adhoc

completed
2026-09-23T23:26:16.005642+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
287.9 s
total steps
403
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 two groups: soft animal toys and slim pen-like objects. I’ll put the toys in the left basket and the pens in the right, starting with the gray toy.
move_to
left_x0.3100left_y-0.0700left_z0.1100left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8032, 0.6174, -0.3805, -0.0216, -0.0223, 0.9996, -0.0216, 0.7971, 0.6128, -0.3851, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.5932, 9.4017, 1.7998, -0.022, 0.0611, -0.0708, -0.212, -1.1966, 9.6342, 1.8828, -0.1099, 0.0024, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.07,"left_z":0.11,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"I see two groups: soft animal toys and slim pen-like objects. I’ll put the toys in the left basket and the pens in the right, starting with the gray toy."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe gray toy is to the left of the open jaws, while the yellow pen is closer to their center. I’m shifting left and lowering toward the toy’s narrow body.
move_to
left_x0.3450left_y0.0100left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4374, 1.0378, 0.4149, -0.0059, -0.3603, -0.2558, 0.9996, -0.0208, 0.7986, 0.6144, -0.4107, -0.0113, -0.0162, 0.9998] state[eef_state]: left_x=0.309 left_y=-0.0718 left_z=0.1069 left_yaw=-0.0097 left_pitch=-0.0168 left_roll=0.0031 left_gripper=0.9996 right_x=0.2922 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0615, -3.2752, 6.3248, 1.8095, -0.232, -0.0513, -0.0708, 0.1983, -1.2923, 9.4154, 1.6484, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":0.01,"left_z":0.045},"note":"The gray toy is to the left of the open jaws, while the yellow pen is closer to their center. I’m shifting left and lowering toward the toy’s narrow body."})
tool
executing move_to over 8 steps (0.8s)
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 open fingers now straddle the gray toy near table level. I’ll close gently through the controller and check the remaining jaw gap before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0296, 1.393, 0.3058, 0.4934, 0.0006, 0.0006, 0.9995, -0.0208, 0.8032, 0.6136, -0.4107, -0.0113, -0.0162, 0.9998] state[eef_state]: left_x=0.3447 left_y=0.0137 left_z=0.045 left_yaw=0.0179 left_pitch=-0.0277 left_roll=0.0071 left_gripper=0.9995 right_x=0.2924 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0002 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1299, -3.8359, 4.6838, 1.8095, 0.1392, -0.0562, -0.0269, -0.1709, -1.5248, 7.2821, 1.6972, -0.0708, -0.0464, -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_gripper":0},"note":"The open fingers now straddle the gray toy near table level. I’ll close gently through the controller and check the remaining jaw gap before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe jaws closed fully, so that grasp was empty. The gray toy remains on the left side of the wrist view; I’ll reopen and shift toward it before retrying lower.
move_to
left_x0.3250left_y0.0450left_z0.0700left_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]: [0.0315, 1.3933, 0.3023, 0.4908, 0.0006, 0.0006, 0.0122, -0.0208, 0.8055, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998] state[eef_state]: left_x=0.3432 left_y=0.0143 left_z=0.043 left_yaw=0.0198 left_pitch=-0.0342 left_roll=0.007 left_gripper=0.0122 right_x=0.2927 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1299, -4.3282, 5.5043, 1.7314, -0.0122, -0.0464, 0.5788, -0.212, -0.9915, 7.0359, 1.7216, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":0.045,"left_z":0.07,"left_gripper":1},"note":"The jaws closed fully, so that grasp was empty. The gray toy remains on the left side of the wrist view; I’ll reopen and shift toward it before retrying lower."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gray toy is close to the left edge of this arm’s workspace. I’ll make one lower approach at the reachable edge to catch its side rather than its full width.
move_to
left_x0.3450left_y0.0500left_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1955, 1.2072, 0.3027, 0.2836, 0.1223, 0.0799, 0.9968, -0.0208, 0.8082, 0.6136, -0.4099, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3218 left_y=0.0454 left_z=0.0606 left_yaw=0.0385 left_pitch=-0.0494 left_roll=0.0009 left_gripper=0.9968 right_x=0.2928 right_y=-0.0004 right_z=0.1743 right_yaw=0.0001 right_pitch=-0.0351 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.2803, -4.3282, 7.6239, 1.6923, 0.1783, 0.1343, -0.149, -0.0342, -1.1009, 7.0496, 1.7167, -0.0317, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":0.05,"left_z":0.005},"note":"The gray toy is close to the left edge of this arm’s workspace. I’ll make one lower approach at the reachable edge to catch its side rather than its full width."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe fingertips are now at table height beside the gray toy’s edge. I’ll test this second grasp and use the jaw reading to decide whether it is secure.
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]: [0.1886, 1.6238, 0.2947, 0.7181, 0.1345, 0.0933, 0.998, -0.0208, 0.8104, 0.6136, -0.4084, -0.0113, -0.0162, 0.9998] state[eef_state]: left_x=0.3493 left_y=0.0462 left_z=0.0117 left_yaw=0.0142 left_pitch=-0.0385 left_roll=0.0066 left_gripper=0.998 right_x=0.2931 right_y=-0.0005 right_z=0.174 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.4991, -5.7915, 3.0701, 1.5116, -0.149, -0.1734, 0.1148, -0.1983, -1.1692, 7.0085, 1.7314, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are now at table height beside the gray toy’s edge. I’ll test this second grasp and use the jaw reading to decide whether it is secure."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe second close was empty, so I won’t repeat it. I’m lifting clear to see the toy positions unobstructed and approach the central toys instead.
move_to
left_x0.2400left_y-0.1500left_z0.1800left_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]: [0.1886, 1.6402, 0.2886, 0.7204, 0.1318, 0.0898, 0.0124, -0.0208, 0.812, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998] state[eef_state]: left_x=0.3457 left_y=0.046 left_z=0.0048 left_yaw=0.0182 left_pitch=-0.0587 left_roll=0.0018 left_gripper=0.0124 right_x=0.2931 right_y=-0.0006 right_z=0.1734 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0615, -6.612, 4.4786, 1.6532, 0.0659, 0.0317, 0.7497, -0.0615, -1.1282, 7.1179, 1.7167, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.15,"left_z":0.18,"left_gripper":1},"note":"The second close was empty, so I won’t repeat it. I’m lifting clear to see the toy positions unobstructed and approach the central toys instead."})
tool
executing move_to over 18 steps (1.8s)
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 toy is centered in the left wrist view; the gray toy is farther toward the left fence. I’ll descend around the brown toy’s body for a secure grasp.
