt0IS3xpP57HtXxiFokMDl7a6tqJjZj_jljTG2NVWKsbGqpuEyr2aYRT0MG-EuuKOmkZIW-b6MNwI-9EtMSeNUZ6ioUeuCaIRGg98NII7jg-1iCAFEC8xLLx6QLH_guKhTqUyE-QEcIsxBiAzHwvqTW7IzzBEMswmnQR1Xnz8v5xPj57ETBXfLqkVqs0QphytQIVYq6-XmfwdVH_vtf0TpwX4XJiwiJF1gE7f_uXG-JxDFMmRsuM5wgVqOE8Hhfevyn6E-bQIXOR5u3Yk1MDR2caKLIZ6toVNut3NuhAfg_u_v_3qXB5KUzTDoQxC9U35AR9k2jHI5HoVWX73qfE4pw2YYGxWZfdxLkH8otUqPzMENV9n6ojxqAc-gCpBTg-fS66xEiMjByYM_u5VlkzFJovKQPvqWFsHcYL4D_jgUvU0uZ79lMdk7bBLB7xSTP_1w23SvQOuGwoGO1mXSpc8VypFiTdRUNL7ZbHUGj6eahwTldzbIvIPK1Cd7npaFfgZHN1FStrX0kHpLLx6UvuY9T8gcFeuImkRL6xqeePraIxNVrT19XQDFKTyAq5mKTITI_BD2Qq0FeBQkhg7oBeMOvpHCQgPgVtYpLtii5onDt1GHOibOefeNUjB-rC8Z03TX4w_dAC1Eek6Pzd9cfuhX1lZHJ9FvK9zd47jMbn2VogcSbHJya2rtPVtdoSARy-QyBU4iSdxmDJZakaLNITOn1Jx1drnWnP8G0njV23riD0zF_pEQmMREAt0FuA4YUmaGmKxDaoPGBRAf-UDSEoXNVnP3z7qDcWtb2nPKH_PWGkB3fSrJgcZ28K23TbaV88szy-toSXbXq_9iZKBYYvqS0zwfHZatxSJ6Wa-xSl1l8ab6tiwL8Z9mDFKxRbgcNWiTf-_MFHlTD9yUolIes5zCQZ4pG83ZrNtltjApuxq_DrAx5eIWiUjoCzcDLVWKZ0zVAF4oqiJUJ97TAVim5E2IwIebWo7daJS_gfzsoFz3BEPUl-tADK7FkaysZIs3U7QycTPwFaKGTEMdBpypPXuy_XRxmK9GuBLBO1OkMAHHV8K7lYxPqaGeN03ZGMGQ__DWwxeEMKVVDRupSwrSTPIVZHmjyhAnNRfxaU2dnkjiZGK7KZmZmjMJfd_jNgEZeFxPSrfSsViwN3kpqkiQ==",
  "id": "rs_0ba00d5543dc2df5016ab49365659487d094343a53d289df56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.135,\"left_z\":0.03},\"note\":\"The brown plush is visible near the bottom of the left wrist view, slightly left of the jaw center. I’m centering the jaws over its body and lowering for a grasp.\"}",
  "call_id": "call_dc9sEQ4k5trL3nVtmSEOjfI9",
  "id": "fc_0ba00d5543dc2df5016ab49368ffa487d0aeaf319a349e352d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dc9sEQ4k5trL3nVtmSEOjfI9",
  "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]: [-0.8024, 1.4475, 0.3134, 0.3161, -0.6544, -0.5243, 0.9995, -0.0154, 0.7971, 0.6086, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.281 left_y=-0.1308 left_z=0.0241 left_yaw=-0.0004 left_pitch=-0.0576 left_roll=0.0521 left_gripper=0.9995 right_x=0.2916 right_y=0.0012 right_z=0.1753 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.6154, 4.9983, 1.5849, -0.3053, 0.0562, -0.0122, -0.3897, -1.265, 7.1863, 1.7558, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddac21d9c7c48b5b65e70a5377ad1fafb8ce91ecf9ac9c5d1943d002579769b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd92bcfb77e83a5776f1072be6e0714d051261e9f5947605c7bc5964567e1c09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75099f232d4459a22ce08d0f9142dc7fe885213796efaf77de909b1f2270e22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 9ddac21d9c7c
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.378 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.87, 1.1847, 0.6563, -0.2935, -0.6998, -0.5774, 0.9995, -0.0154, 0.7967, 0.6106, -0.408, -0.0124, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2846 left_y=-0.1553 left_z=0.1347 left_yaw=-0.0076 left_pitch=-0.0341 left_roll=0.0337 left_gripper=0.9995 right_x=0.2919 right_y=0.0013 right_z=0.1764 right_yaw=-0.0 right_pitch=-0.0336 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1641, 9.1145, 1.4725, -0.3932, -0.0806, -0.0659, -0.4171, -1.265, 9.1009, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.3134, 0.3161, -0.6544, -0.5243, 0.9995, -0.0154, 0.7971, 0.6086, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.281 left_y=-0.1308 left_z=0.0241 left_yaw=-0.0004 left_pitch=-0.0576 left_roll=0.0521 left_gripper=0.9995 right_x=0.2916 right_y=0.0012 right_z=0.1753 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.6154, 4.9983, 1.5849, -0.3053, 0.0562, -0.0122, -0.3897, -1.265, 7.1863, 1.7558, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddac21d9c7c48b5b65e70a5377ad1fafb8ce91ecf9ac9c5d1943d002579769b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd92bcfb77e83a5776f1072be6e0714d051261e9f5947605c7bc5964567e1c09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75099f232d4459a22ce08d0f9142dc7fe885213796efaf77de909b1f2270e22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 9ddac21d9c7c]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNvAwHpZj-PEj21BsdKJbmPTSPD8B5cCTDz6vpoqT5tzKHuANjybYJpnkDfo_U33qTBdmw2Uo5EySK1bq6FLKHxwswAWCHzFqVQ8UcATV5pBvSxZq11qYkH5tStuXE90efW-HRTr_RKIcv0kyR5LDN8gnQF9BOSOXLt6qzuvbdr7kgtqPRi98WHmrF0xG0y7c0w5tzEq47fWLirN_yxuHYImlFXOf8BtoVsNzTprT2u-SDbr4fYxyhrctY9vq1zKCnQxhm5fRBgfuLo8WS8aOAhpVZGPgojkEZA23CdJoiHc-WkbY-NFsBjnylRkQPYb8s86dxsZ08l9M5McPcVOhl_zT-hpHAPLfSzPOGYUcYuYkfsLsWdrqpjMfJQaxl_d52DoSwUGdUkQVh-FaXcOSaf9XgHtqNQfXhBkflgNvJBzNBeCNb3Sp81Wo5KpV7oSpF26OWbGEUxlltHwpq2L8Y44_nk0-simX-qz9_NjAQEjAm22_ULA77PAk9wWw-9BUIVyCb8XN5EH3UNhAZZgID6KNWdFdsLXZ3Jw1K_BRMKIjdkzL0Q7BC0xaPb8u9O-QMUwkS8KnK0RfJOsDrvFqS_MbiKHKspQUp7GxMrV2N37rgT86teuFZCOV1CNS287OJvny--AnKFMMcNTF3qQXKKFWKXdvCuVmfxShOCoSESwoCSZVxFwqxKvYTKpnMmJpYN8dv-fVCN_7ABMRL2zRlADX9w2HDM62voyDQvihD_7K8dlROmKKh4lqU3-HaXayuxhW2I52ZXiDmpOUa5CfXmQWaCAX5GzD6rFWu3Czn2YHb_MqAXqJFlTAQff6LFW7i9d5xhM-laf774VM6nwaXC2YdZP4y4wSJquJJ_yA2Q7RuYS4jhCDO-dEk_TeYWuIdwgJMlGJb4mGsIXaiegjeUZXidZ6nPbj3t1gO87Md15fzcoE6iR1UMiArm_mBhhE4sCzOOzo9fEfg6y9FjXxvwtsZYMZ3d1oyruiQqqYaEvoV795L0AmryReGDi873-yuES8pedmBokpTRpN9ute71SNDlCjfY18jWKXqP6Yz7yv6mrJ1-suqj9gN-wnbgLO5AJlIQdR8IAnakP9lnbMlCZm_3JB3xzypXJvsDKQ5gjxUrjI7Tgn9pQ56MWq6J60TfAOFCL03CO6K6jtv5Tugm9ICISWUuJmpU4YgxM4PykKX7eOys9Bz6KP3LmsKywL4ELDafYJgv1vocj3alvuV8U6ejUmVJ6uCh00GchSjAunqaaugf_GG8QuUJLYahd43folVjPipZMzXPOpsd1kcEnKz1_Efl1IhctCcudh1ESj8=",
  "id": "rs_0ba00d5543dc2df5016ab4936d9b7c87d09501bd728543d8de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s torso now lies between the open fingertips at table level. I’m closing the left gripper around the soft body.\"}",
  "call_id": "call_NssNnenrUHzIo2K6EgVwmpMo",
  "id": "fc_0ba00d5543dc2df5016ab4936e654487d0bda682b8963461ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NssNnenrUHzIo2K6EgVwmpMo",
  "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]: [-0.8024, 1.4475, 0.313, 0.3279, -0.6552, -0.5243, 0.1117, -0.0151, 0.7971, 0.6086, -0.4091, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2822 left_y=-0.1319 left_z=0.0257 left_yaw=-0.0003 left_pitch=-0.0493 left_roll=0.0442 left_gripper=0.1117 right_x=0.2916 right_y=0.0013 right_z=0.1752 right_yaw=-0.0002 right_pitch=-0.037 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -4.3419, 4.7795, 1.2723, -0.2613, -0.0024, 0.9109, -0.212, -1.2103, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336591131f5c76c32776f584c4d87cd029357cffa70b69a9e3bbb0b62502a3e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bb09d889a03e7ded09244f54efc43916d1640b62204b4666852c90d1e97efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3ad29e2e7d01451e0b5abe9357c700cc2e593093f03b0e666ddea56eca8010",
      "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 · 3.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6106, -0.3744, -0.0132, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2965 right_y=0.0013 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.4701, 9.2923, 1.7558, -0.0122, 0.0708, -0.0611, -0.7316, -1.4701, 9.9897, 1.7118, -0.105, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.3134, 0.3161, -0.6544, -0.5243, 0.9995, -0.0154, 0.7971, 0.6086, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.281 left_y=-0.1308 left_z=0.0241 left_yaw=-0.0004 left_pitch=-0.0576 left_roll=0.0521 left_gripper=0.9995 right_x=0.2916 right_y=0.0012 right_z=0.1753 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.6154, 4.9983, 1.5849, -0.3053, 0.0562, -0.0122, -0.3897, -1.265, 7.1863, 1.7558, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.313, 0.3279, -0.6552, -0.5243, 0.1117, -0.0151, 0.7971, 0.6086, -0.4091, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2822 left_y=-0.1319 left_z=0.0257 left_yaw=-0.0003 left_pitch=-0.0493 left_roll=0.0442 left_gripper=0.1117 right_x=0.2916 right_y=0.0013 right_z=0.1752 right_yaw=-0.0002 right_pitch=-0.037 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -4.3419, 4.7795, 1.2723, -0.2613, -0.0024, 0.9109, -0.212, -1.2103, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336591131f5c76c32776f584c4d87cd029357cffa70b69a9e3bbb0b62502a3e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bb09d889a03e7ded09244f54efc43916d1640b62204b4666852c90d1e97efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3ad29e2e7d01451e0b5abe9357c700cc2e593093f03b0e666ddea56eca8010",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The gripper stopped at an opening of about one centimeter rather than closing empty. I’m lifting the plush a short distance to verify it is secure.\"}",
  "call_id": "call_mrAVrYCWNrnzVO5BjvIPaHDY",
  "id": "fc_0ba00d5543dc2df5016ab493716bf487d0b33835bbe1984e80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mrAVrYCWNrnzVO5BjvIPaHDY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.1767, 0.4744, -0.1188, -0.651, -0.5255, 0.1147, -0.0151, 0.7986, 0.6086, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2797 left_y=-0.1302 left_z=0.0893 left_yaw=-0.0021 left_pitch=-0.0615 left_roll=0.0516 left_gripper=0.1147 right_x=0.2917 right_y=0.0013 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -4.041, 8.2803, 1.2869, -0.3297, 0.0122, 1.0281, -0.212, -1.3607, 7.0769, 1.7265, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7053819e3088f99424ec047d5894a306fefa9250130571643feb75037fa2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfdaa463bdd2fb2dd703331e8369333f39a5e767c161642301e1f7d272b132b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf6a6faa7fabb0ec813e9102042cbc85ffbaa7527d9824320e78652e0737c415",