move_to
left_x0.3200left_y-0.1500left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0309, 1.0584, 0.7914, -0.6994, -0.7609, -0.7952, 0.9988, -0.0208, 0.8173, 0.6132, -0.4095, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2388 left_y=-0.1545 left_z=0.1725 left_yaw=-0.0035 left_pitch=-0.0723 left_roll=-0.002 left_gripper=0.9988 right_x=0.2933 right_y=-0.0005 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0443 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.0889, -3.0154, 8.253, 1.0623, -0.5788, -0.1343, -0.1538, -0.1436, -1.8256, 7.0222, 1.7363, -0.0611, -0.0611, -0.0122] 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":0.32,"left_y":-0.15,"left_z":0.035},"note":"The brown toy is centered in the left wrist view; the gray toy is farther toward the left fence. I’ll descend around the brown toy’s body for a secure grasp."})
tool
executing move_to over 9 steps (0.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe brown body is slightly left of the jaw center. I’m making a small lateral correction and lowering the fingers around it before closing.
move_to
left_y-0.1250left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7147, 1.5372, 0.4843, 0.2943, -0.5861, -0.4934, 0.9983, -0.0208, 0.8204, 0.6132, -0.4091, -0.0113, -0.0162, 0.9998] state[eef_state]: left_x=0.3249 left_y=-0.1478 left_z=0.0434 left_yaw=0.021 left_pitch=-0.0441 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2936 right_y=-0.0005 right_z=0.171 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0479, -4.9162, 4.4103, 1.4823, -0.022, -0.0317, -0.0659, -0.1026, -1.6342, 7.0085, 1.663, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.01},"note":"The brown body is slightly left of the jaw center. I’m making a small lateral correction and lowering the fingers around it before closing."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe brown toy is between the lowered fingers. I’ll close around its body and check whether it holds.
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]: [-0.6323, 1.6356, 0.3809, 0.5701, -0.5705, -0.4191, 0.9982, -0.0208, 0.8211, 0.6132, -0.4099, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3327 left_y=-0.121 left_z=0.0231 left_yaw=0.0506 left_pitch=0.0049 left_roll=0.004 left_gripper=0.9982 right_x=0.2935 right_y=-0.0005 right_z=0.1706 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4034, -4.3829, 3.7265, 1.4286, 0.1734, -0.1832, -0.0269, -0.1026, -1.2376, 7.1863, 1.7021, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown toy is between the lowered fingers. I’ll close around its body and check whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe left jaws stopped at about a 2 cm gap, consistent with holding the toy. I’ll lift it to verify, while the well-separated right arm approaches the black pen.
move_to
left_z0.1050right_x0.3400right_y0.1450right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5735, -0.5602, -0.4267, 0.2207, -0.0208, 0.8211, 0.6132, -0.4099, -0.0109, -0.0166, 0.9998] state[eef_state]: left_x=0.3327 left_y=-0.123 left_z=0.023 left_yaw=0.0468 left_pitch=0.0035 left_roll=-0.0096 left_gripper=0.2207 right_x=0.2935 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.0485 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6632, -4.3282, 3.6718, 1.4188, 0.0366, -0.0855, 1.0281, -0.0205, -1.1419, 6.9812, 1.6728, -0.0122, -0.0562, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105,"right_x":0.34,"right_y":0.145,"right_z":0.10,"right_gripper":1},"note":"The left jaws stopped at about a 2 cm gap, consistent with holding the toy. I’ll lift it to verify, while the well-separated right arm approaches the black pen."})
tool
executing move_to over 13 steps (1.3s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe brown toy has moved with the left jaws, so I’ll raise it for transport. The black pen is beneath the right gripper; I’m lowering that gripper to table level.
move_to
left_z0.2000right_x0.3450right_y0.1450right_z0.0020
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]: [-0.6323, 1.3201, 0.524, 0.0677, -0.5598, -0.4271, 0.2208, 0.622, 1.3914, 0.609, 0.0055, 0.4751, 0.3756, 0.9998] state[eef_state]: left_x=0.3261 left_y=-0.1181 left_z=0.0885 left_yaw=0.0471 left_pitch=-0.0334 left_roll=0.0196 left_gripper=0.2208 right_x=0.3303 right_y=0.1418 right_z=0.0825 right_yaw=0.0249 right_pitch=-0.1043 right_roll=-0.0298 right_gripper=0.9998 state[joint_eff]: [-0.3624, -5.5726, 8.3624, 1.5165, -0.2271, -0.022, 0.7497, 0.1026, -5.6, 8.335, 1.7265, 0.3883, 0.1441, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"right_x":0.345,"right_y":0.145,"right_z":0.002},"note":"The brown toy has moved with the left jaws, so I’ll raise it for transport. The black pen is beneath the right gripper; I’m lowering that gripper to table level."})
tool
executing move_to over 8 steps (0.8s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe toy is hanging below the left hand, so I’m carrying it high toward the left basket. The right fingers stopped a little above the thin pen; I’ll lower them the last centimeter before closing.
move_to
left_x0.5000left_y-0.1150left_z0.2400right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6323, 1.1873, 0.8639, -0.4332, -0.5602, -0.4381, 0.2222, 0.6064, 1.7214, 0.5182, 0.4831, 0.4599, 0.3595, 0.9998] state[eef_state]: left_x=0.3258 left_y=-0.1179 left_z=0.1851 left_yaw=0.0541 left_pitch=-0.055 left_roll=0.0285 left_gripper=0.2222 right_x=0.3511 right_y=0.1525 right_z=0.0155 right_yaw=0.0325 right_pitch=-0.0629 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.4359, 9.4291, 1.2821, -0.2466, 0.0611, 0.4811, -0.9778, -4.8752, 3.7402, 1.2039, 0.0855, -0.0757, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.115,"left_z":0.24,"right_z":-0.008},"note":"The toy is hanging below the left hand, so I’m carrying it high toward the left basket. The right fingers stopped a little above the thin pen; I’ll lower them the last centimeter before closing."})
tool
executing move_to over 14 steps (1.4s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe left hand is above the toy basket; I’ll lower the hanging toy inside. The right fingertips have reached the table, so I’ll close on the black pen without pressing further.
move_to
left_x0.5200left_z0.1450right_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]: [-0.3519, 1.7569, 1.5307, -0.5037, -0.3641, -0.2829, 0.2229, 0.606, 1.8061, 0.5121, 0.6605, 0.4625, 0.3599, 0.9998] state[eef_state]: left_x=0.4889 left_y=-0.1087 left_z=0.2183 left_yaw=0.096 left_pitch=-0.107 left_roll=0.0263 left_gripper=0.2229 right_x=0.3636 right_y=0.1604 right_z=0.0146 right_yaw=0.031 right_pitch=0.0107 right_roll=0.0436 right_gripper=0.9998 state[joint_eff]: [-0.0205, -9.8803, 9.347, 1.707, -0.0415, 0.4518, 0.0659, 0.0068, -4.588, 3.0427, 1.0281, 0.1001, -0.0366, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_z":0.145,"right_gripper":0},"note":"The left hand is above the toy basket; I’ll lower the hanging toy inside. The right fingertips have reached the table, so I’ll close on the black pen without pressing further."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteI’ll release the held toy into the left basket. The black-pen grasp was empty and the right fingers were too far forward, so I’m reopening and moving back toward the pen.
move_to
left_gripper1.0000right_x0.2750right_y0.1300right_z0.0700right_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]: [-0.3302, 1.8923, 1.4227, -0.2928, -0.3576, -0.2798, 0.2231, 0.6056, 1.8061, 0.5106, 0.6765, 0.4599, 0.3542, 0.0145] state[eef_state]: left_x=0.5126 left_y=-0.1065 left_z=0.1426 left_yaw=0.1126 left_pitch=-0.1382 left_roll=0.0387 left_gripper=0.2231 right_x=0.3649 right_y=0.1617 right_z=0.0169 right_yaw=0.0357 right_pitch=0.0222 right_roll=0.0479 right_gripper=0.0145 state[joint_eff]: [0.1573, -9.853, 6.3521, 1.8193, -0.0464, 0.105, -0.0024, -0.2803, -7.1726, 4.3966, 1.5653, 0.1685, 0.0513, 0.6764] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.275,"right_y":0.13,"right_z":0.07,"right_gripper":1},"note":"I’ll release the held toy into the left basket. The black-pen grasp was empty and the right fingers were too far forward, so I’m reopening and moving back toward the pen."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteA toy is visible inside the left basket after release. I’m bringing the left hand back toward the remaining toys and lowering the right fingers at the corrected pen position.
move_to
left_x0.3000left_y-0.2200left_z0.2000right_x0.2800right_y0.1300right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3294, 1.9057, 1.417, -0.2977, -0.3576, -0.2878, 0.9969, 0.7383, 1.195, 0.2943, 0.2871, 0.5434, 0.4324, 0.9947] state[eef_state]: left_x=0.511 left_y=-0.1056 left_z=0.1327 left_yaw=0.1193 left_pitch=-0.1597 left_roll=0.0431 left_gripper=0.9969 right_x=0.2834 right_y=0.1393 right_z=0.0756 right_yaw=0.0595 right_pitch=0.0525 right_roll=0.0793 right_gripper=0.9947 state[joint_eff]: [-0.1709, -11.3846, 7.2137, 1.5556, -0.2564, 0.0415, 0.0317, 0.3624, -2.7009, 5.9145, 1.6435, 0.4762, 0.1001, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.22,"left_z":0.2,"right_x":0.28,"right_y":0.13,"right_z":0},"note":"A toy is visible inside the left basket after release. I’m bringing the left hand back toward the remaining toys and lowering the right fingers at the corrected pen position."})
tool
executing move_to over 17 steps (1.7s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe basket contains the first brown toy, and three toys remain visible on the table. I’ll lower the left hand onto the nearer face-up toy while testing the corrected black-pen grasp.
move_to
left_x0.2850left_y-0.2350left_z0.0300left_pitch0.1000right_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]: [-0.9531, 1.565, 1.2774, -0.8242, -0.7006, -0.836, 0.998, 0.7177, 1.6897, 0.141, 0.9771, 0.5327, 0.4129, 0.9961] state[eef_state]: left_x=0.305 left_y=-0.2265 left_z=0.1803 left_yaw=0.0788 left_pitch=-0.1909 left_roll=0.065 left_gripper=0.998 right_x=0.2855 right_y=0.1349 right_z=0.0104 right_yaw=0.0562 right_pitch=0.0825 right_roll=0.093 right_gripper=0.9961 state[joint_eff]: [-0.0752, -9.0462, 9.0188, 0.9646, -0.5006, -0.0952, 0.1001, -0.7316, -3.3162, 1.6342, 1.0379, -0.0562, 0.105, 0.1392] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.235,"left_z":0.03,"left_pitch":0.1,"right_gripper":0},"note":"The basket contains the first brown toy, and three toys remain visible on the table. I’ll lower the left hand onto the nearer face-up toy while testing the corrected black-pen grasp."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe large cream teddy’s body is between the left fingers. The right grasp was empty again; the dark shape appears to be part of the gripper or cable, so I’m switching to the clearly visible blue pen.
move_to
left_gripper0.0000right_x0.3100right_y0.2100right_z0.0750right_gripper1.0000right_pitch-0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1099, 1.7821, 0.7383, 0.0647, -1.0096, -0.8646, 0.9981, 0.7177, 1.6886, 0.1425, 1.0145, 0.5346, 0.4065, 0.0148] state[eef_state]: left_x=0.2893 left_y=-0.2382 left_z=0.0525 left_yaw=0.0937 left_pitch=0.1079 left_roll=0.0402 left_gripper=0.9981 right_x=0.2893 right_y=0.1379 right_z=0.0183 right_yaw=0.0557 right_pitch=0.115 right_roll=0.1111 right_gripper=0.0148 state[joint_eff]: [-0.1846, -4.2462, 2.5641, 0.4371, 0.1148, 0.0513, -0.0073, -0.2393, -4.4513, 3.2479, 1.3407, 0.1343, 0.0317, 0.5592] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.31,"right_y":0.21,"right_z":0.075,"right_gripper":1,"right_pitch":-0.08},"note":"The large cream teddy’s body is between the left fingers. The right grasp was empty again; the dark shape appears to be part of the gripper or cable, so I’m switching to the clearly visible blue pen."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe cream toy is held with a nonzero jaw gap. I’ll lift it to confirm, while aligning the blue pen between the right fingers and lowering to the table.