      "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 · 4.96 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.87, 1.1847, 0.6563, -0.2935, -0.6998, -0.5774, 0.9995, -0.0154, 0.7967, 0.6106, -0.408, -0.0124, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2846 left_y=-0.1553 left_z=0.1347 left_yaw=-0.0076 left_pitch=-0.0341 left_roll=0.0337 left_gripper=0.9995 right_x=0.2919 right_y=0.0013 right_z=0.1764 right_yaw=-0.0 right_pitch=-0.0336 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1641, 9.1145, 1.4725, -0.3932, -0.0806, -0.0659, -0.4171, -1.265, 9.1009, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.313, 0.3279, -0.6552, -0.5243, 0.1117, -0.0151, 0.7971, 0.6086, -0.4091, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2822 left_y=-0.1319 left_z=0.0257 left_yaw=-0.0003 left_pitch=-0.0493 left_roll=0.0442 left_gripper=0.1117 right_x=0.2916 right_y=0.0013 right_z=0.1752 right_yaw=-0.0002 right_pitch=-0.037 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -4.3419, 4.7795, 1.2723, -0.2613, -0.0024, 0.9109, -0.212, -1.2103, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.1767, 0.4744, -0.1188, -0.651, -0.5255, 0.1147, -0.0151, 0.7986, 0.6086, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2797 left_y=-0.1302 left_z=0.0893 left_yaw=-0.0021 left_pitch=-0.0615 left_roll=0.0516 left_gripper=0.1147 right_x=0.2917 right_y=0.0013 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -4.041, 8.2803, 1.2869, -0.3297, 0.0122, 1.0281, -0.212, -1.3607, 7.0769, 1.7265, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7053819e3088f99424ec047d5894a306fefa9250130571643feb75037fa2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfdaa463bdd2fb2dd703331e8369333f39a5e767c161642301e1f7d272b132b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf6a6faa7fabb0ec813e9102042cbc85ffbaa7527d9824320e78652e0737c415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJN3KTTp6R5pRJX-U4ApQcvJkhR5p3Sp2yHF_F_50c0yihXH8vvl6mIA7CXti6IK3Nexey1G1L9OEOWaqyuYyKVJuGxVaLXb9zflDQYoSaxxitgA-d5_aO9ZOVuZo0zrlniB28H2k68oqqwa0MCqb95MqCtJDQLR1xLCiNKtHvFC3Mv3pOEFV8wd-SerBpPwC2f7gAaC82Uan3zMRJNbkaq2pXU12GoCFa8mc_i9avwjv3vtoPtyneTWHO-9LbxzhwMT-zeZCB_5UnrhNqH9TIA5Id_xma_WlHNnO_C0Hef4J0P8jmH7vqdGruRBfoyYAyU96j5njBW_dF5Cw-lUN1t81wxhT1gSisf7Q-oNB2_QukI_NsURr-IR67izV_72axxTBea_hyBTZ_V_c2uALfiI_YgGuY3GdN8_MME36BOc9MMRjPWZHdSv9SSWFIZcWh13vi-HblNSJK4kVJVCMb4Ps4kmMUL2zk7NrAGLv0ejRVbfTiVcFrjv50v4_3SkdEAyVeUT-GqR5wnBXKsZCZxDJoSypkpZdL80Y1tBfIqDpOrMIj93kNI9bbbXJ-kxqcubJkVjmHNf7TMan-9wa_8JczymneC4VQZQlxpMorgUXq3eBY18hufv_lQIobtqfbhMhlQvSzb4fnaz8gDdafvZ8pu9GwKGMi6AqXm_gOSb0vUIrjC1VwoHNa9qSBufi7IzownHTQS8lvebsh2LvU8_ExVF75GRgNgdIgHeWG9GYoxOMoLquaEik-JxrWs3iwZIujWUx3qj_YoN2uDdWNPGFaX77w3feQynxC5pPc8kA-BxP117e-6mTxUIFojicIcYFzy8CWp252cjUoOP0RYyTrTVrrxjZmRmvyQvxFqsEi8MDIiHlNdo-IEizGEDo5k-YBoAIeOfB9bQm3-iydGqlhQ1ECczfvm-bBbOaU4b909OLt_qhn4ke4Img7pQ5P8eKNudXdG06a9e5FAXFwG81rgksOfk-78RZX5qMcct2NBvLHPRBc14jsa27pp38sl3V4uKkrefp0pYNUXYtd10UFtPNDVVn9oEVGIgEXmEgls4y138EI4AhlAi4MeZxwZazrGa7rx4B5IBijnXPb2LxUBG_85spXhlMAvWAWI3sDqKKzDROBnwrZBk7Dx-hmxesrHJmEgsWekSPmRXr1eOm3UdfAWbIzRdFzZf5GD7sYBhwKsSwjEx0lU4xqB93j4YmGs40ynMAzy7QjONcunDyVA3CuiUsleymId7yY9ttCJNpqdSdOdVsxVRRpY8Gu9kq0xV2hHDS7_zvGGDuWFG9vm6n0OL5JL-V1zTh65reBwY7WxeWtm_gRpr5Otl23OYvasMoct9HGoXx3C4U9rQEAjadoH3uwBXtErwYB03GXTzNCXuqEnonq2wHW-ANJ7xdnnSGxbIUL1W3qLIJr3CBMKNErc0z8omcVroTFxXhkR-Vj1XhdTy_eI09WzTnNRcxErNJ9O5bV37OTRObzkdfIyOr9yl-V3iszGjJuISYQBxuiCwv4LWQD-6RyFGWJ3lgRXz87mVJ_EEdXcpu4a3ia4DmlUb-NfUWfPy7YWWYLllLUH4K3NkWV8FOuNsd2-2",
  "id": "rs_0ba00d5543dc2df5016ab49374eae087d0b56d5181dbcd1ed6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.12,\"left_z\":0.24},\"note\":\"The brown plush has risen with the gripper and remains securely pinched. I’m carrying it forward and upward toward the left basket, clear of the other objects.\"}",
  "call_id": "call_4XbF48UiInThQOC9AamhpdBO",
  "id": "fc_0ba00d5543dc2df5016ab49376408887d08926e3398c9c4898",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4XbF48UiInThQOC9AamhpdBO",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3759, 1.6577, 1.4242, -0.4896, -0.3393, -0.2348, 0.1167, -0.0151, 0.8024, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4626 left_y=-0.1155 left_z=0.2202 left_yaw=0.0235 left_pitch=-0.1138 left_roll=0.049 left_gripper=0.1167 right_x=0.2919 right_y=0.0013 right_z=0.1737 right_yaw=-0.0002 right_pitch=-0.0423 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.5812, 9.812, 1.7607, -0.149, 0.2711, 0.8132, -0.1983, -1.5932, 7.1726, 1.7363, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0d09a59824ae0172b043e3ba41633c34879ac767f0535f6d377337a62ac207",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770e617a72801e1a4b2954f7ac0b6e290c835b7922ba9435e1e461b5c931d78e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdb120e7272bac92de126c195b26454d7edc8fdd75d7abbacb46a0963ef4709",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.193 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.3134, 0.3161, -0.6544, -0.5243, 0.9995, -0.0154, 0.7971, 0.6086, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.281 left_y=-0.1308 left_z=0.0241 left_yaw=-0.0004 left_pitch=-0.0576 left_roll=0.0521 left_gripper=0.9995 right_x=0.2916 right_y=0.0012 right_z=0.1753 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.6154, 4.9983, 1.5849, -0.3053, 0.0562, -0.0122, -0.3897, -1.265, 7.1863, 1.7558, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.1767, 0.4744, -0.1188, -0.651, -0.5255, 0.1147, -0.0151, 0.7986, 0.6086, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2797 left_y=-0.1302 left_z=0.0893 left_yaw=-0.0021 left_pitch=-0.0615 left_roll=0.0516 left_gripper=0.1147 right_x=0.2917 right_y=0.0013 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -4.041, 8.2803, 1.2869, -0.3297, 0.0122, 1.0281, -0.212, -1.3607, 7.0769, 1.7265, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3759, 1.6577, 1.4242, -0.4896, -0.3393, -0.2348, 0.1167, -0.0151, 0.8024, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4626 left_y=-0.1155 left_z=0.2202 left_yaw=0.0235 left_pitch=-0.1138 left_roll=0.049 left_gripper=0.1167 right_x=0.2919 right_y=0.0013 right_z=0.1737 right_yaw=-0.0002 right_pitch=-0.0423 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.5812, 9.812, 1.7607, -0.149, 0.2711, 0.8132, -0.1983, -1.5932, 7.1726, 1.7363, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0d09a59824ae0172b043e3ba41633c34879ac767f0535f6d377337a62ac207",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770e617a72801e1a4b2954f7ac0b6e290c835b7922ba9435e1e461b5c931d78e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdb120e7272bac92de126c195b26454d7edc8fdd75d7abbacb46a0963ef4709",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOGV5l_54u4Yyo1MOOsxPJ-zaB9Opa2qMGKu-zSShj3qkP3h1orp87F2nOfRr3wMzfESJo6bwABUMCSlyZ1usrZpDvN-Wf_Qw-7fkknzhZoKn0dNPzqgIYTEROiUFhnbxL54hSxpLu7bNUdYfRnDcpnVwlbg4MTdsr9z04CWGXyJqKgVYDq9Az0yFbcK0auZpt_IAbTqBMZlDQLh668yJnFTzKsLu-KBimoV4fuGNYD67dv879FnVgxdoso_XjDm_GzvLIcWTbK9bojgC_vKlFS64YE2Uu8EdTv1Am2CwPbyD2sDbJ6Bkp3JZiFNNVt973-_pMhiHfIvO1WU1cqrFoylidRWZPoCuE8_iDTqSQcdb9cUwYUfIrI5NdovMdemn4PQ402-xRB0dG0VgyUwxH4DKAQw-9vkroH1DkUV0YrsySDQH_r5vVun670JQvlzUlMQKdeuoPF76qRqwWr8KQR4vh-zDLha2pTFuPARpP1KTEdrDeuTcpHGM0IsfGzS0YQGxJY-E5P9K6fsUmn6UqA0jsoJW4QdOVEabQ2-3yru99LnLEgtuEbc2Cr7rpfExytsMYKGIwmp_ROyIe1hFMvchVj-JF93D-YVhCd5pgOEUiYClgBWIYQ2rBYTqN1sW1hLyVsgbaFK_tiJOERjprO1pf91nRpCIBa8q1WwYElZsi-cMBj6gu91DFfU2nVI0RpPnVAeAM43devIDq9lI07lQf0yLpUXNh88Z_z97dWNz7ulYbD0Zx68rgEkEewp3isvrC0MOxpdl-OcuPSMhreqdnX3YQJGQ1_SDbBkMnBNXqR6mg2YqoLnXtZeFtp807gtIYIZDNsMRX4MHdZjRHY7XEy4CmmoHZrf6llzTaGOCGhv5N_kgKJEh00tT2hvcqWSB_EJKAP-yDgVLeg7r2crDBgaP3-8Iwwxy9Zsi-EQTjIrizXVZ6pLIPU9ue5ZniJ0dUy4sZYjxI7REMmirpR_Z-5NWkX5cA068HbiVZZx98KZ21AHFp365cqv0tFH0zooAZqZc_6E9rawQb2jVzYhkRi3TH2SMXr18OvwLQDjQNSMga7G3SN3UPFlvrOOwC4HRT6fHP6Q7E-f1mgrFahzDLuZgHrr1GkMhoXCUmCuFenVaAymRpcNDQsof6PD3hI4WvRsgCANpBJ3sbOXMwZLhouWZOIpuk1o5twcTM2F0HksTE7pZayPpv4-hDHlwVvrKWG9hdU2d4JD2arvrWEZphozzB3cGfNi_cF-pWrnDxWeK47qpMNFoGpWA3hDaPVHMA2GvMo8NcOkJ7vXLV4oemYbTWAJaqS7QX-dnO6UtL8jDx_xDegrOIJdHl5IVYP5v566l3jMGlIaFaVCFKgnLZIAbR_xveSav7TNAwuRRHiRY4OSJBXLWV63lwjqwnWP5TR8StUNLrqQhI3ZgU0ENU8Y1c-VSHx_WhIfsSIs0go-7FX62NOVsdB_OoNeUf1RBEnpOGgpW-dxYkFIN7GRHHtP5nqNH-thDH1JdgtbTzpEDkz3fd9TKKoP6c5oEAVPiCM_ZYQSgmnhC7SK_TotuI9PQBjU-w9tO3wfTwMllXs-gx4kDc6zHxO4Q6w0__AqvVTyshexozSTtLxuz8JqrUnBdGbA3IFor193d5Zd--3XrigIhkclBwdv2h2Rg2HlyswiNY4ub1bi1eR-6E62c0RxlNhUdKa9nkZ-PtO7wwziC13f0SIUecjhDz7iY2_t2CfZc-l9_ZiZf6CyVth5my4abENwVtbcVF8PrPwN56rDYnJiqnxzbzNGcvJMlDu0VaNPCFCDC7U9jWcMvxziibxvmQ-ocnuBwZDap1OUR41EMJe3UDwj6RNUg-RXly_RS94x5P6EQz38cJZyIpnJw==",
  "id": "rs_0ba00d5543dc2df5016ab49382532087d0a64ff0fbc69b1d7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.12,\"left_z\":0.14},\"note\":\"The plush is over the left basket but near its front edge. I’m moving it a little deeper into the basket and lowering it before release.\"}",
  "call_id": "call_iWO4KuFsOHneqHhVXWHIqbc4",
  "id": "fc_0ba00d5543dc2df5016ab49385056c87d0aed90555e497e02b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iWO4KuFsOHneqHhVXWHIqbc4",
  "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]: [-0.334, 1.9106, 1.3918, -0.2604, -0.3283, -0.2321, 0.1197, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5106 left_y=-0.1131 left_z=0.1249 left_yaw=0.058 left_pitch=-0.1685 left_roll=0.0658 left_gripper=0.1197 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=-0.0002 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.7829, 7.6923, 1.9707, 0.0269, 0.2418, 0.8816, -0.1026, -1.1556, 6.9949, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6ce6bb981fa401c08f72b1f445ed8b0fb01203ef4360b1f5aa9f1fbb491fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0480965e940ec9b752da58075a0ec448fa0c783b3f0078879c799cc6398c812",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1c09a811c40854f403c141f02a681e7539cd31221a550f6ac164bc241dd265",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.006 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.4475, 0.313, 0.3279, -0.6552, -0.5243, 0.1117, -0.0151, 0.7971, 0.6086, -0.4091, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2822 left_y=-0.1319 left_z=0.0257 left_yaw=-0.0003 left_pitch=-0.0493 left_roll=0.0442 left_gripper=0.1117 right_x=0.2916 right_y=0.0013 right_z=0.1752 right_yaw=-0.0002 right_pitch=-0.037 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -4.3419, 4.7795, 1.2723, -0.2613, -0.0024, 0.9109, -0.212, -1.2103, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3759, 1.6577, 1.4242, -0.4896, -0.3393, -0.2348, 0.1167, -0.0151, 0.8024, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4626 left_y=-0.1155 left_z=0.2202 left_yaw=0.0235 left_pitch=-0.1138 left_roll=0.049 left_gripper=0.1167 right_x=0.2919 right_y=0.0013 right_z=0.1737 right_yaw=-0.0002 right_pitch=-0.0423 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.5812, 9.812, 1.7607, -0.149, 0.2711, 0.8132, -0.1983, -1.5932, 7.1726, 1.7363, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.9106, 1.3918, -0.2604, -0.3283, -0.2321, 0.1197, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5106 left_y=-0.1131 left_z=0.1249 left_yaw=0.058 left_pitch=-0.1685 left_roll=0.0658 left_gripper=0.1197 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=-0.0002 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.7829, 7.6923, 1.9707, 0.0269, 0.2418, 0.8816, -0.1026, -1.1556, 6.9949, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6ce6bb981fa401c08f72b1f445ed8b0fb01203ef4360b1f5aa9f1fbb491fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0480965e940ec9b752da58075a0ec448fa0c783b3f0078879c799cc6398c812",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1c09a811c40854f403c141f02a681e7539cd31221a550f6ac164bc241dd265",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is lowered inside the left basket’s rim. I’m opening the jaws to leave it in the plush-animal basket.\"}",