move_to
left_z0.1300right_x0.3100right_y0.2300right_z0.0000right_roll-0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1114, 1.7802, 0.7341, 0.115, -1.0283, -0.8726, 0.1128, 0.8257, 1.5017, 0.6014, 0.1543, 0.5377, 0.5751, 0.9948] state[eef_state]: left_x=0.2922 left_y=-0.2413 left_z=0.059 left_yaw=0.1122 left_pitch=0.1391 left_roll=-0.0071 left_gripper=0.1128 right_x=0.3107 right_y=0.2086 right_z=0.0703 right_yaw=0.0744 right_pitch=-0.0566 right_roll=0.1153 right_gripper=0.9948 state[joint_eff]: [0.0342, -7.3915, 5.2581, 0.6374, -0.2906, 0.0366, 0.8376, 0.5538, -6.0923, 7.8974, 1.409, 0.2955, 0.1587, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"right_x":0.31,"right_y":0.23,"right_z":0,"right_roll":-0.1},"note":"The cream toy is held with a nonzero jaw gap. I’ll lift it to confirm, while aligning the blue pen between the right fingers and lowering to the table."})
tool
executing move_to over 5 steps (0.5s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe cream teddy is rising with the left hand, and the blue pen is centered on the right jaw column. I’ll raise the teddy clear of the basket rim and close on the pen.
move_to
left_z0.2500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.108, 1.6375, 0.8223, -0.152, -1.0218, -0.8799, 0.1142, 0.9173, 1.8114, 0.6449, 0.3424, 0.6796, 0.5564, 0.9961] state[eef_state]: left_x=0.2905 left_y=-0.2366 left_z=0.1048 left_yaw=0.1116 left_pitch=0.1218 left_roll=0.0188 left_gripper=0.1142 right_x=0.3136 right_y=0.2327 right_z=0.0146 right_yaw=0.0695 right_pitch=-0.0387 right_roll=-0.026 right_gripper=0.9961 state[joint_eff]: [-0.5265, -9.388, 10.0034, 1.5702, -0.4029, 0.0708, 0.6716, 0.9231, -4.6154, 5.135, 0.3834, 0.0904, -0.2369, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"right_gripper":0},"note":"The cream teddy is rising with the left hand, and the blue pen is centered on the right jaw column. I’ll raise the teddy clear of the basket rim and close on the pen."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteBoth grasps have a clear jaw gap. I’ll carry the teddy above the left basket and make a short test lift of the blue pen before moving it to the right basket.
move_to
left_x0.5150left_y-0.1150left_z0.2900right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1053, 1.5204, 1.2205, -0.7197, -1.0027, -0.8879, 0.1157, 0.9226, 1.845, 0.6537, 0.3683, 0.7063, 0.5278, 0.1601] state[eef_state]: left_x=0.2911 left_y=-0.2398 left_z=0.2201 left_yaw=0.1035 left_pitch=0.0888 left_roll=0.0552 left_gripper=0.1157 right_x=0.3162 right_y=0.2335 right_z=0.011 right_yaw=0.0717 right_pitch=-0.0241 right_roll=-0.0617 right_gripper=0.1601 state[joint_eff]: [-0.1299, -9.4427, 9.2103, 1.2869, -0.6422, 0.0317, 0.652, 0.4034, -6.2154, 4.5333, 1.0867, 0.2515, -0.022, 1.0037] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.115,"left_z":0.29,"right_z":0.085},"note":"Both grasps have a clear jaw gap. I’ll carry the teddy above the left basket and make a short test lift of the blue pen before moving it to the right basket."})
tool
executing move_to over 18 steps (1.8s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe blue pen has lifted with the right hand. I’ll carry it over the right basket while lowering the cream teddy into the left basket beside the first toy.
move_to
left_z0.1850right_x0.5000right_y0.2000right_z0.2200
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]: [-0.3843, 1.7733, 1.6295, -0.458, -0.4892, -0.2455, 0.1156, 0.9218, 1.6375, 0.7364, 0.0334, 0.6949, 0.527, 0.167] state[eef_state]: left_x=0.5058 left_y=-0.1112 left_z=0.2671 left_yaw=0.1425 left_pitch=0.0412 left_roll=0.0655 left_gripper=0.1156 right_x=0.3108 right_y=0.2285 right_z=0.0638 right_yaw=0.0778 right_pitch=-0.0601 right_roll=-0.0901 right_gripper=0.167 state[joint_eff]: [0.1573, -10.1402, 9.7983, 1.7167, 0.0171, 0.1685, 0.5885, 0.0068, -9.2786, 8.6496, 1.2381, 0.3639, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.185,"right_x":0.5,"right_y":0.2,"right_z":0.22},"note":"The blue pen has lifted with the right hand. I’ll carry it over the right basket while lowering the cream teddy into the left basket beside the first toy."})
tool
executing move_to over 15 steps (1.5s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe cream teddy is seated in the left basket, so I’ll release it. I’m lowering the blue pen inside the right basket before opening that gripper.