  "call_id": "call_DPOj0feaQ2ATVM0I20CPHXgd",
  "id": "fc_0ba00d5543dc2df5016ab4938d7e5887d0adef8c741c07f4be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DPOj0feaQ2ATVM0I20CPHXgd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.9106, 1.3918, -0.268, -0.3351, -0.2428, 0.9953, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.5095 left_y=-0.1115 left_z=0.1239 left_yaw=0.0699 left_pitch=-0.1733 left_roll=0.0653 left_gripper=0.9953 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=0.0 right_pitch=-0.0431 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.5094, 6.6803, 1.5946, -0.1392, 0.0659, -0.0806, -0.0752, -1.2923, 7.1043, 1.7167, -0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34efeddf7a797f6ef125d07f0e49dc611a7257c47556aef2f5114f3013906f60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c562f29b11e3aef80b694cc96d478da12aa23789e3f17578dfea5624354ffaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d55f27b07d505fd55044b4e5e13b264d3d1941ab11e38359fe3fa4a6715ebc",
      "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 · 4.149 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8024, 1.1767, 0.4744, -0.1188, -0.651, -0.5255, 0.1147, -0.0151, 0.7986, 0.6086, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2797 left_y=-0.1302 left_z=0.0893 left_yaw=-0.0021 left_pitch=-0.0615 left_roll=0.0516 left_gripper=0.1147 right_x=0.2917 right_y=0.0013 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -4.041, 8.2803, 1.2869, -0.3297, 0.0122, 1.0281, -0.212, -1.3607, 7.0769, 1.7265, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.9106, 1.3918, -0.2604, -0.3283, -0.2321, 0.1197, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5106 left_y=-0.1131 left_z=0.1249 left_yaw=0.058 left_pitch=-0.1685 left_roll=0.0658 left_gripper=0.1197 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=-0.0002 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.7829, 7.6923, 1.9707, 0.0269, 0.2418, 0.8816, -0.1026, -1.1556, 6.9949, 1.7167, -0.022, -0.0415, -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 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]: [-0.334, 1.9106, 1.3918, -0.268, -0.3351, -0.2428, 0.9953, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.5095 left_y=-0.1115 left_z=0.1239 left_yaw=0.0699 left_pitch=-0.1733 left_roll=0.0653 left_gripper=0.9953 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=0.0 right_pitch=-0.0431 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.5094, 6.6803, 1.5946, -0.1392, 0.0659, -0.0806, -0.0752, -1.2923, 7.1043, 1.7167, -0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34efeddf7a797f6ef125d07f0e49dc611a7257c47556aef2f5114f3013906f60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c562f29b11e3aef80b694cc96d478da12aa23789e3f17578dfea5624354ffaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d55f27b07d505fd55044b4e5e13b264d3d1941ab11e38359fe3fa4a6715ebc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOTqbnjNnWr1Qd1LDqaI-1bH_YsyzsgEjsBrSv301wM3tVU-LUlk8bIJKTncnVCYDsY_jZhbXw9-xDRWEq5pQ6P_3kxGXHEiaxn5o8X0RDsS6YLUQr4qFeIe1Aqi5gBES43xWtcUBU2l-pbjPTmV-jb-t0sWwwwJ2OUh6Ph-oVghQKldCgyyu2CLfYyZ-Zoux_5iGDpUevSqmNrd9n7ps3sCV50qs-3NfhpZnyxO6rHffglQerfGeBmhm77STc47NxqQY3YYMFu9iXOZsZC1x8GYllPA-I7oZKm2at90JxXGPYV9RA9sN5tVa2qtrqeN5oixwDwNgQ2L3t8OYr9A03jECPoPTnU_8WdBaYG5EzNkjYDTyWaHYUFTW3OzD2_-ZXY0-vx0UUu6B-ysIUnTV4xuDLIRpn3G32ouzo9CmofSntRzhGypanl5n2X4fUZf_G9o3S07OJqPU6bdoVJlchandbfvf0i8rUN82mjjVhHjGySCI2P4yGb_IjjQ_oAEE_wQLkTbRXG-ZMqaWbm-vlZ9QXJzmPTtGwJqxjIRttZbHJnlvihBCvuhNd-OZasK8CiiFfJCEeiUTx-bTjnGk-vguG1DGxTYwUGx7M8w6oKx7hNmoOwhWZKfQb5po-E9iLJimEtKanEj1HS28U7BSM-3zOYWfbSk3bC-XT0q-rAfr8_w7fchnUNXj9GLrYC0TW2eT6h32Q0M7IYaNlIBw8Lo7sE2vlQdyLQbJVgniVQBUDUjv8do_ZBpxJqV2W1ua__TeqVMZIDJWdvwhW4pXKvbNou774bfcw0RP-oonuZJtRJg1vZhH85v_nPOllroU2bvc9sh7wsSBxgFyQytvIX0De03ZmbNUCJPGpjdUvxn-rmMcwLFFcVZA-vzZ1dQvffZUByzAFMyXj-3A0ccIaGfSnhkMtNHwqdLNaghCU9EtoJsVJDEzZdtf2GEhTvFl63ogWIoost0G7vlXQcKDyC9zdtzu9TxUwPXfnPiS4h2UfjTQ0lv6vZN-ig5Ac0Js5_sT3ZULmon6JX3j_hccag_1koB8y9keFocEZCwsciBij4KoALdoq4ZWXuJJtV066r8xf7-IbM0yhSehx9oSjhyjRu80kKtMTY54HziwpjqTH02eVLaAYIas9cDQCMMwTloJHTTT4KCRmq9dqcXLJw6upquKbsSHVRc5PErWp_jGYzpojsK8RvOY69QTIZHmtQik6ywpSttQ64_hxS7hgFxVYL4xLoI7KjIqpVr_UClE0xhK4CYYfI8Tnx9E-i_bdDw2Resy7QXpBf7z-iBUCGbNYmAj-nDYI1JjqpccZ4y4xj1kPq_fyT_eHLXnQ1Fwk2iHhPDC488va4j4iv0MqK278lZRVAiLVYFNHU9PzbQf55sRD1KQHA60IsB8NwkFp5xFCk1Xahtt3TptwvmZuaudrDFOyrHBTzo8U_tPyE6_29Kk-JgEHLaLnwHCChLF9nj0bskmx24_z__SkfyNA530bM5gUvhK1t6BpWBcFPSd_1ojMGoyeD1u5UgEg4WOXOdH_u4wCOIS-M70oGFCdMwvh9cp7wyxwdmbd_ZPBU41-gybfEDRjTKU7ihn3AYW6Fxp28KLkNIrJszCn2pkSmw_LIpb5efMLHq06Bh_EB5q3D-llsFiE6q9bPkCHeaU6KmddoIGcRWHJ8_sQIUS0k09KR8K13vc36etKfjJdkhQXGHVEiHwtvpjgLa9cAdwrL",
  "id": "rs_0ba00d5543dc2df5016ab493907a7487d081ae93330e59e563",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.025,\"left_z\":0.16},\"note\":\"The brown plush has been released into the basket. I’m withdrawing toward the gray-and-white plush on the left for the next pickup.\"}",
  "call_id": "call_Hbc6iRGwLIOcNkBY24WXt9Me",
  "id": "fc_0ba00d5543dc2df5016ab493922b9087d0b7d9e73f2388b9b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hbc6iRGwLIOcNkBY24WXt9Me",
  "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]: [-0.3187, 0.8677, 0.683, -0.5579, -0.3286, -0.2382, 0.9966, -0.0151, 0.8078, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2811 left_y=-0.029 left_z=0.1671 left_yaw=0.0747 left_pitch=-0.1344 left_roll=0.0472 left_gripper=0.9966 right_x=0.2922 right_y=0.0013 right_z=0.1722 right_yaw=0.0 right_pitch=-0.0477 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.6496, -1.1009, 6.7897, 1.6972, -0.1099, 0.1099, 0.1294, -0.1162, -1.6752, 7.159, 1.7851, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f241cae4e9cd8aa396982b239e9ae71d762b72046ddfa2f02fe920cc666704f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a6f857a6c0969328cc53c61599b89ad52bb65332f4e35fb7ec08b7791ee455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e9ecdd3e015ee43d049d18ecf0f14f66f17efb204d2d8ce23e6d73c6cf7acc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.687 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3759, 1.6577, 1.4242, -0.4896, -0.3393, -0.2348, 0.1167, -0.0151, 0.8024, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4626 left_y=-0.1155 left_z=0.2202 left_yaw=0.0235 left_pitch=-0.1138 left_roll=0.049 left_gripper=0.1167 right_x=0.2919 right_y=0.0013 right_z=0.1737 right_yaw=-0.0002 right_pitch=-0.0423 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.5812, 9.812, 1.7607, -0.149, 0.2711, 0.8132, -0.1983, -1.5932, 7.1726, 1.7363, -0.0366, -0.0464, -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]: [-0.334, 1.9106, 1.3918, -0.268, -0.3351, -0.2428, 0.9953, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.5095 left_y=-0.1115 left_z=0.1239 left_yaw=0.0699 left_pitch=-0.1733 left_roll=0.0653 left_gripper=0.9953 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=0.0 right_pitch=-0.0431 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.5094, 6.6803, 1.5946, -0.1392, 0.0659, -0.0806, -0.0752, -1.2923, 7.1043, 1.7167, -0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3187, 0.8677, 0.683, -0.5579, -0.3286, -0.2382, 0.9966, -0.0151, 0.8078, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2811 left_y=-0.029 left_z=0.1671 left_yaw=0.0747 left_pitch=-0.1344 left_roll=0.0472 left_gripper=0.9966 right_x=0.2922 right_y=0.0013 right_z=0.1722 right_yaw=0.0 right_pitch=-0.0477 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.6496, -1.1009, 6.7897, 1.6972, -0.1099, 0.1099, 0.1294, -0.1162, -1.6752, 7.159, 1.7851, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f241cae4e9cd8aa396982b239e9ae71d762b72046ddfa2f02fe920cc666704f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a6f857a6c0969328cc53c61599b89ad52bb65332f4e35fb7ec08b7791ee455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e9ecdd3e015ee43d049d18ecf0f14f66f17efb204d2d8ce23e6d73c6cf7acc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOcwsRXI3B7Bfhpneao2EeQqpJBA5qJXJeeD448SipH6T_bHplJaTXOhiI9aHLfpEzS7HYqNkNPtRkw7fqbBEQ6rnqEU--laQ3KVDHpstYlUsjIuFJG3whzy_Llv36MQGR1n29CZNdlmaItok0cuGPI3uJ_-UyAUalOlgNiRFFAnLJ7WC4T64y2_9knTlGk_sKKVOqcOwqC8hWGc5RgxpaMDgLhr2B6UfiOeNqNTblMbGL4OP2AknkfpUq3RGZqfxJe9MDNJJiwR-DlXnNqpRpwMWGYd_Su0ThWaE1J6aIfWAidk4xo-tVSwmjC8KlOHaDR_utfV_Kp-zIQoQ4ich4MwbRJ9wPa0Bgkxl5IAgn8oWO6iGJxI8LeUvx1hLa3_lnS7KF6J3lckWYpysQXyoMIJ0PZDD5iqusaABNPR_ycr0r-_0WOFHOacMzVrPMnduYRn6akjz-OxCy3Nxq_1drrQ0XN8KS2oQcLdGCTo0Tyx0ShLebNqqmZLsKQta8A_nI8BGx9MARiRfEcFjrX0tJ9gJjVi_wYMPlDCyUgWUepKXwk73nDVzQplxJvmlSX1C-99obhcDiMHkjmbCs8v_oGvVLhzqr8BTjEO62-7YIqMM4WCEkqN6EIfECqcUwn5T-yksAZr0ijjWNNKil0ZOW-UnHZJsNqr7S9Pbw-mjpvAw5K7FAkslSl4BOT9xAH9JMBEp2ks5eCalEo0LMLzvmLyyM4iciwNB5X19xECiaDhC3Nbxul1Tbrxmj9xib7W7moHMfeCCg1eWiNbXTX-32He0AfWUII_jSnDWbifJjZ9WZFY_QEstB__FOk3KPxeITy7i24uzsY_oCgANTs6BI9bjktNlaCphEuWs_wBT978E-idSueP7DsnlaIq8dWilEydpnaOWBWEowYu3QsqOpcM4DQMeLo0ssrDILmSNzG5g-ObZ_GviD3Vjbi6apHFFZHQoxinozS9NzUOxMu6G6lIy-FLBo608JYjmOdaygmS7Nj1VlKmeseFsnVGrH4dx7jAqE3POpjx6vzU_TruvcYJMfrzXXwL1U50VA024N5_rAe0t8V2W_r28iBaC1YcTVR4S1jNx157yttMJjYLT8D6th-OnA7lw4vYN9Qxp_NeNLzeLGHS01t-RE98lOGrqT5_f8aKxYxoeUVlQP5GIoNHPDEqoiie4RH1aSu0MFdi9FdAGnaBiKqbMu_Vz-S0GBnuD3mF-Si1a2bjlx0oyzoQvaKzjsTr2EVEkYnCZdG_-xdfKMqVp4QL9_-1eP5P--t5Tw0st8_MleqOQYJxSdaqaXGlp_gl-0mQtesR-rhAj8MhEcO7VmW6Agq06P34FD7JkeGu44akgsuw94cRPhm-5K7GPx850mVgF5Lb7XJzTBYH-ekHTQmNPK2ejk9eenFIQ0dVhvxb5s-Ibc7aHPgdcBxaAGc_ze9V1LXJuO2UG0QwxtWWxbBgQkjtRnxhyovBQCIyaS5kdV9uTajy-mz_vAg9OIHTOsDh215ePjFlbo=",
  "id": "rs_0ba00d5543dc2df5016ab4939a135c87d0ab9b940a687508ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":0.018,\"left_z\":0.025},\"note\":\"The gray plush is left of the wrist-camera jaw center, with its body closer than its head. I’m shifting left and lowering around its torso.\"}",
  "call_id": "call_lv6KkvYhMnwysPxoknK7OrwX",
  "id": "fc_0ba00d5543dc2df5016ab4939c042087d0a94d1d1b7b8d87f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lv6KkvYhMnwysPxoknK7OrwX",