move_to
left_gripper1.0000right_x0.5150right_z0.1150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3828, 1.792, 1.3396, -0.1684, -0.4896, -0.2436, 0.1186, 0.5117, 1.874, 1.6032, -0.4232, 0.3977, 0.1909, 0.1711] state[eef_state]: left_x=0.504 left_y=-0.1095 left_z=0.1851 left_yaw=0.143 left_pitch=0.0247 left_roll=0.077 left_gripper=0.1186 right_x=0.4939 right_y=0.2031 right_z=0.2074 right_yaw=0.0791 right_pitch=-0.0648 right_roll=-0.0906 right_gripper=0.1711 state[joint_eff]: [-0.3487, -9.4291, 6.188, 1.8974, -0.1441, -0.0562, 0.2955, -0.5812, -10.1538, 9.0598, 1.3114, 0.0952, 0.0024, 1.033] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.515,"right_z":0.115},"note":"The cream teddy is seated in the left basket, so I’ll release it. I’m lowering the blue pen inside the right basket before opening that gripper."})
tool
executing move_to over 9 steps (0.9s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe teddy remains in the left basket after release. I’ll release the blue pen in the right basket and approach the gray toy’s forward end, which is nearer the reachable edge.
move_to
left_x0.4000left_y0.0500left_z0.1400left_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.382, 1.7924, 1.3327, -0.1703, -0.4927, -0.2478, 0.9954, 0.495, 1.9984, 1.4231, -0.1455, 0.3794, 0.1783, 0.1711] state[eef_state]: left_x=0.5027 left_y=-0.1081 left_z=0.1818 left_yaw=0.1483 left_pitch=0.0179 left_roll=0.0795 left_gripper=0.9954 right_x=0.5078 right_y=0.2038 right_z=0.1149 right_yaw=0.083 right_pitch=-0.0948 right_roll=-0.1008 right_gripper=0.1711 state[joint_eff]: [-0.253, -9.5932, 7.5966, 1.6239, -0.149, -0.0171, -0.2125, -0.4855, -10.5368, 6.8581, 1.7216, 0.1538, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":0.05,"left_z":0.14,"left_pitch":0,"right_gripper":1},"note":"The teddy remains in the left basket after release. I’ll release the blue pen in the right basket and approach the gray toy’s forward end, which is nearer the reachable edge."})
tool
executing move_to over 15 steps (1.5s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
assistant
agent noteThe blue pen is visibly inside its basket. With the arms clear, I can see the gray toy is actually farther back near the left edge, and a silver-and-black pen remains near the front right; I’ll approach both.
move_to
left_x0.2450left_y0.0450left_z0.0650right_x0.2250right_y0.1300right_z0.1700
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]: [0.0494, 1.38, 0.7292, 0.0612, -0.1707, -0.0277, 0.9966, 0.4957, 2.0125, 1.4155, -0.1444, 0.379, 0.1726, 0.9971] state[eef_state]: left_x=0.4021 left_y=0.0535 left_z=0.1349 left_yaw=0.1972 left_pitch=-0.0162 left_roll=0.0786 left_gripper=0.9966 right_x=0.5061 right_y=0.2035 right_z=0.1045 right_yaw=0.0863 right_pitch=-0.1142 right_roll=-0.1133 right_gripper=0.9971 state[joint_eff]: [0.0615, -7.0906, 6.4205, 1.79, 0.2076, 0.105, 0.1197, -0.3487, -12.4239, 7.6103, 1.5653, 0.0513, 0.0073, -0.1294] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":0.045,"left_z":0.065,"right_x":0.225,"right_y":0.13,"right_z":0.17},"note":"The blue pen is visibly inside its basket. With the arms clear, I can see the gray toy is actually farther back near the left edge, and a silver-and-black pen remains near the front right; I’ll approach both."})
tool
executing move_to over 22 steps (2.2s)
step 275
assistant
agent noteThe left approach contacted the crowded toy-and-basket area and shifted the basket, so I’m backing upward rather than pressing. The silver pen is aligned in the right wrist view; I’ll lower onto it.
move_to
left_x0.2450left_y0.0300left_z0.1700right_x0.2250right_y0.1300right_z0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0406, 0.5858, 0.1356, -0.0551, -0.173, -0.0448, 0.9968, 0.9344, 0.9573, 0.746, -0.672, 0.6418, 0.5087, 0.9977] state[eef_state]: left_x=0.2589 left_y=0.0445 left_z=0.0874 left_yaw=0.1999 left_pitch=0.068 left_roll=0.0522 left_gripper=0.9968 right_x=0.2334 right_y=0.1439 right_z=0.1718 right_yaw=0.1356 right_pitch=-0.1015 right_roll=-0.0884 right_gripper=0.9977 state[joint_eff]: [0.0342, 0.9641, 5.8872, 1.4481, -0.1294, 0.0904, 0.0024, 0.1709, -2.2496, 6.8991, 1.16, 0.4908, 0.1783, 0.0562] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":0.03,"left_z":0.17,"right_x":0.225,"right_y":0.13,"right_z":0.008},"note":"The left approach contacted the crowded toy-and-basket area and shifted the basket, so I’m backing upward rather than pressing. The silver pen is aligned in the right wrist view; I’ll lower onto it."})
tool
executing move_to over 11 steps (1.1s)
step 286
assistant
agent noteThe gray toy’s head is the nearest reachable part; I’ll angle the left fingers around its right side without pressing into the basket. I’ll also close the right fingers on the silver pen.
move_to
left_x0.3100left_y0.0500left_z0.0250left_yaw0.3000right_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]: [-0.1024, 0.4927, 0.4206, -0.4603, -0.2867, -0.1127, 0.9968, 0.9272, 1.2236, 0.189, 0.1295, 0.6456, 0.5102, 0.9978] state[eef_state]: left_x=0.2468 left_y=0.0285 left_z=0.1577 left_yaw=0.1882 left_pitch=0.0565 left_roll=0.0537 left_gripper=0.9968 right_x=0.2246 right_y=0.1283 right_z=0.0143 right_yaw=0.1232 right_pitch=-0.1144 right_roll=-0.105 right_gripper=0.9978 state[joint_eff]: [-0.2667, 0.8274, 9.5385, 1.5604, -0.2271, 0.0269, -0.0122, -0.3214, -1.388, 2.947, 0.4176, -0.0952, -0.1343, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.05,"left_z":0.025,"left_yaw":0.3,"right_gripper":0},"note":"The gray toy’s head is the nearest reachable part; I’ll angle the left fingers around its right side without pressing into the basket. I’ll also close the right fingers on the silver pen."})
tool
executing move_to over 10 steps (1.0s)
step 296
assistant
agent noteThe left hand is blocked before reaching the gray toy, so I’m backing out and switching to the exposed yellow pen. The silver pen has a solid jaw gap; I’ll verify it with a short lift.