  "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]: [-0.0261, 0.8478, 0.1345, 0.0677, -0.1471, -0.0429, 0.9968, -0.0151, 0.8082, 0.6083, -0.4091, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2662 left_y=0.0225 left_z=0.0479 left_yaw=0.1083 left_pitch=-0.0781 left_roll=0.0634 left_gripper=0.9968 right_x=0.2922 right_y=0.0013 right_z=0.1721 right_yaw=0.0 right_pitch=-0.0485 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 0.4991, 4.2188, 0.652, 0.4322, -0.2613, 0.0024, -0.3214, -1.306, 7.2547, 1.6972, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ab94bfcc0e3de2b934c88ae3ffbac57705714df03d046b113003ab0269edf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf3766e1c89fd33ef466e4f6ec9f23b46275bbc8865160971df48666b367398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ceb1cf393a6cc7b15709a7d589fcd73c05636ac613ea3778716fdfb49cd9d4",
      "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 · 4.105 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.9106, 1.3918, -0.2604, -0.3283, -0.2321, 0.1197, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5106 left_y=-0.1131 left_z=0.1249 left_yaw=0.058 left_pitch=-0.1685 left_roll=0.0658 left_gripper=0.1197 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=-0.0002 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.7829, 7.6923, 1.9707, 0.0269, 0.2418, 0.8816, -0.1026, -1.1556, 6.9949, 1.7167, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3187, 0.8677, 0.683, -0.5579, -0.3286, -0.2382, 0.9966, -0.0151, 0.8078, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2811 left_y=-0.029 left_z=0.1671 left_yaw=0.0747 left_pitch=-0.1344 left_roll=0.0472 left_gripper=0.9966 right_x=0.2922 right_y=0.0013 right_z=0.1722 right_yaw=0.0 right_pitch=-0.0477 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.6496, -1.1009, 6.7897, 1.6972, -0.1099, 0.1099, 0.1294, -0.1162, -1.6752, 7.159, 1.7851, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0261, 0.8478, 0.1345, 0.0677, -0.1471, -0.0429, 0.9968, -0.0151, 0.8082, 0.6083, -0.4091, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2662 left_y=0.0225 left_z=0.0479 left_yaw=0.1083 left_pitch=-0.0781 left_roll=0.0634 left_gripper=0.9968 right_x=0.2922 right_y=0.0013 right_z=0.1721 right_yaw=0.0 right_pitch=-0.0485 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 0.4991, 4.2188, 0.652, 0.4322, -0.2613, 0.0024, -0.3214, -1.306, 7.2547, 1.6972, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ab94bfcc0e3de2b934c88ae3ffbac57705714df03d046b113003ab0269edf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf3766e1c89fd33ef466e4f6ec9f23b46275bbc8865160971df48666b367398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ceb1cf393a6cc7b15709a7d589fcd73c05636ac613ea3778716fdfb49cd9d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOglf6nSTwYiOHBqFO17P_ZOZ9QGokEJQUyZPWj5u0Gun9Qm0UX8yFTGZ1PxbPL6rixSQslx6Kvv9srHh4q0D-leQzHMnQOUsBfKavf3Pl_5-0v_HTasuZBR3-bkcMndY7DFKWm6dzzX9vNuZSAdZ4bDGonWXKZh6grpBs5VCpq-J7UQj3_V34VyYdJcttz4NSTG9j3kRK5r8IdAK3NwOI2tgZbHVFlWQvyLjOE2h3ASZgS_beXmgZuwfKwoWx8LZDDnwRYrMvvoVev_OPyE7W-MQ-_lD-zkm0bTFGh75fFtHDo0SJfhUwkVNRbRwcmQhBLTLuP1BOWRlAmYJEEiqhLIDcyYhIU7_89kA1ze3lDqVRAtiopjAcbQggHQONs7-pnjGKZNH51c1rfmh-ALzMaAF43Zy-t2MOmKAgF-riQbUpYcm_tCFX3zPVMa03fWe-FzD-mwBenzVwvsYOndGDKXrGsWV13ibTApFsckLwcFey4itWmBcGDhimxeFcvoz9nu04TLZtcT77yrJCG6b4gEQeqC4vv75jD-OD1T1mnaQ12pyrMo3-VEDhXn_KUZRHAtupn77g6yJZ9Vb4grYZq7-BLPIBnek_zw91pyaritzAe7d2b-PwXuQA65PNqxoTRNIBTPi9n6UHKB9Nzxi_5A63coguSxPeZqKJQFfSeFhJCjmJTcFM6gIR4aCqrcijIRvuMY64KKnwUkCSp8UZy9FjQgvpZKUt13yfyGh4j8b4QSE-ie29poboTKBjROJ803ch5gJFr-5-e8aV24cDJQZZdBZF1hJikzjY-3k6x7AvncZn6lXUf6S4-6-TPpIT0lkcemSOTVkx3laAwNlqJ6b9yPdj40A1oAPj31s6zpxTaGaZ3JPUx2HuLJDQBKRZI1yvQqlDrEnyLKzVNmSHNBvBQpiFt6yDYpohZT9NhzctYBhE_BP_DspI2D25HqOVl4iL67FGPkyio53MVEtEnmNX_LdtVQ-NaF3XDiPuBWZL1rVSUoIabkAFLX9crHUErXCERuW-GcKeMEaeMouRWZKuZRMH9n0ud-iCTY_jnmpYQGkvfVzmYSAtDGqtmCylgeZrpAM5XXRJ29npx9TL1PzcZGFMMGWcDQ32CoPUg6eRwoFcDf4DdGQKQmH56dma-ZvexLqsYRHRvaMxL4SLJEgKNPY_LPtKbSO2dTsTROcFhtxIQhQ6uY01riGvcm0LZwPnZppOsu1yiLy_ao6Mz1m6D3jx8JUi3_nvLnWqiwd2kFaJOsemSaEpAyrmzYFVYEl0fe_7oGULmumwSuG7mHg==",
  "id": "rs_0ba00d5543dc2df5016ab4939f423487d087b600a0f3f31c2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips have contacted the gray plush, stopping slightly above the requested height. I’m closing without pressing farther down.\"}",
  "call_id": "call_LbFGNlGPDOok7I2Amb7q5yWt",
  "id": "fc_0ba00d5543dc2df5016ab4939f9da487d0b7fe658d02bf569f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LbFGNlGPDOok7I2Amb7q5yWt",
  "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]: [-0.0284, 0.8497, 0.123, 0.0696, -0.1413, -0.0448, 0.0108, -0.0151, 0.8082, 0.6083, -0.4095, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2635 left_y=0.021 left_z=0.0429 left_yaw=0.1023 left_pitch=-0.0899 left_roll=0.06 left_gripper=0.0108 right_x=0.2921 right_y=0.0013 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.1829, 7.3504, 1.6435, -0.1636, 0.0171, 0.9304, -0.1709, -1.1419, 7.0632, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0965d9323702cc8a1f2cb8b74305492f570b0a30ff2776af1cd9e7a4c7e383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a44a5b1d326a84b42b1e08c25aa9417e97b35406da0ca31f92b963017e577d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6fdbb6bbd17da4dc7bb6529b6ee2844291d5e92c41d088a56511bd6a4336bf",
      "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 · 4.441 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.9106, 1.3918, -0.268, -0.3351, -0.2428, 0.9953, -0.0151, 0.8032, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.5095 left_y=-0.1115 left_z=0.1239 left_yaw=0.0699 left_pitch=-0.1733 left_roll=0.0653 left_gripper=0.9953 right_x=0.292 right_y=0.0013 right_z=0.1735 right_yaw=0.0 right_pitch=-0.0431 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.5094, 6.6803, 1.5946, -0.1392, 0.0659, -0.0806, -0.0752, -1.2923, 7.1043, 1.7167, -0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0261, 0.8478, 0.1345, 0.0677, -0.1471, -0.0429, 0.9968, -0.0151, 0.8082, 0.6083, -0.4091, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2662 left_y=0.0225 left_z=0.0479 left_yaw=0.1083 left_pitch=-0.0781 left_roll=0.0634 left_gripper=0.9968 right_x=0.2922 right_y=0.0013 right_z=0.1721 right_yaw=0.0 right_pitch=-0.0485 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 0.4991, 4.2188, 0.652, 0.4322, -0.2613, 0.0024, -0.3214, -1.306, 7.2547, 1.6972, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8497, 0.123, 0.0696, -0.1413, -0.0448, 0.0108, -0.0151, 0.8082, 0.6083, -0.4095, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2635 left_y=0.021 left_z=0.0429 left_yaw=0.1023 left_pitch=-0.0899 left_roll=0.06 left_gripper=0.0108 right_x=0.2921 right_y=0.0013 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.1829, 7.3504, 1.6435, -0.1636, 0.0171, 0.9304, -0.1709, -1.1419, 7.0632, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0965d9323702cc8a1f2cb8b74305492f570b0a30ff2776af1cd9e7a4c7e383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a44a5b1d326a84b42b1e08c25aa9417e97b35406da0ca31f92b963017e577d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6fdbb6bbd17da4dc7bb6529b6ee2844291d5e92c41d088a56511bd6a4336bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOlCZOMKyzNs3IbU1YLGQfVcAI4l55emoMwLsOdEWyjsopMA1uC2RBPuRuvY2PXIz5wgTWei5msNLF9ctGFucDJ_QYoIy-c7eu9tO64fYxVJukNoUG_khmmxWpHKFFYY6YxUJsyl3v7lvwnFwSnJlGKpDIK4_ICzX-FWy-7dOuxG2sqnG_VrCj7Bh9u9-tKbzBdtjRnoXm-LK3AFS_8C2Ns-q7z5i4734i8JJd10xYLxVwd_G4BourWnvJBIylfCHglh1VGKlKGfGZdUCCl8I8gYTHCw80eeoLeo5DpunOCkxYfH7t-UGGJ3k0FHTbRIgO2c7GbYqqL0wWzvUjDnac4SZuhEpJZwvwMg_PvrRLXzBMw69QBW4lXxKOeLQfln0w1-kiepKoMTPRONbFTJL_DEeDZHdjBqPsnrPbmdWGimudQoUmAtwPA9EJEVQZtIx95sbbXJmfa6v-M4a_9boWSR2auM_7uOUrRfIv5OcYuuSqHIaSKKT_tDgZJk_mby65k_yxKxu-vyzsE1U7knz9PuNBUhuifs_yp2q6ukwQRM9DbyDLdEQWPkQ7rgXnG3Bvf0n355h8eDodPHR1dJzT7wzg7ECwSS6OJYYbyOEKoVj6zuded8MrqaygdiOryQqVgORa1fjLqI0mXHYvKIw2KjOV1pwwSh-zyxFFaWV2dcSNizcrnO85RmcpmGvpWMu3jU0gptTyLh70rggIRhsFFy_1xMaL2B39yxe5hpVcXq7krZZizZK9u2gjt4jdnoSAcV6858071HPxysKeNnSAOfAgIdRO1Tjmc7-BqUYXPYy5pPmOTOLS_CZKNzEcPaLGsC5UgTcs1FndkZw7hTPXUtY2xPUYxA2m_a4M8xXuOo51GCHOITSWWi7ZtgcaahamtvlmKL7B0PHQ75McrnRFTAMRWQpLbNOznsrnaGkpQhVMTwCFC4Unzv3Xum0DqQr6bXEmgIMdze6BRxOH09M64aTDYreFOUl8PWtrYI2lOG0_OxXlMDgHKv2TXcf8fgb7yxibr6B5uo1LsW9-2Kx6-A9fH0e6HfXSBQzZXbeF1yWCBKAjkuuFeTkPlowfoL3JFvHJNcH5PMoG6u5D4QPQmQRPmc3p_8TNPnSXpJSq52HPj1aqcZbOYa_yItButgjI3bsXgRx2N0zXymKcNRjGFLM_bV070EnSKEo6O-gRz07DK3vRRY-wotRUUHgfGLoMj87VKvM_mhYthTMS_Hi-pFFUlbXUzKeqNZ1Te7Rv9Q0lyAuK-tvUE-vC-BevrqIpjbQKAIKByMwteUcd32W7xOCmrZIVs41k9-1QF6Vm2lkuHpp3tFTIIzwFxRZ40mGiff98R9en2w2PoDiJCNbayhHdojXkUu5I67C9B2sTVjODyVOIJRe5qUN4i4gINXjsJg8usM_mvwtGDqDpWXuqZnm3fitxJ3TiHz2wmi1JzAdE=",
  "id": "rs_0ba00d5543dc2df5016ab493a317d887d099261d7bc1944d8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":0.05,\"left_x\":0.295,\"left_z\":0.03},\"note\":\"The jaws closed empty; the gray plush is farther left and forward than the first grasp. I’m reopening and shifting toward its thicker torso for one retry.\"}",
  "call_id": "call_VuvxLyC94Ew0WDl9SaUY9DlS",
  "id": "fc_0ba00d5543dc2df5016ab493a4459887d08086b3dddd887414",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VuvxLyC94Ew0WDl9SaUY9DlS",
  "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]: [0.1547, 1.1976, 0.1421, 0.3283, -0.0059, 0.0532, 0.9955, -0.0151, 0.8101, 0.6079, -0.4095, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=0.0479 left_z=0.0103 left_yaw=0.1177 left_pitch=-0.1674 left_roll=0.0525 left_gripper=0.9955 right_x=0.2922 right_y=0.0012 right_z=0.1713 right_yaw=-0.0005 right_pitch=-0.0511 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -2.6872, 7.9248, 1.8632, -0.0024, 0.0806, -0.1978, -0.0342, -1.4974, 7.0359, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6133448ecffca05fecd5a3bf743883920bca3e63089254cfa5c3e01a9adba5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2180b7c8d87045cff4237413792ad5b8df3a2c3b5f44b723204ae79b9d20493f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11e070495608c725e3ade0edbd2ebe64466e6c468b9162de8862715d78d085d",
      "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 · 7.645 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3187, 0.8677, 0.683, -0.5579, -0.3286, -0.2382, 0.9966, -0.0151, 0.8078, 0.6083, -0.4088, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2811 left_y=-0.029 left_z=0.1671 left_yaw=0.0747 left_pitch=-0.1344 left_roll=0.0472 left_gripper=0.9966 right_x=0.2922 right_y=0.0013 right_z=0.1722 right_yaw=0.0 right_pitch=-0.0477 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.6496, -1.1009, 6.7897, 1.6972, -0.1099, 0.1099, 0.1294, -0.1162, -1.6752, 7.159, 1.7851, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8497, 0.123, 0.0696, -0.1413, -0.0448, 0.0108, -0.0151, 0.8082, 0.6083, -0.4095, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2635 left_y=0.021 left_z=0.0429 left_yaw=0.1023 left_pitch=-0.0899 left_roll=0.06 left_gripper=0.0108 right_x=0.2921 right_y=0.0013 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.1829, 7.3504, 1.6435, -0.1636, 0.0171, 0.9304, -0.1709, -1.1419, 7.0632, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1547, 1.1976, 0.1421, 0.3283, -0.0059, 0.0532, 0.9955, -0.0151, 0.8101, 0.6079, -0.4095, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=0.0479 left_z=0.0103 left_yaw=0.1177 left_pitch=-0.1674 left_roll=0.0525 left_gripper=0.9955 right_x=0.2922 right_y=0.0012 right_z=0.1713 right_yaw=-0.0005 right_pitch=-0.0511 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -2.6872, 7.9248, 1.8632, -0.0024, 0.0806, -0.1978, -0.0342, -1.4974, 7.0359, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6133448ecffca05fecd5a3bf743883920bca3e63089254cfa5c3e01a9adba5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2180b7c8d87045cff4237413792ad5b8df3a2c3b5f44b723204ae79b9d20493f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11e070495608c725e3ade0edbd2ebe64466e6c468b9162de8862715d78d085d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOqqj6PFHjGIESQy4Y2lZ1g8ameUB1yIxJM0hOrQd5el6Uj5WwrKj_bU2XmpA0LEGO5xk-wp6fo3vNLhtkqSWP5VYcZsPH7E0P3c1sahkwn5lL5clS5YZwONdd-OSN0t3VcdtKQ5jMrPyi1Nm1qk3Juks4JWI5gR91zZGMtow3wmfHSaIpZ8kfMzE_H9k1wJSF4vaOhBjpBUdzT7asSwc8YCurWj080E5KqqWFe6VwSdtfgZvKsJX1mmeowEWaiorek8Q_t3tm2OgVHD83PCRsT1kTPB-sQxaYb2YxgdoBDB4SR8ucggId_GEodPf_3lLVcRl3kCY4skSVb_Age37gGc3gHNvXNXAD5Fq9Cokgz2jS5tYebb9A77zY_WFBr3hAazXYJsZYbOHSfJxvVSsas8gFbsIY_0PVFKQYFVVntIuLFgDMOdwjp1AvKBqFbtn8ngQG0csANVhEO7UetEE57kA_5sDLCIZjlN27yKJw_kYE8sfrCGo5GqVe06r8Xvv_RNHFPbaElSDs7qC4NK0Wp6MkpM554DZuoqLKxhBOkv0fTgsIRCI92jJ4lzZ41hxu_17QrkCrRsNwE5RslQdpGU8Jaq1wfxetHnLE-55jcRWMmR6HOGKGM4YpvyZphw6hLHd4IlzrL0EL5eLOEMRjXGxV-kG0Uw3nuKXOw0BmWqTEx8YrAmfry1d5ryZs9ogzVpnEzZ-8NiG0Qqbp2QVObADrBNmkb8TZST-rdrxy7PJRBJo9BEQ7KhZpFYhJI0xEMAvcWPqrq_eBncldUh-U5puEDF44AS6Lh-m1Vgbuo1yaWXVf-ruEvL8HGmTKyaIwMRAd6PcBe7WAkVq1LRH5JkMfyYXJvJ4h-zvUVH5lUIE6UExMcDE7g0CLC_JoOxdn561vivtniC6SYswT9MsSKdKIeSeU8mFTOqc8HiNGuHm1JjG9uFUt3Rhz_a1dKCVadwMMbJidaUVi-8EzR2cahvw5hJo0dnIqztuD5dSgHAAgLxz5_0UP3zeikYVsJZb0j5VTb0wU_K-ENFaLzo4jYyLSa2z2S4d_FLa89jpRrOLhy6zTFsrWLfEGt9MwcRnNfC-uWihXxMrHasHZua5PdRbfuKWRFc_G9ah2jhYa6N7PzZce6avvcrE3P4YXc05oqrRRJRL4l4bgAkjnN0bHxlsQG-kWn1wyjN77sUpF9odTTd5pLY9mPD69mF9e_5HbrGKoLSack_tRdWzpWV53uEnFKqJxK_UCUYtSRRFa_Oyq95BHvbTYWaAd3lm1VQ9BJlWxzjOxO_ujFuGlLi-nslPC0UcbOy8SjSYmY4SwwsSsmrq2qbTCsy9b2S_2WTL396ON9sG7erMb26D1bDNVt9bR5hXXCOWO6sKAeUEXI9frcK_HSnmdfvTqzMAv1YZ4Y0jWeZHSYhX_W9NxciBzjjArLB-zR10jFx7M8K51wCFNeE7HFQykTD10x6gZUtL_QWUfguui8SyLfpU4Q8wJb05Jag_vasdOB-XaoMwsAU3eHYauqCb4emHKsmPsPXJckbdEJLeuD_ydgncz94WhGMgfabq8BYyEppAH-v_DrzKZwF6qUahe2YXHXvcs55GXgygoN40NXmmNju60jmOTh3oyrRlCRgpfT8MMWzW0-DAMNrStvs5DUZ_sX4yIaEGguOz3TH91n6xyTFPIxRlGzY-Nx9dHNMNCLsJwKvxySXo0gNjWLGzKBLYsGJiZJJEvfG5ur5NxCztQ_a-yFv-xzRrGfeHqLUu7xNVkhzbHiVQ7z36_aci0kFEMsSbdehtvhGdh3_tkGJqx8CSonF-XjsWHQHCvwbH9DF5olQzvPngIoMVJLWFvyAWkkphBUC0DOWJWbv4R9HQ6FUt_1Yu4x0HhM8kjrKO2imtDazWn_NuI=",
  "id": "rs_0ba00d5543dc2df5016ab493a7f3a087d0a1d8e604fa689272",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaw is now beside the gray plush’s near edge at the arm’s lateral limit. I’m trying to pinch that soft edge without pushing into the table.\"}",
  "call_id": "call_lfTud4AsMdUrSpQJ2Au7gZ7r",
  "id": "fc_0ba00d5543dc2df5016ab493a9da8087d09f319f1a88c36b06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lfTud4AsMdUrSpQJ2Au7gZ7r",
  "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]: [0.1558, 1.2049, 0.1459, 0.3302, -0.0002, 0.0525, 0.011, -0.0151, 0.8108, 0.6079, -0.4091, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.278 left_y=0.0473 left_z=0.0101 left_yaw=0.1143 left_pitch=-0.1688 left_roll=0.048 left_gripper=0.011 right_x=0.2923 right_y=0.0012 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -3.2342, 4.9573, 1.5751, -0.0904, -0.0171, 0.9304, -0.2256, -1.2513, 7.0359, 1.7265, -0.0317, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb10fbaff5f1741971c91ce662360ad65182766575b23135b8e674a8bac606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ed48327d080986f7efdd497c2213e1b8e9cabf8fd868435992114d2a9049d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa9eefdb96e748bbe6fc42fd867d0ff288fcd676bb36b42d8572823b439e5f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.561 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0261, 0.8478, 0.1345, 0.0677, -0.1471, -0.0429, 0.9968, -0.0151, 0.8082, 0.6083, -0.4091, -0.012, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2662 left_y=0.0225 left_z=0.0479 left_yaw=0.1083 left_pitch=-0.0781 left_roll=0.0634 left_gripper=0.9968 right_x=0.2922 right_y=0.0013 right_z=0.1721 right_yaw=0.0 right_pitch=-0.0485 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 0.4991, 4.2188, 0.652, 0.4322, -0.2613, 0.0024, -0.3214, -1.306, 7.2547, 1.6972, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1547, 1.1976, 0.1421, 0.3283, -0.0059, 0.0532, 0.9955, -0.0151, 0.8101, 0.6079, -0.4095, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=0.0479 left_z=0.0103 left_yaw=0.1177 left_pitch=-0.1674 left_roll=0.0525 left_gripper=0.9955 right_x=0.2922 right_y=0.0012 right_z=0.1713 right_yaw=-0.0005 right_pitch=-0.0511 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -2.6872, 7.9248, 1.8632, -0.0024, 0.0806, -0.1978, -0.0342, -1.4974, 7.0359, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1558, 1.2049, 0.1459, 0.3302, -0.0002, 0.0525, 0.011, -0.0151, 0.8108, 0.6079, -0.4091, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.278 left_y=0.0473 left_z=0.0101 left_yaw=0.1143 left_pitch=-0.1688 left_roll=0.048 left_gripper=0.011 right_x=0.2923 right_y=0.0012 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -3.2342, 4.9573, 1.5751, -0.0904, -0.0171, 0.9304, -0.2256, -1.2513, 7.0359, 1.7265, -0.0317, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb10fbaff5f1741971c91ce662360ad65182766575b23135b8e674a8bac606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ed48327d080986f7efdd497c2213e1b8e9cabf8fd868435992114d2a9049d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa9eefdb96e748bbe6fc42fd867d0ff288fcd676bb36b42d8572823b439e5f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOzjDSrldnI9HQ2TLWd5TnGPUjogyYsDht-OfXiol2Kcb1YxKkaPThTFRJ7fE8hH7fRUt9fcd9LzFa95I4K40a1yytOes15wXsXsWZGgltR4Kt9V1pnqOPCc9FaQkJCNhWiDW80-fpU0l2qBhrAKIiLy6BcN7U2G-oWyS1bN9xb2fJc5pryOc59Ole7XaZhdvgXi1f2soFbsyizId7nmo4egLdcA-GnsBqi6tnHuO2-Jb23YbLsXn9wUC6Iu2w_5o6sLVMlbU8W7NZ1PTROxTLb2tpoH96cbv6n9hNWRO1UPDgF1kNGiEEXEvctDISreRM_SjFR-4LjHTjYMtxmEI0ilO_LnZnqmZJ0RKYoWiQlGl-7w54C4GocbTWKGDdheyWrsQh077iEYeHKpTpZQrMzO7oiEP9OuVG1EmpllH5rFAnQULR1dJHi3O0lme5uwJ7CDUvbTeMpZUr78gWXwiJwfLIQs2MjpEYz0ZMwERncD-2EvFBTY0wJbklncE-dAkOZZi6rW4CVqBQMHo2GeswXudCHToczc_2dvpIVVGWM2swj_Sy8WZ8FARdnyjV0JvLWm9tg6z0D2ujJQ9tAYsH_Uo3OXP-u2v9XvEIoLLimZk5xHNSux8seiHCBue7DGERt4H-Kmp12NjNFOq8_XU5Xxi3aGV5bMgtarX6prk76c0Gy78j5UmYYZaUNnvjTw7jIwsGfaSwQRBkzNB8pnLPZlnLzc5nvWB6mRYwy61Y5Re04opLUKOM2GSRAEcTnBEzLyNN7oiIkqXz1ngZv7V1iugEAvGY80rtQ_hSqeKFITiJ29psb7drezAHbagc8pSFPVhBwpXNYEeUm1LdeATbFToYxfv_wZVoOEwIhg4ZNjfP5kckWvll8dYucvkgbecPq9_niGAr9XC8-2ZHUZTgzuRuWKBsKXHpMZeDYQTsmnY6UfvLWPqez_1F3YTOKZw1U2UvDQDXrci7Dq1OuG4DU0yJBKrliVb8AQaFuWOPBT5grsCyseTvf68C-TwrBYQXyvGdk4m-ZSfBMWHvHB3sQC2-Be7Vjz0FkIsd9t-VPRsuAhNmbIWTsz6yk5NQWKiVvKMso6DQLvXoL6NbPHzfOfaB8eVJXapGKye6iyp70-BqbdLwFovMpE9eS8GEd9Xk-ucIsszWvuEFxf1Amja-NafABYkg2FvkKDvD1kijpxelRPp_Fyimj1IvNbQPYAPMSvRTeS_PkA6ZMTW_Uu1zj3d3g8O4mYW-7Dut69C09TgHZjH_ydZTa6_HYqB_f_av1Rva9Echlu0rRlwKGeXaOzopE94hSqb2lvIqv8mqkA8HYQ6hhWNoyhuOWNmerLrY4tTJLvaqbwszTrP9sAT0JpNMgv9HmmSXtjcipuZzk3A_GoBCYWWcbfC1KzAPqxktiFbMxKQhJumKUyctO3l6jqv6SNcJNzBc2gOqW5E-J5NJMppC62UGId8FUT7aki82pWNUwHzkDKZ8gUR788AkH5dv1uVt9kDTKti9uRKOpHYpE7-mOWy3WBEOwHZ5Z8G5QrCPV-feX-b8xMFwMl-Dvv0I3b3fAcw5n25O6yTUP4xW_g6Q6yr9wZIeH2D6rs1eRehjBxJJaU_yE99qaXVaw6vcWH47BxBVOG0ADrk96308N5Zk2fdpRE-u7rUu1u2oBxmVEEenIgNViZ5smnf_Xzj_ALijttzDg7v-nwksx2_qS2BVQZbKNoNdxvWkH7i5htSXnJP9BEHhLyU_BmGxGYoXTsPrJ3_LCJb4-acB7A_anOEenOHIbafJy82KMYJGnUMKAlD2_58CMuJxJWFpfQO4s6nTcSk0kvPdAonkil7d7pKnlBuqHqFSeWGen8Re6X9bdPvUeOF5Qos_-64EihBmEzXFGYd9uuxgoD9Eo7EBvcZLZIwx-RkAKBSElUSCHo4RLb2oxTrfNKAf8IJ2iEIZtF31ZP0vFEYinUnVgc_nQuvhC3nkh7A4ZbmBjGKIksRVwTzQeD0cM_C9p4pvRoWrF8LAYOX16yQR45l6_FU_XinIt02xBXAYVYQNBViQHRYDgQzW9nBsRGeLZrPmX7MSk08y4ZU4k4WIK6M37dUM9IoeEu1limVFTbKneC8RDwZPIQghkEX0mtLDCxfJvGGg7JX6tuu4CHonOhEdmbW3DCenH3gJpAC7TmE59sQ_tx3MBeB815qK4469hoObTqc0PWff2e7HwLmz2g-V-MMB-Djhk7V04-20YVyORInD_v3c7CGGn0rHOZ40NGzTLqm-GL8KGI0CEypkoS_o1B-ZmLHmUH1Q_CtLRI4JxtMm5qdQ3MipBHjdo-m_h-6IY-y7hdJhi038-cUTf-3K5FE7okZ6MNxQFwBuDO9UzTBQGekz67zCFe40LFqrBtVNSrXVY0H0D4iOZ_O0EaKn6Q9lceOr_pTSLSd8Z_0r-tF2dyCtsn6Jm_MO4yCif_rlk9K1ogjd6EK0PM67SxNtWIgyizjAMs-Kw5iyMACgHVwMP",
  "id": "rs_0ba00d5543dc2df5016ab493ae222c87d085453115f89dc390",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":0.025,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The second close was also empty. The overhead view shows the gray plush is substantially farther forward than the fingertips, so I’m lifting and repositioning over its torso rather than repeating the same grasp.\"}",
  "call_id": "call_1O2L602p1bl2bKWB564uwb9f",
  "id": "fc_0ba00d5543dc2df5016ab493b2449887d0986d54ba0abd6b44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1O2L602p1bl2bKWB564uwb9f",
  "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]: [0.0086, 1.2598, 0.7017, -0.1699, -0.1036, -0.0498, 0.9953, -0.0151, 0.8146, 0.6079, -0.4095, -0.0116, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.3622 left_y=0.025 left_z=0.1211 left_yaw=0.1108 left_pitch=-0.163 left_roll=0.0403 left_gripper=0.9953 right_x=0.2925 right_y=0.0012 right_z=0.17 right_yaw=-0.0003 right_pitch=-0.0557 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -4.588, 8.3761, 1.4969, -0.0855, 0.0806, -0.0806, -0.1709, -1.0598, 7.159, 1.6923, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251dbbf4c551b73338c254b1f2bd92d41cf2bfcb341a31254f8f828ce4fb427",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f325c49add2501dba2b656f36d68f819ab434d14d198590e926e2d0f2085cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d2b760a5c3b2528ecab59eeb1705ecf33ebe2d3be7e44b72943ac2b57d7e82",