move_to
left_x0.2100left_y-0.0750left_z0.1800right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0334, 1.3647, 0.1791, 0.8806, -0.3401, -0.1364, 0.9968, 0.9276, 1.2228, 0.1783, 0.1394, 0.6357, 0.5056, 0.1456] state[eef_state]: left_x=0.3415 left_y=0.0511 left_z=0.0951 left_yaw=0.3282 left_pitch=0.2791 left_roll=-0.0213 left_gripper=0.9968 right_x=0.2226 right_y=0.1281 right_z=0.0117 right_yaw=0.1328 right_pitch=-0.1203 right_roll=-0.1031 right_gripper=0.1456 state[joint_eff]: [0.1162, 0.7726, -0.2803, -1.2039, 0.1538, 0.0073, -0.0122, -0.1299, -2.4274, 5.9145, 1.3455, 0.3736, 0.0171, 1.0085] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.21,"left_y":-0.075,"left_z":0.18,"right_z":0.08},"note":"The left hand is blocked before reaching the gray toy, so I’m backing out and switching to the exposed yellow pen. The silver pen has a solid jaw gap; I’ll verify it with a short lift."})
tool
executing move_to over 12 steps (1.2s)
step 308
assistant
agent noteThe left arm did not track the retreat fully, so I’ll first lift straight clear of the crowded basket. The silver pen moved with the right hand, and I’m carrying it to the pen basket.
move_to
left_x0.3100left_y0.0200left_z0.2800left_yaw0.0000left_pitch-0.1000right_x0.5100right_y0.2000right_z0.2200
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]: [-0.2409, 0.9985, 0.1867, 0.4076, -0.5243, -0.2363, 0.9969, 0.9279, 0.9569, 0.3519, -0.3023, 0.6239, 0.5014, 0.1507] state[eef_state]: left_x=0.3079 left_y=0.0191 left_z=0.11 left_yaw=0.3234 left_pitch=0.2188 left_roll=-0.0147 left_gripper=0.9969 right_x=0.2206 right_y=0.1284 right_z=0.0698 right_yaw=0.1434 right_pitch=-0.1288 right_roll=-0.1014 right_gripper=0.1507 state[joint_eff]: [-0.1026, -2.5504, 6.8855, 1.7802, -0.2466, 0.0171, -0.0073, -0.1846, -2.2085, 9.0872, 1.1453, 0.3443, 0.0122, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.02,"left_z":0.28,"left_yaw":0,"left_pitch":-0.1,"right_x":0.51,"right_y":0.2,"right_z":0.22},"note":"The left arm did not track the retreat fully, so I’ll first lift straight clear of the crowded basket. The silver pen moved with the right hand, and I’m carrying it to the pen basket."})
tool
executing move_to over 23 steps (2.3s)
step 331
assistant
agent noteThe left hand is clear now, and the yellow pen is unobstructed in front of the shifted toy basket. I’ll approach that pen while lowering the silver pen into the right basket.
move_to
left_x0.2150left_y-0.0700left_z0.0900right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0952, 1.0241, 1.1259, -0.7784, 0.0463, -0.0036, 0.9969, 0.4736, 1.9308, 1.7309, -0.5423, 0.3012, 0.1223, 0.1548] state[eef_state]: left_x=0.3117 left_y=0.0251 left_z=0.2679 left_yaw=0.0468 left_pitch=-0.1096 left_roll=-0.026 left_gripper=0.9969 right_x=0.5038 right_y=0.2034 right_z=0.208 right_yaw=0.1549 right_pitch=-0.1368 right_roll=-0.1031 right_gripper=0.1548 state[joint_eff]: [0.0479, -2.2085, 8.8274, 1.6923, 0.1294, 0.2222, -0.0122, -0.9915, -10.8239, 9.1282, 1.16, 0.1294, -0.0073, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.215,"left_y":-0.07,"left_z":0.09,"right_z":0.12},"note":"The left hand is clear now, and the yellow pen is unobstructed in front of the shifted toy basket. I’ll approach that pen while lowering the silver pen into the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 343
assistant
agent noteThe yellow pen lies on the left jaw column near the bottom of the wrist view. I’ll lower around its shaft and release the silver pen in the right basket.
move_to
left_z-0.0050left_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7677, 0.6548, 0.3595, -0.5747, -0.5266, -0.5484, 0.9969, 0.4709, 1.9652, 1.4475, -0.2478, 0.3008, 0.1192, 0.1548] state[eef_state]: left_x=0.2125 left_y=-0.0767 left_z=0.0887 left_yaw=-0.039 left_pitch=-0.1556 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5 right_y=0.1999 right_z=0.1213 right_yaw=0.1531 right_pitch=-0.1592 right_roll=-0.1125 right_gripper=0.1548 state[joint_eff]: [0.4718, 0.4308, 7.1316, 1.536, -0.7057, -0.0855, -0.0171, 0.0068, -10.4137, 6.5299, 1.8486, 0.0757, 0.0024, 1.0281] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.005,"left_pitch":0,"right_gripper":1},"note":"The yellow pen lies on the left jaw column near the bottom of the wrist view. I’ll lower around its shaft and release the silver pen in the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 352
assistant
agent noteThe yellow shaft is slightly left of the finger center after descent. I’ll shift the grasp point a couple of centimeters toward it rather than close off-center.
move_to
left_x0.2250left_y-0.0500left_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9607, 1.0187, 0.0055, 0.1055, -0.7052, -0.6212, 0.9968, 0.4709, 1.9743, 1.4376, -0.2386, 0.3012, 0.1123, 0.9953] state[eef_state]: left_x=0.2045 left_y=-0.0865 left_z=-0.0005 left_yaw=-0.0654 left_pitch=-0.0793 left_roll=0.0637 left_gripper=0.9968 right_x=0.4994 right_y=0.1995 right_z=0.1141 right_yaw=0.156 right_pitch=-0.169 right_roll=-0.1211 right_gripper=0.9953 state[joint_eff]: [0.335, -2.8376, 4.7111, 0.7302, 0.0317, 0.0513, -0.0171, -0.212, -11.6581, 7.6513, 1.4188, 0.0171, -0.022, -0.1832] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_y":-0.05,"left_z":0},"note":"The yellow shaft is slightly left of the finger center after descent. I’ll shift the grasp point a couple of centimeters toward it rather than close off-center."})
tool
executing move_to over 4 steps (0.4s)
step 356
assistant
agent noteThe yellow pen is now beneath the left fingertips. I’ll close on it and park the empty right arm clear of both baskets.