      "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 · 3.264 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8497, 0.123, 0.0696, -0.1413, -0.0448, 0.0108, -0.0151, 0.8082, 0.6083, -0.4095, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2635 left_y=0.021 left_z=0.0429 left_yaw=0.1023 left_pitch=-0.0899 left_roll=0.06 left_gripper=0.0108 right_x=0.2921 right_y=0.0013 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0488 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.1829, 7.3504, 1.6435, -0.1636, 0.0171, 0.9304, -0.1709, -1.1419, 7.0632, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1558, 1.2049, 0.1459, 0.3302, -0.0002, 0.0525, 0.011, -0.0151, 0.8108, 0.6079, -0.4091, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.278 left_y=0.0473 left_z=0.0101 left_yaw=0.1143 left_pitch=-0.1688 left_roll=0.048 left_gripper=0.011 right_x=0.2923 right_y=0.0012 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -3.2342, 4.9573, 1.5751, -0.0904, -0.0171, 0.9304, -0.2256, -1.2513, 7.0359, 1.7265, -0.0317, -0.0513, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0086, 1.2598, 0.7017, -0.1699, -0.1036, -0.0498, 0.9953, -0.0151, 0.8146, 0.6079, -0.4095, -0.0116, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.3622 left_y=0.025 left_z=0.1211 left_yaw=0.1108 left_pitch=-0.163 left_roll=0.0403 left_gripper=0.9953 right_x=0.2925 right_y=0.0012 right_z=0.17 right_yaw=-0.0003 right_pitch=-0.0557 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -4.588, 8.3761, 1.4969, -0.0855, 0.0806, -0.0806, -0.1709, -1.0598, 7.159, 1.6923, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251dbbf4c551b73338c254b1f2bd92d41cf2bfcb341a31254f8f828ce4fb427",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f325c49add2501dba2b656f36d68f819ab434d14d198590e926e2d0f2085cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d2b760a5c3b2528ecab59eeb1705ecf33ebe2d3be7e44b72943ac2b57d7e82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJO5fHR9ZIeJxjDIbntnZHD2ESx0rFScFFvKGdJzOKDVsnFZ4ZIK-1uOcxEnnDnFNW97fWZG8Kfhm6x3tnNln6UsRWmr9hojWmiZy5I_vrc0bMJo58EXm_GqI0-zUau2XmL8sXJfumtNDcPhoCc0qW0WFMzkdb0ZvHV2kjCFIbO-EOffPtYWXspqHhYuiHHSKtiVG1FH_eS6ZyyqBmv6-_SX4WBS3RgY2DkLb2lCUbxkEP1c_80iDWgBRfb3qs3h7Mwjvy6Yx0dc_28Qlqsyu-oFAw8Wm-QKmDa5GFs-SXYN37DTcRPhSf8lG5SVkcWc8RGmqmjMlDWG9QMJK3ox6UhiGYEvtLTrH0gLiEjqUioURjpklYYuggiKrU53b7VOwDeaol-neAq2t451KF4490SRVdE4Vrj6nOKD7dpendW_AvKo0OJ7u9Z4AIw-PHcvylsu2WdTry2mGonLZrlinrF5SScWjHLwDozKEDNjvpNlblkiThH44nYr7X9VGfX6Wc2wcmAfsh7Rk1ca_hw7csBPNLJtVCPid0ZmD-fL1v0ai4FdUyoDQYGZvQ1izTqqaFGYRSDJP_MZ4CGQob_PqnvlmAE-dT4Rid5yw4WzoKKrRd9pwm3hjGOjgJqtAG4It7Tfxl1cmuZdrKMw6XvFDL4rRxRQuLcPw5UDEgq3c3hpM2w8DMgNrMBGGB1dkCK7LuKoV3ypwGGCbsv8fdrY18ubgxASx3dL3svRBnTeEZ0cKkMNBfuoObuNGkCOhfjXnORe2eqGgcNxlRQn2yg-JO9xV2JbdEXR7511FBsnuET-0KqIJeqhTvjq3tUmHcB4aXPgJiJk_CQWxQcEtZ1Ypd4tBMyfj8twUxx-9Gk6tT5AJ4bkem_TnOuET83Ja__RrS3E1FiuJpvlV8CgzfH-epNyrzxnwayFxoDQjjARftJmdZiPizz32JgB82itjeyhesv8KbU1QgnTtHMZmAFU16GBE-SVv3mqEaOmsM04oeSyfwZBks6ql7Fe_IsN_nxlOH6ANB06kTWk0Z34ATbkEIt3rn_jBOxSSQH6Kn94quiSp2qCZyzj7SQ_5f5FmcFetFrW7Dj2uRuFQzG4ymXrqOd452eG7H9lP_3jXDtxk6YtJvY-pQ1JDe8Go55SvrUhkPSEPXR1ltl_p64XBJ6fxKu1o06-bsdZu4vQDVN3A1kml5WpikvzBCN_b6H88L71mDsfZRAzUv-JzzReJP4hC3fOq91BMPb19nYb4VIuCLcKyj0l92gyRQGVBdcyT7FMhIIzuLRm9AodRW7CQoJ0S8cd7-cABViLzmsXLcfNDkljO07zZebAn9fyyIguPE8P2l3BLVysj1tqC2_b88dAoqRgSaCJ82S-WWO8mX2SW34iX7Yp35Oc4Qu5A2msHf4sSaENX_UVA8U_B2CfFAKuRnaGLqYDIj31F9rXk8dJk09632i5n6fR57f39k66hRIGNUeiGerHHzrifDf-tVjToDiD8wuMLY8W9B2ROor1QsJM3glzIv60ngbk1ff3RugZDuzKrE4HZLmx-j8Zs3UR9OWvaWuUpVfFPHyzD2u_qfT27DTCWf-Eq9EkguGSLld19sUOlKLHqORTWa2X1KHJvDqejQNVWdyjKWuU4fLx-0iJFbGNx1JurBHgefLcdzLGAb9qAIjE18XQOIf5iOdtw26ztWzItHH4np-5KB7Vze4xJh2FB400gCY-jAkkfvKnY5UHiPAfDXaIRxuuEq6WktbiFY9gmgu_AI1XRftPMjGnbVJuZ0jPU9tOJQuKQA_JDogn06tqfJMwWg72Tj_6dgw_-GzbPxvjKkyayd3pQLSzrjbOOyZsi74A6Yv_8KbqKOVMMgWL6jRL6ZFMhagrLMHLqcS0EgRsa6IdkAsYbUerBcLStoP_PGEQCtO4otMjbhdnBPinWt_6IisQLKJ32nuCdQ==",
  "id": "rs_0ba00d5543dc2df5016ab493b5a57087d0b8ca6faf44115d6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.05,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The new view places the gray plush’s head near the left workspace boundary. I’m approaching that thicker, reachable part from above while restoring a straight tool orientation.\"}",
  "call_id": "call_qlVJG1RFJXXSs8SsJERyGr2H",
  "id": "fc_0ba00d5543dc2df5016ab493b8a51487d0b066ed1519ba1e8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qlVJG1RFJXXSs8SsJERyGr2H",
  "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]: [0.168, 1.6409, 0.548, 0.5644, 0.0948, 0.0265, 0.9966, -0.0151, 0.8188, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4133 left_y=0.0568 left_z=0.0615 left_yaw=0.0604 left_pitch=0.0353 left_roll=-0.0139 left_gripper=0.9966 right_x=0.2926 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.053, 2.5231, 0.7204, 0.2173, 0.0757, 0.1245, 0.0068, -1.6205, 7.0496, 1.7021, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a22d78a2a9a16380fca1798f0f1dfc14f2701d7ed1dc9586f587ca020a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf24f5b4e56b301d8fdf3ee6f9cb5904058ec660e6d9fbfd15c14b3e8847bc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2e47650066d1136b9635912be080bc96a3c3ee9085a098f08e43ad20d3a34e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.264 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1547, 1.1976, 0.1421, 0.3283, -0.0059, 0.0532, 0.9955, -0.0151, 0.8101, 0.6079, -0.4095, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=0.0479 left_z=0.0103 left_yaw=0.1177 left_pitch=-0.1674 left_roll=0.0525 left_gripper=0.9955 right_x=0.2922 right_y=0.0012 right_z=0.1713 right_yaw=-0.0005 right_pitch=-0.0511 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -2.6872, 7.9248, 1.8632, -0.0024, 0.0806, -0.1978, -0.0342, -1.4974, 7.0359, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0086, 1.2598, 0.7017, -0.1699, -0.1036, -0.0498, 0.9953, -0.0151, 0.8146, 0.6079, -0.4095, -0.0116, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.3622 left_y=0.025 left_z=0.1211 left_yaw=0.1108 left_pitch=-0.163 left_roll=0.0403 left_gripper=0.9953 right_x=0.2925 right_y=0.0012 right_z=0.17 right_yaw=-0.0003 right_pitch=-0.0557 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -4.588, 8.3761, 1.4969, -0.0855, 0.0806, -0.0806, -0.1709, -1.0598, 7.159, 1.6923, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.6409, 0.548, 0.5644, 0.0948, 0.0265, 0.9966, -0.0151, 0.8188, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4133 left_y=0.0568 left_z=0.0615 left_yaw=0.0604 left_pitch=0.0353 left_roll=-0.0139 left_gripper=0.9966 right_x=0.2926 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.053, 2.5231, 0.7204, 0.2173, 0.0757, 0.1245, 0.0068, -1.6205, 7.0496, 1.7021, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a22d78a2a9a16380fca1798f0f1dfc14f2701d7ed1dc9586f587ca020a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf24f5b4e56b301d8fdf3ee6f9cb5904058ec660e6d9fbfd15c14b3e8847bc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2e47650066d1136b9635912be080bc96a3c3ee9085a098f08e43ad20d3a34e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJO91FtRfG7xTWassK1KF2p5WY9Il_eHUGTyib2iT2jpqPnej4iQQFf-bZxWAMPsAb769RiG9Vtc_JCtM7PZg0YQVk1TdN8qoOnDvPJccfu-1-rXsB8_-qzTZk34I5gATsb6bzTnafw13xoZIQHyc9lQlw8e7ZepiP-HXwvJ_gprP2mGyEXxr0HCfaiGTp9AMMKqtBFn1Wj8rKjiaZ2vci_qA8TaqCzt60Vpsl7nXCht34Fb3tGMYpOYobahTik-siRQv4PByvip_LOqwpYA4C8kd5R67YWvtJG5Lwjgig2nhCqVy3Mph-ZVPCAnWFX-yRYdy-pUQAGKIQEbwTzGJUM1tpE5Fa6YhNBxcH695tDtQBSQLVWiy1ODm0VNccJ8fYkOTkLdt9iZyrKD58CuDmi9mu-7BgyN2kFxgotx6y7jxPqMF0ClYuynzZAvd0xqIJnMce65Y1t1vcCsVgHEhTR0uze2N319hWo8f5PYL2xXnlEsWtc3BfMOK-Goew9MEe4xqODPLME2L57I0s1K77X2sj3hq3zGBYTU4RsuBTIFkKrHNg1x2EFA6TPCN52wOEkN38SNhw9j8aG5FDixoWI6m2OWkPk4bocyB_bIm2Yr53ISJPR-G79bMrjafmGgJ--_wL4o_1YGus2JrUCXD8tr-IWw98SOe3ISn6KvVv6g7hk-hthNaV4awwTWJkS5w_Z_nem_nAR9uCtQIgppCIpBCantqPNsMO-EiYZOAylZXRgzD5Ajs8FqENLcJRV3O_lj0bFuuxfp3sX-FApENoYY-617PZghY_qWukFo1Jdly3xShxzizcV5Ds-95h735be3W0Vvawb-E76wbbV7LzqVlG0bjT7YHvQK8Id1CGzGQChnvlPemKZrS3OAVxbZYI67Tpff30CngsfAQ8QTloDblnCFNFPTzLIPPWQHHXXBE2Xm5GlD_M9LMFUCyJPyi1fXJzNSKOUS3o5o0iWIPKi67eKGLb2ONfYF38DoYUkJ6pi-Mu4OrYZNLwFwB3KG6e5a7fniCA1MpyOFbyymfGGhw-B8naFDk2ajFeGhYbh3wSWclu3lewwHrHyS_JTmW-2LSQr4vM-9AOUstUmg8VZGsbu5eTdIbEyU_L5oFD7g9vx1vINK9k6FjHSbcboBgkyBoImQfZ0CbxpnyUkwZP-RV9htnuGa8_eTA1OD_IkkUzaL4P1r3ybtQi44VoXeXGgiaUIB5atzsHPVwAJCrWthtBPVq_cb7EkHALjkeTCckrPAUCM9-9uEkkgjiQufjfVOy_yvp4KX38lzC8LImdM6IdPrHMwzdQcbgx0l0IYti23afj3Cl0sZaGM5WR12Sgb8ih0GB3xGCYFkHRe9oPOnq0Bay4vyM3fuqZSmaDZrmosNx_QKIcEhO-c-PZug3A9zBZHDa1nas12KQD6TxkX7Rg==",
  "id": "rs_0ba00d5543dc2df5016ab493bbdae887d0b8953ea1bfc512cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is now at the fingertips, though its outer side remains near the table edge. I’m closing on the near side and will verify the result before carrying it.\"}",
  "call_id": "call_eEy2cA7jRmJ324ntLraTFMOq",
  "id": "fc_0ba00d5543dc2df5016ab493bcd38087d0b6c3ad1be02a565c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eEy2cA7jRmJ324ntLraTFMOq",
  "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]: [0.1406, 1.6444, 0.5331, 0.5919, 0.0887, -0.0067, 0.0484, -0.0151, 0.8196, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4132 left_y=0.0463 left_z=0.0604 left_yaw=0.0558 left_pitch=0.0438 left_roll=-0.0388 left_gripper=0.0484 right_x=0.2926 right_y=0.0013 right_z=0.1684 right_yaw=-0.0002 right_pitch=-0.0618 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1863, 6.4752, 1.58, -0.232, 0.2173, 0.6764, -0.1983, -1.2513, 6.9949, 1.6679, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875a9ef1db532fd8928d2490a779ceddec76d41413d92787dd80074334d025fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e81124dc387cb4c5838f3a6d03f9fd29919c94e4e1ad6ba473297eb0c6632df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a8bab7aaa7ceba5f7332a7890f5e0620e56c683bcd10ffa7c68885bfe92cdb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1558, 1.2049, 0.1459, 0.3302, -0.0002, 0.0525, 0.011, -0.0151, 0.8108, 0.6079, -0.4091, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.278 left_y=0.0473 left_z=0.0101 left_yaw=0.1143 left_pitch=-0.1688 left_roll=0.048 left_gripper=0.011 right_x=0.2923 right_y=0.0012 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -3.2342, 4.9573, 1.5751, -0.0904, -0.0171, 0.9304, -0.2256, -1.2513, 7.0359, 1.7265, -0.0317, -0.0513, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.6409, 0.548, 0.5644, 0.0948, 0.0265, 0.9966, -0.0151, 0.8188, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4133 left_y=0.0568 left_z=0.0615 left_yaw=0.0604 left_pitch=0.0353 left_roll=-0.0139 left_gripper=0.9966 right_x=0.2926 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.053, 2.5231, 0.7204, 0.2173, 0.0757, 0.1245, 0.0068, -1.6205, 7.0496, 1.7021, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.6444, 0.5331, 0.5919, 0.0887, -0.0067, 0.0484, -0.0151, 0.8196, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4132 left_y=0.0463 left_z=0.0604 left_yaw=0.0558 left_pitch=0.0438 left_roll=-0.0388 left_gripper=0.0484 right_x=0.2926 right_y=0.0013 right_z=0.1684 right_yaw=-0.0002 right_pitch=-0.0618 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1863, 6.4752, 1.58, -0.232, 0.2173, 0.6764, -0.1983, -1.2513, 6.9949, 1.6679, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875a9ef1db532fd8928d2490a779ceddec76d41413d92787dd80074334d025fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e81124dc387cb4c5838f3a6d03f9fd29919c94e4e1ad6ba473297eb0c6632df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a8bab7aaa7ceba5f7332a7890f5e0620e56c683bcd10ffa7c68885bfe92cdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The jaws stopped just above an empty opening, so this may be only a light pinch of the plush. I’m lifting a few centimeters to see whether the animal follows.\"}",
  "call_id": "call_ioQOWASuyIliAhMhZVZ4psbn",
  "id": "fc_0ba00d5543dc2df5016ab493bfea0887d0a48a29b74ec81ec0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ioQOWASuyIliAhMhZVZ4psbn",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.4681, 0.625, 0.2539, 0.0769, -0.0082, 0.0498, -0.0151, 0.8211, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4029 left_y=0.0469 left_z=0.0949 left_yaw=0.0666 left_pitch=-0.0263 left_roll=-0.0394 left_gripper=0.0498 right_x=0.2927 right_y=0.0013 right_z=0.1679 right_yaw=-0.0002 right_pitch=-0.0633 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -8.4034, 9.853, 2.3223, 0.1245, -0.0464, 1.0085, -0.1983, -1.4154, 7.159, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f0725904246439ad836ed45f3348bd13014a40f46f4835df0156640f675c19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d108ad64d813ed235474d71dae3a33f9bdc06c45d74dcd901eb27797d5e6b6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb753e0d8f92acf25e309f22f85662d45a39c5e43b19d31eb840cbe4a5bf4b2",
      "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 · 5.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 63 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0086, 1.2598, 0.7017, -0.1699, -0.1036, -0.0498, 0.9953, -0.0151, 0.8146, 0.6079, -0.4095, -0.0116, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.3622 left_y=0.025 left_z=0.1211 left_yaw=0.1108 left_pitch=-0.163 left_roll=0.0403 left_gripper=0.9953 right_x=0.2925 right_y=0.0012 right_z=0.17 right_yaw=-0.0003 right_pitch=-0.0557 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -4.588, 8.3761, 1.4969, -0.0855, 0.0806, -0.0806, -0.1709, -1.0598, 7.159, 1.6923, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.6444, 0.5331, 0.5919, 0.0887, -0.0067, 0.0484, -0.0151, 0.8196, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4132 left_y=0.0463 left_z=0.0604 left_yaw=0.0558 left_pitch=0.0438 left_roll=-0.0388 left_gripper=0.0484 right_x=0.2926 right_y=0.0013 right_z=0.1684 right_yaw=-0.0002 right_pitch=-0.0618 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1863, 6.4752, 1.58, -0.232, 0.2173, 0.6764, -0.1983, -1.2513, 6.9949, 1.6679, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.4681, 0.625, 0.2539, 0.0769, -0.0082, 0.0498, -0.0151, 0.8211, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4029 left_y=0.0469 left_z=0.0949 left_yaw=0.0666 left_pitch=-0.0263 left_roll=-0.0394 left_gripper=0.0498 right_x=0.2927 right_y=0.0013 right_z=0.1679 right_yaw=-0.0002 right_pitch=-0.0633 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -8.4034, 9.853, 2.3223, 0.1245, -0.0464, 1.0085, -0.1983, -1.4154, 7.159, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f0725904246439ad836ed45f3348bd13014a40f46f4835df0156640f675c19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d108ad64d813ed235474d71dae3a33f9bdc06c45d74dcd901eb27797d5e6b6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb753e0d8f92acf25e309f22f85662d45a39c5e43b19d31eb840cbe4a5bf4b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPE0nPqj3gCPou6LvIg5re1FS4awdcqTMLvxa9fbVh0dfSr7Z-OdN979TKYK9OiIu3VnMc1QJ66XL_Vckc9tOW_4ID2wNIOcU0SH8lok1zRCiw3WLeWokyDb_2sw2rZGFzce5JWW5oDJpoSTzEfGyGqyiaC4ovD-XZtbp5HLrzbhPMGxJUUCb5cdIVGUyehgsidrsXWkye6B4b4HqcBzvSquKz5sU-XDvWIQTvdRsdRV_hLiv1IDoOXoL2f7ouDB1BzTHH-D_wXV6QaP0vmXo1pWuMkm0Skj1p1eW6DKDRt-gqvLXHUaOiLUJc4w9J90jwyrYDTH6c6frEg-RPYl49FH-Wyhwdb6mXNJ8K2RO0uUZpt6rtAZzWETPFBPWBczQzp1Id6UCCT_E8UG3Miicz_cpGv6l3Df20SgICoqoi7syprik5fRLe4eN6FK1qfSjciDEGgkuTPfuHt6cIgtCfVE9Zj1Ms3w2kA9jCP6KaRm5_cZHTIhenxsJbfc9dJh-tHZhuinxMSbSSpFKYvKwGWC-vlrbg6uW_g_yWFX4AuOoJXMmSwBLHyzQPq4xppv_Fmvk2CJzqijY18BVQIi5ETvxSkaaNe3jgBkD3fkRy7QUWWkeGOrRFXAybjlgxpzjjv0sSvJEWN8P0KP3jmIicCt4H3CYRere9ROsjWMKR_Njc8KSuGlu79MpAwipGoeYVjreikWQmNZneBTy6IlZJMM_MQJfcoZsWaYIVhv9paecHpjR_IVIuNO6MKLISA26flYJk_ItUU_6cY9GmOaiHxWzIsBlCjRrTgso-6hqpwvQyrMtqecf2LUDfdkpTFuu08tZoPxx05URYa1Hv2NU-_wmbpkwBRDIpiwxpP6T7SKyBgnASQjB9_HTaouOuiLi99HhYmypM_tda_ylUMxjcYjHhcKmfcQrWq42AY8PoV5P77gTofdvwdceEg5kag0JDkuLWIN8A-XOsY0ULfDfEWY1wq7aktZDascVzEopqtJRKCIegYMGSCEKZvA5MqAQHOs3O6KIAmWqM4VsdbH5HoOaHfr8Km3d19dxeJIJKP0DzKSYvAbJo3wJb2ibpYcjvBlMtbTTZkB9MxVemJG3C4IpiEX-j1QR9ECPYoxBQPrAM04Ayg1XLTZufrHGwmI_5lzoyjyL0dE3z4AW1SUZKHbMdX8szPl0Pg5zi6l4dvPKrvnon1R2nNxc3alorNy4FpF-XDu4m3z4wVEVDAXXJoTAFTcfXogIpgpbh1Z60RM0N3dNeU41safup9wIrw_sr4DFQUqKxVOOQLfkkVG23z5q5a26IorUf92lK8UwsL7CU74okOH7L08E2yOVZ0yJZj_EhZrHsO7oP0rZWu82DsRdMyiAEE8y4GlQTEkfWmLr_BSKgrYxr4GzJpGrW_-DqB44k6YPZTQ6t3nJUWmBRSyCiPD7elV4eeC59FhEhSuuN00mJ6nlae32dSRoIVQBajJQfXiWaq72Kt6E06iBmNsq_Eq95ywYpjsDRl2oKWa95AP-Ye6DeaHAT07vz64lI2",
  "id": "rs_0ba00d5543dc2df5016ab493c2a8bc87d0b8a3e2d0d720d6a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.115,\"left_z\":0.24},\"note\":\"The gray plush appears to remain with the left fingertips during the lift. I’m raising it clear and moving over the plush basket, watching for any slip.\"}",
  "call_id": "call_x09On7KkbTE6TsUaFelQgK8w",
  "id": "fc_0ba00d5543dc2df5016ab493c398a487d0a307c22ca39e0fcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x09On7KkbTE6TsUaFelQgK8w",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3405, 1.7039, 1.4132, -0.4278, -0.3122, -0.2806, 0.0525, -0.0151, 0.8211, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4777 left_y=-0.1079 left_z=0.2043 left_yaw=0.061 left_pitch=-0.1158 left_roll=-0.0053 left_gripper=0.0525 right_x=0.2926 right_y=0.0012 right_z=0.1676 right_yaw=-0.0005 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -9.6752, 10.1812, 2.0195, -0.022, -0.0073, 0.6227, -0.1709, -1.2239, 7.0496, 1.6923, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84a8832ae7ed9b41c2c044a91c5ef67c2a44364b2f017e8c67848f55eb687a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e948d4d3b6969e8028d1293c6607c9f63939edb03a2db4c44ddf5dd52196ae43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee178ee880b005d75fdcb612f0587e0a8d50efa836436af47c74f8ec0f2dbc0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.521 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 63 changed as sent

message 67 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.6409, 0.548, 0.5644, 0.0948, 0.0265, 0.9966, -0.0151, 0.8188, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4133 left_y=0.0568 left_z=0.0615 left_yaw=0.0604 left_pitch=0.0353 left_roll=-0.0139 left_gripper=0.9966 right_x=0.2926 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.053, 2.5231, 0.7204, 0.2173, 0.0757, 0.1245, 0.0068, -1.6205, 7.0496, 1.7021, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.4681, 0.625, 0.2539, 0.0769, -0.0082, 0.0498, -0.0151, 0.8211, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4029 left_y=0.0469 left_z=0.0949 left_yaw=0.0666 left_pitch=-0.0263 left_roll=-0.0394 left_gripper=0.0498 right_x=0.2927 right_y=0.0013 right_z=0.1679 right_yaw=-0.0002 right_pitch=-0.0633 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -8.4034, 9.853, 2.3223, 0.1245, -0.0464, 1.0085, -0.1983, -1.4154, 7.159, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3405, 1.7039, 1.4132, -0.4278, -0.3122, -0.2806, 0.0525, -0.0151, 0.8211, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4777 left_y=-0.1079 left_z=0.2043 left_yaw=0.061 left_pitch=-0.1158 left_roll=-0.0053 left_gripper=0.0525 right_x=0.2926 right_y=0.0012 right_z=0.1676 right_yaw=-0.0005 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -9.6752, 10.1812, 2.0195, -0.022, -0.0073, 0.6227, -0.1709, -1.2239, 7.0496, 1.6923, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84a8832ae7ed9b41c2c044a91c5ef67c2a44364b2f017e8c67848f55eb687a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e948d4d3b6969e8028d1293c6607c9f63939edb03a2db4c44ddf5dd52196ae43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee178ee880b005d75fdcb612f0587e0a8d50efa836436af47c74f8ec0f2dbc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPLXD670b5x4eQ9AowFjA___tWZW2B_NYJUQVk5otw4EzdCza_FFyFHX0hhCYSi9Ec9PJNLAtGFvAF8TXnIG54_sDIL4iFxHXyeZRnUtACLAZloLHP14K5V_odpUGY0P3zhcSdaOdYLOErVH8S0y9xkx8VGb1rY7ZFdOmq4NP4NeI42n1rV4eTtUOewWPUMxmyMinOk0NtDYSSS03ScVfgtpA3HfpoYpxHMKAyc1MRh_40NBmPhE654L89flfKYNdACcKw91NoCmpJLTumtIWsTRXIYf8Rd5M3x_N2Z3nNBDAlRNE1APZmpXpxm2W182KjYKV7Af3Mjxr-XYHHJq6ceWdyOz5Zn6I2PdaEJ8Msl0N-1zV3tDrRJjX-YHQdI5FJnll9S5q4s3SkDxAiv5SAJCx1BcSZfxPKyrDT4pUY-ERQtAFDCTTUCnfyKjLOe0P_jxXRbmWhrCo7mTpLoaY7kdXupboOCmgRPZ65Ht1JL4FvJhU5eItolhOFfCeKWw4ThHr1VozqtAhxnaeLL5FQmZU5XhptJXjmkyinwGN5om4tvKwkX93BkSGElrpMI6PTZFYBTmAiy8M_sfOnwV_M0_grs-b01S5-4hQta1CtHzLZ9W0JH6nq9HjVTgeOSSKh9IhvpKLaXldE7O6EkyWg_66zFISPCrV9NfmulncEv6F48UaszE_Zc-Ds02QFhrzWuBIyPIGm6sq6Po1bjBw2-QNsQ-66kmdPWq2iqS14oOK5AR5ZorTRcaLKD3r7qaNy7hiUtIT5l-ymYe4uX7kaG9uw89r4g3cCFRp4P9uP68KZGlaBym4U-BRYT2dqlNKpf3WtgTyuj1YLHnylROpu2hoIgJuIp1aomsTFx1hOvZaWN7uhkclIJTUJD0Z9CGsx_kVvA4EtrNy6lnbo8N95E1awIaWJsMhlBYYVsMgmkuLl6rnx2e7xgDHxoSB8fF63YKD6QQVdSTbaK_TWUMmZTW1lvXHYtRSISZ0XMHw0oMluP8mWYLNbRLw6-KtJjvHX8Qt5haVFfPWSjzVlC6OWdrovGiwsRHOq9K9myDTy2aVX14bJwbv4Iu3rPuuaGk1fnBxQEE5qZGGOo6aqcudidZd_Hne5EO9TokV9OZ1UbZ3spAhJ2s6trX1fokiA6I05cFegXpQQRy6KarR4MH2IjPeLLAquimVKYSQJUpKHk7p2aw4RffVK6CVk4ulJrWn5YXn7hpscSvxExLoJ8gkCr-KX9yE_V_WGBnl-jf8kpgzHQbZbdOzoDdd8x1M_bnOlnC0ToyXsNZJgsbyt2JqxWLq_fF-cjUkkfQg6zeoHrsmR3aJ7j-ujAFhKjSj6EZQbmaAtlVXiDGrbJM7YgIJlBHLU_GPtFZlOw8_x_eURL9WeM1r04jXtUTuKuX4bdEdRbodTu_kVjpQ2BOPdu4u1Q2ECZxJnRmP3jicVQ4Qz5D9gBrLjFQ2GPcq-whcp1BTiJYun4JaX4658lJFKcuawf64NU9zdsHVCUgbE3_g6PfBxS5L-iZFt0nLX1H8vG3x0g8WrwSTUwlPMGZC-ziK05n_ApP0Tyv9iSlfdLrvCoBSJGUOr_J-sIsnHZ2NlrZvEHGdriN1dMqABxRDduC9xg4SX7lysxyku8CebBZVJhrOxHzlNpsf51Jcn2yM4Rf7VN_Ze1Gy0CHJCUfeWi_j44MSlLDKLr2H5DooidtO1Qp5YgXoL6J5OSm2waQ39u80g9FiKYrUvdaSgRQVXrAQVoh4gGcuJ_E2sULjP2iJw0HXZy37wXMoUn4t8pwcKmRl14Xy35ymJ4Fs_rhrU54v_3qQgbMX3ztGLpn1ggB-GlDXsF_74QbJ_5A2sxltPApwmlCKve4xlCDvW84BSEsTiRpz29WAEE8FxSFZ29hQB4BPp8ZLuKA1G1cWN3gC2SCyTe0TNB96qzT-ByE9g8uGbXICOHEdEPisEr28cJUanP2LWxzYolikj0AIjdWQMfTgqx8wBLYf-4tYdcAEhRxwYKGAFEucmGzV9McVGdunQhZYvISkF5RFikmm-nMBFFpUuhbHHwk4XIBWrA9rq4_qGl6QxcJkip3TC9yx79KH0JRYrD--ZY6mFp7ZTRxYkyG_YViW7zRwSYtCIe-Y-fjtLoxw==",