move_to
left_gripper0.0000right_x0.2900right_y0.0000right_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]: [-0.6235, 0.8505, 0.0055, 0.1284, -0.5346, -0.4053, 0.9969, 0.4709, 1.9743, 1.4368, -0.2417, 0.3004, 0.1112, 0.9964] state[eef_state]: left_x=0.234 left_y=-0.053 left_z=0.0213 left_yaw=0.0246 left_pitch=-0.0347 left_roll=0.0171 left_gripper=0.9969 right_x=0.4987 right_y=0.1993 right_z=0.1132 right_yaw=0.1571 right_pitch=-0.1729 right_roll=-0.1226 right_gripper=0.9964 state[joint_eff]: [-0.7179, -0.6359, 5.5863, 1.4774, -0.0122, 0.1538, -0.0073, -0.335, -10.9744, 6.9538, 1.5409, 0.1001, -0.0171, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.29,"right_y":0,"right_z":0.2},"note":"The yellow pen is now beneath the left fingertips. I’ll close on it and park the empty right arm clear of both baskets."})
tool
executing move_to over 17 steps (1.7s)
step 373
assistant
agent noteThe yellow-pen grasp was empty; it may be partly covered by the shifted basket. I’ll make one final gray-toy approach with the jaws turned lengthwise, reducing their sideways clearance near the basket.
move_to
left_x0.3100left_y0.0500left_z0.1600left_yaw1.2500left_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]: [-0.6239, 0.8501, 0.0055, 0.12, -0.5236, -0.4046, 0.0122, -0.0467, 0.9409, 0.8532, -0.6109, -0.0402, -0.2119, 0.9965] state[eef_state]: left_x=0.2326 left_y=-0.0542 left_z=0.0193 left_yaw=0.0155 left_pitch=-0.0455 left_roll=0.0167 left_gripper=0.0122 right_x=0.3029 right_y=-0.0035 right_z=0.2052 right_yaw=0.1047 right_pitch=-0.1356 right_roll=-0.1301 right_gripper=0.9965 state[joint_eff]: [-0.1436, -0.0068, 6.1744, 1.6435, -0.3785, -0.022, 0.5885, -0.1846, -2.1675, 6.8171, 1.6337, -0.2027, -0.105, -0.0024] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.05,"left_z":0.16,"left_yaw":1.25,"left_gripper":1},"note":"The yellow-pen grasp was empty; it may be partly covered by the shifted basket. I’ll make one final gray-toy approach with the jaws turned lengthwise, reducing their sideways clearance near the basket."})
tool
executing move_to over 10 steps (1.0s)
step 383
assistant
agent noteTurning the jaws opened a clearer route beside the basket, and the gray toy’s side is visible in the wrist view. I’ll lower onto that reachable edge rather than its wider center.
move_to
left_x0.2750left_y0.0500left_z0.0400
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]: [-0.3466, 1.607, 1.1576, -0.9874, -0.9291, -1.4528, 0.9957, -0.0486, 0.9463, 0.8494, -0.6304, -0.0528, -0.2279, 0.9965] state[eef_state]: left_x=0.3311 left_y=0.0347 left_z=0.1494 left_yaw=1.14 left_pitch=-0.069 left_roll=-0.0328 left_gripper=0.9957 right_x=0.2998 right_y=-0.0017 right_z=0.1985 right_yaw=0.1229 right_pitch=-0.1637 right_roll=-0.1295 right_gripper=0.9965 state[joint_eff]: [0.0342, -7.9521, 5.3402, -0.4225, -0.569, 0.0073, -0.188, 0.1573, -2.4137, 7.2137, 1.7998, 0.1001, 0.1343, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":0.05,"left_z":0.04},"note":"Turning the jaws opened a clearer route beside the basket, and the gray toy’s side is visible in the wrist view. I’ll lower onto that reachable edge rather than its wider center."})
tool
executing move_to over 8 steps (0.8s)
step 391
assistant
agent noteThe gray toy’s graspable center remains beyond the left-side limit, and the basket makes further edge grasps unreliable. I’m parking both arms safely; the gray toy and yellow pen remain unsorted.
move_to
left_x0.2950left_y0.0000left_z0.2300left_yaw0.0000left_pitch0.0000left_gripper1.0000right_x0.2950right_y0.0000right_z0.2100right_yaw0.0000right_pitch0.0000right_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]: [-0.3687, 1.5539, 0.7212, -0.5411, -0.9783, -1.5227, 0.9967, -0.0486, 0.9482, 0.849, -0.6346, -0.0536, -0.2287, 0.9965] state[eef_state]: left_x=0.2944 left_y=0.0472 left_z=0.0698 left_yaw=1.1607 left_pitch=-0.0197 left_roll=-0.1499 left_gripper=0.9967 right_x=0.2992 right_y=-0.0015 right_z=0.197 right_yaw=0.1242 right_pitch=-0.1701 right_roll=-0.1284 right_gripper=0.9965 state[joint_eff]: [0.1846, -1.853, 1.7436, -0.2076, 0.2173, 0.4957, 0.0952, -0.0615, -2.1538, 6.8581, 1.619, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.23,"left_yaw":0,"left_pitch":0,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.21,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The gray toy’s graspable center remains beyond the left-side limit, and the basket makes further edge grasps unreliable. I’m parking both arms safely; the gray toy and yellow pen remain unsorted."})
tool
executing move_to over 11 steps (1.1s)
step 402
assistant
agent notePartially completed: classified the objects as plush animals and pens, placed two plush animals in the left basket and the blue and silver pens in the right basket. The gray plush animal remains at the left workspace edge, where grasps were blocked or empty; the yellow pen also remains on the table after an empty grasp. Both arms are raised clear.
give_up
hindsightThe toy basket can slide when the gripper passes low beside it; lift fully above the rim before moving laterally. The gray plush lay mostly beyond the left arm’s +y limit, so repeated centered approaches were not feasible. The cream teddy’s head and feet initially looked like separate objects in the overhead view. Successful blue-pen grasp was near right_x=0.31, right_y=0.23 at table height; the silver pen was near right_x=0.225, right_y=0.13. Basket release positions near x=0.51, left_y=-0.115 and right_y=0.20 worked.