  "id": "rs_0ba00d5543dc2df5016ab493c7529087d08d1d429810dce2e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.05,\"left_z\":0.065},\"note\":\"The overhead view shows that the jaws caught the basket rim, not the gray plush. I’m returning the basket to its previous position and lowering it gently before opening.\"}",
  "call_id": "call_Rvufb1tEZfARfJwyTYARr3Uq",
  "id": "fc_0ba00d5543dc2df5016ab493ca46ec87d0b8d15670328d0e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rvufb1tEZfARfJwyTYARr3Uq",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.5616, 0.6716, 0.1665, 0.0395, -0.0246, 0.0541, -0.0151, 0.8249, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=0.0461 left_z=0.0603 left_yaw=0.089 left_pitch=-0.1618 left_roll=-0.0369 left_gripper=0.0541 right_x=0.2928 right_y=0.0012 right_z=0.1666 right_yaw=-0.0005 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -6.3248, 5.7778, 1.7411, -0.2564, 0.3639, 0.5397, -0.0889, -1.4564, 7.0359, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7383d7e3ac22f2d43573f2287c4c6957be5e6161e6454d6ea0262ee2f64156e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2725a6ff16676c3dcf9e17f9859cf95d0afb3511644bd7790eb59304a9741a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816e27d7ac1784d748772271990418bf427962dd862550960de093a267bd3a87",
      "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 · 2.777 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.6444, 0.5331, 0.5919, 0.0887, -0.0067, 0.0484, -0.0151, 0.8196, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4132 left_y=0.0463 left_z=0.0604 left_yaw=0.0558 left_pitch=0.0438 left_roll=-0.0388 left_gripper=0.0484 right_x=0.2926 right_y=0.0013 right_z=0.1684 right_yaw=-0.0002 right_pitch=-0.0618 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1863, 6.4752, 1.58, -0.232, 0.2173, 0.6764, -0.1983, -1.2513, 6.9949, 1.6679, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3405, 1.7039, 1.4132, -0.4278, -0.3122, -0.2806, 0.0525, -0.0151, 0.8211, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4777 left_y=-0.1079 left_z=0.2043 left_yaw=0.061 left_pitch=-0.1158 left_roll=-0.0053 left_gripper=0.0525 right_x=0.2926 right_y=0.0012 right_z=0.1676 right_yaw=-0.0005 right_pitch=-0.0641 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -9.6752, 10.1812, 2.0195, -0.022, -0.0073, 0.6227, -0.1709, -1.2239, 7.0496, 1.6923, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.5616, 0.6716, 0.1665, 0.0395, -0.0246, 0.0541, -0.0151, 0.8249, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=0.0461 left_z=0.0603 left_yaw=0.089 left_pitch=-0.1618 left_roll=-0.0369 left_gripper=0.0541 right_x=0.2928 right_y=0.0012 right_z=0.1666 right_yaw=-0.0005 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -6.3248, 5.7778, 1.7411, -0.2564, 0.3639, 0.5397, -0.0889, -1.4564, 7.0359, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7383d7e3ac22f2d43573f2287c4c6957be5e6161e6454d6ea0262ee2f64156e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2725a6ff16676c3dcf9e17f9859cf95d0afb3511644bd7790eb59304a9741a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816e27d7ac1784d748772271990418bf427962dd862550960de093a267bd3a87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPPQNLSbPBXb4MFSnzcJY1eeUkB3A7W6DM51iEcAIMS6r31tQXxt1s4FifKc2CtIQlpPMfcfoywdiUtSvy4LE5O6XkzujvIBL9tvdkbnsiln_KzYwJYzTtI2SwXoLfzX0a1UnK1y4U9vkqb-0_IkhXTsK2X9kkZA_3x5wHJZwICPHv6wJgp9d-OZdol6vfduMy1q5NmtIXJnubD0qUOMB9gy0ec8_5VXNfxOaZlWuvMFwoKY_m0v2nuy_An-O6djbXRJ8kklfhQ2J2p_HQd6S4JQRyHvEMJOPX1BGQeJaT9ocE-hIK6eILukLWSUMakUHpMyx0fw8-E9WITN6zqZ3v6yAMx3p6EHKLCBNcyXubxHANzPOpJkmt2vHeumRexuAFjuovPIsr81F4PEMHl4wJrsrq-el1TOMAEqvvisJHS-OSTQsxk1RqnJdoCzJUucvsDkCWNfVkapCH2EtXgCm3D03OHc4sbstPAGRKoVLti9mlvaz2jCMlxI74YuHQS9wc45jkvn5qJxv_rhiMjPQsfBGvf8eRdMvzrbGG_ysuuSKei_-4wu_-ZyfnS23bAN4DPWLQWAAfpHKtRsswwiEa792kAiNjf0K-KLgvCrZgwBe54Ki7nLcLFZzYTLe3HE-kljiBr2lg-5YIbXlwJ9Rb6fBT8PN0VCyQIFdyQmj36r_BMGxvgbM1vAqFSYuxoIa-BOXAc5DV27ocR4ugXup0L5QMhP1BSrwjPfYVhKwv0bHo_tAae9KEEUvhlyI9wpgGukvOJNDAh9X9rNlEPjHgPAlUQMarvRg0_DVmp_pQddsYR80Z7cUTUJyQvRvSDYVAxP332w-OKYLOANDZXefG0Fi06iAfX4zXdyrjRZvJ_UjBUoQSsvpgIrddu3JN_X_-sBu4tUBCAR6KPc_r19djrfJueBeV6BCJFu6GnYl6yQ71nlmsoKndINj9ZDT34YVpI81j7qmxP310nc4gLmlA2hp6YNRBVnT3ijVfmrmWyok4WcswsdOG3LtjYf2nzeFEMO6Ku5TtujlMWtUB93hMP3_IEYCwRIa_ZcLq3X8Znu7qxZu1eRVZDEQwKEgLRtTSXHnjOCjXCKlmM3NabRfcl97mS2iukt8N1sBE1nbShqb791PoWrdbNzRi3heGZjL4wwYHvXdUAy6sdd8DLJSb_9ILPqmWVqpQTO0c_53vZg2kYVSWdKAjs19lVWwTuPBrlh0Qi2WgObQvfnCqEp2xniJCEH9DIrTkEC-NR3ORzWFHE_ZnqH8lB3Q57bsPL009l2w2YfH1ZHSwchv_9EB3ZV0A7vNLp_Z7YM66bJLrc3UM=",
  "id": "rs_0ba00d5543dc2df5016ab493cdecc887d09f71cc0781f3dc87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The basket is back on the table with the brown plush still inside. I’m releasing its rim; the gray plush lies beyond the left arm’s lateral reach.\"}",
  "call_id": "call_vKRpA3zSemoKCerY9gxkd36B",
  "id": "fc_0ba00d5543dc2df5016ab493ce64cc87d08916100d64e62066",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vKRpA3zSemoKCerY9gxkd36B",
  "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]: [0.1249, 1.5612, 0.664, 0.2001, 0.0425, -0.0387, 0.9953, -0.0151, 0.8249, 0.6067, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4037 left_y=0.0467 left_z=0.0638 left_yaw=0.0961 left_pitch=-0.1357 left_roll=-0.0489 left_gripper=0.9953 right_x=0.2928 right_y=0.0013 right_z=0.1666 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.5162, 6.4889, 1.2576, -0.0269, 0.1245, -0.1294, -0.1436, -1.2786, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dea3f004e4f8bf40b7522664464b881613fcdf61db59666f737d7c8b19131c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643dc565772330ffbe3f10354e2303e65ddabe86aa75fc28af74ce412fa4d5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a9db7f7526c2df8b0428ef2240d5e8a8d669227f3f68b32aee268b10836da7",
      "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 · 4.876 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1406, 1.4681, 0.625, 0.2539, 0.0769, -0.0082, 0.0498, -0.0151, 0.8211, 0.6075, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4029 left_y=0.0469 left_z=0.0949 left_yaw=0.0666 left_pitch=-0.0263 left_roll=-0.0394 left_gripper=0.0498 right_x=0.2927 right_y=0.0013 right_z=0.1679 right_yaw=-0.0002 right_pitch=-0.0633 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -8.4034, 9.853, 2.3223, 0.1245, -0.0464, 1.0085, -0.1983, -1.4154, 7.159, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.5616, 0.6716, 0.1665, 0.0395, -0.0246, 0.0541, -0.0151, 0.8249, 0.6067, -0.4103, -0.0116, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=0.0461 left_z=0.0603 left_yaw=0.089 left_pitch=-0.1618 left_roll=-0.0369 left_gripper=0.0541 right_x=0.2928 right_y=0.0012 right_z=0.1666 right_yaw=-0.0005 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -6.3248, 5.7778, 1.7411, -0.2564, 0.3639, 0.5397, -0.0889, -1.4564, 7.0359, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1249, 1.5612, 0.664, 0.2001, 0.0425, -0.0387, 0.9953, -0.0151, 0.8249, 0.6067, -0.4103, -0.012, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4037 left_y=0.0467 left_z=0.0638 left_yaw=0.0961 left_pitch=-0.1357 left_roll=-0.0489 left_gripper=0.9953 right_x=0.2928 right_y=0.0013 right_z=0.1666 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.5162, 6.4889, 1.2576, -0.0269, 0.1245, -0.1294, -0.1436, -1.2786, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dea3f004e4f8bf40b7522664464b881613fcdf61db59666f737d7c8b19131c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643dc565772330ffbe3f10354e2303e65ddabe86aa75fc28af74ce412fa4d5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a9db7f7526c2df8b0428ef2240d5e8a8d669227f3f68b32aee268b10836da7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPSit3M6Imr0w6V-ZxTKMgvMkOCTva38umugYQH2fMYYnX46xohFYt319mLANa2b-24vi5ep9lFoQc4J5RsNHNTYIOG0uUgsVhNmw3y1NAd9mAskpLJOKjowcDOyDpv9OHj_k5yjnjaJZCzicjY-k7JFZr-Ey4Q873g57pKx1F53jq08W6vG8TtounZZl0x5vSgSN44KEY5EokyBkIYM85Mlq_J168HSrhUiO5SjD6rNpjww99CfnswoQfSl8ZBLdQ2udwiIC7t9kmLzsGei4iOhFIM6emfPFd1DJfIiGmW7e0mDKnaDN5jgNUg2bt3RUqw0psHPTfCQ-0BCUg61CDcyKvFOUmf_7mTsUUuw6Ri1pwkPZddnjIie5NJP6LeTIlwKootZJi5nHJ44IkXG-ABtzhEioK6un0mIwIv6LGE2fuj83wR4ETcI_vF-dzWyZajr5C5CzDZ-qnx9x95qH3V8Dh-sdazMHAEdJuadJpzNyDXyVgNdrJoWCLR8mHHBXhYVtw961j_bEqmuQfuPrKqqI8TKOGDhxfqnqQkctFeaJHBiA1zMdr3i81_GvEyeYAX7OEsmk-ILedqzkt8ILD3AOP3FF5uP9fG_7-AAXFAcDU6dMifDOG8QllXVxahoUUOZaVLyIESPmBEHYzXStovYTilyekN3kdvOyu062zfIY6C-gUKc5KpdY8rT1iJYig8N_l0AVwK7FncQbPjcb1CM6AOHkPhRca_DTTwXBik12K0s3reb1gWQ3wuhvQE-D1XtlmiIShQ7y2LFIFa7Zp6okAMB5rq2BEIIyhgpeo__4sr0BiVrFAIVHn9hAuKuxc8f7q_Sjp8Pmtad4HbukrWHqIJbsnIkqGYClONGDXnGhErXht4amtYUplzkNeJ2UqP0_bqG_Xjxxq8uhXIzbiPhKWJXM72xmH0tH9W98BfIXHWqRJIyQ_zr1RIqAGklXMUfa0cKV9yQtkdZWXN723G21sOF-zy8QdfvWCTYT7kxzaLwJTY4f8DmL3BHqCzEUritosJxf1dJt6OAdenCDSm8S0GI18EY8oM1X_FCwj2xKQXEExSsJRpvHXQxZ5VHMaYM1EyPNSP_PM40azZnwSMkhHIRP5d8T8IP_fUrmCiclqIL1VchNnkQT_T0S8XKV2gp4J67mQ9VTvJd2l45cTgfXx6kdYjWhrv4hZaJB3bYnVVzcVPt4E0w5qsjJ4VZX34",
  "id": "rs_0ba00d5543dc2df5016ab493d1a84487d0943b8c42e0215e29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The basket is released and stable. I’m raising and parking both arms clear of the objects before stopping for operator assistance.\"}",
  "call_id": "call_aPmzBXu3IRG9yrtksCGUb7u1",
  "id": "fc_0ba00d5543dc2df5016ab493d1d5cc87d0b260156c80b312df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aPmzBXu3IRG9yrtksCGUb7u1",
  "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]: [-0.0242, 0.8398, 0.7216, -0.4343, -0.0154, -0.0376, 0.9967, -0.0151, 0.8539, 0.712, -0.5163, -0.012, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.3043 left_y=-0.0011 left_z=0.2099 left_yaw=-0.0044 left_pitch=0.0087 left_roll=-0.0133 left_gripper=0.9967 right_x=0.2929 right_y=0.0013 right_z=0.185 right_yaw=0.0015 right_pitch=-0.0977 right_roll=-0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.347, 9.4291, 1.7021, -0.0757, 0.0122, 0.1294, -0.4718, -1.0735, 10.0581, 1.58, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e37855c8c3f37b40cbaf0ce4d133a6306bc78b6953249532b5ff90878f57e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84b556bd6a4219bc8df10bd8551529f4ee83ac6c6c2e7e8373b97799af04b8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5c14869084eacfcf0b8b3601fbe85464357baa39495f42cbf750d129e00b3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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