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]: [0.0391, 0.8249, 0.7574, -0.5014, -0.0513, -0.2386, 0.9988, -0.0254, 0.8234, 0.733, -0.5259, -0.0269, -0.049, 0.9965] state[eef_state]: left_x=0.2964 left_y=0.0243 left_z=0.2166 left_yaw=0.1991 left_pitch=-0.0097 left_roll=-0.166 left_gripper=0.9988 right_x=0.2915 right_y=0.0009 right_z=0.2009 right_yaw=0.0261 right_pitch=-0.0469 right_roll=-0.0174 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.2376, 8.7453, 1.6581, 0.0904, 0.1685, -0.149, 0.4718, -1.9624, 6.8718, 1.9219, 0.1148, 0.1734, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: classified the objects as plush animals and pens, placed two plush animals in the left basket and the blue and silver pens in the right basket. The gray plush animal remains at the left workspace edge, where grasps were blocked or empty; the yellow pen also remains on the table after an empty grasp. Both arms are raised clear.","hindsight":"The toy basket can slide when the gripper passes low beside it; lift fully above the rim before moving laterally. The gray plush lay mostly beyond the left arm’s +y limit, so repeated centered approaches were not feasible. The cream teddy’s head and feet initially looked like separate objects in the overhead view. Successful blue-pen grasp was near right_x=0.31, right_y=0.23 at table height; the silver pen was near right_x=0.225, right_y=0.13. Basket release positions near x=0.51, left_y=-0.115 and right_y=0.20 worked."})
tool
give_up: Partially completed: classified the objects as plush animals and pens, placed two plush animals in the left basket and the blue and silver pens in the right basket. The gray plush animal remains at the left workspace edge, where grasps were blocked or empty; the yellow pen also remains on the table after an empty grasp. Both arms are raised clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.426 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8032, 0.6174, -0.3805, -0.0216, -0.0223, 0.9996, -0.0216, 0.7971, 0.6128, -0.3851, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5932, 9.4017, 1.7998, -0.022, 0.0611, -0.0708, -0.212, -1.1966, 9.6342, 1.8828, -0.1099, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce64af4916abfe9f39d2dd601535ff08cdb229288fa8a4b29463cd265464425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a149f274f81c07dd880c24ea6661cd8942f29c4f1ef694e01bfad6621824f32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f357befd8f29bd42f7ee3062885cd987f4d379772f6f34350c5dfccd7a70062e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.651 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGAv92NZDf-FtSSPtbm5G4bYbO-Ig7CHBwwSDqWL64a1wieK-edvIGUTE_kcNf6NpcDEtbQnCncFtpgPK39Xqq_5Q71cAhKeA00vLEdwJbjs-C2rkLlC6iQlUNf9T7lF3bJWM3GRavWInrYbBUMr5itCghgHYYqtKrFnagocil-rIcD_8TxbE3D0i3-q73JRLnoFPqkvtTkzST7FMeVztkPz_RgtWdhMMNrWF-a83lkc4f9y_vAoVuqn6BHsEocHPtON6eJ23Zci7NEMMZj6ukYDzyX3JxqhXvlDWX7nQ8yZ6Ea4Ka20DDdDrbV66di9RbQRvgkwcdpP4tK-xTl3wqzZE3VgbWeyIUbrtliwXbOSd5khKxznnwXfi49A6vg5IUds1rgu3_MkRg-T4NEr3daIDgUPfhIX2A32a4LX7bDnnA7o4FKgkyXh55EapPZZQfRoBtsOEy2ZOZRGTC1sQlN2OlQWsiHQ1wSpJ9Fg-8PuHC-AEtBD9tczfXxu7RKsoUr92DT7dYSEO-7DtzjuR-Fph6WAXZkgzIGaQX_Ez_9mdLTWlZTYFmBIW4wdFCY9d_adK0mW4hiQXWCbcH8Kx_EvowRDipHS22W8AfGCTppv8jnP4PeEXhvaUnFdC4hw11-QslcNO6F5w_3OLHh6VVnh41hHGVX20m1XKaa4-8igrtTy_i1XBWqedgOWynNeuEzx-DdMPcB4TwQHyuojT8U1MGURLCF08Zb1wNKEyQi0aLe7GU5xHcyNlam2ILc-hzwvLYRscJ2pQo6JSHnIyPINVUGkgw23hgnqBN4_DkvxcS419FVr0aB2cjvUCaSO1Z4UqbhhJ69m3uOW6pmcokcSpEARW1-MnPiN8zQ5QlpsVWJJyyNtfVhgii1arAPnDFMvk9hH4tpP9kWen1EKqBKqNkr-_yMPL50vipMDB30CLfxzlQFpnRg_qQ7277vRGNBVUypHGlpljSbFPHdZb0tDql5Uc5WfYrYuvdXoHPj-kt49RP9xLoKJLLUf652FFJ4ZJxlGhgnd9adNMQmRftHz6VSalReZLTxP2JhzqtYlt5GTUDG9mQ_EQqKFqCJrmxEBrIknJci-pkLIlz6EAq1vn-KGQ9XvGvKApyDcf0_xJ9nM9iKBlloG5bBn4wANlUBcLJS4vby7xIdWWRlh19IMCMrphNwQ2EJtMa69qnjc2rN62tdRE3g1BiQmaGBk7eWppTfkIiFAkrUZ6TLHjiNxQUl7-WM-uOhP7zGeH3teL1VqfH4vWi7G44i2QA-wwKJr14kWy3oU8NUsfwNWo5B4NlWDuhWNfXETa6RrwgczLxLmqMpjfT9WcRdvsytN1WxJGamWdONmDV-VsN4eZkuZRLUA_dKxMAcQL_UPdyV1j24h_XEsVKIlxkiFpqC7uorjk6Wi0bwwZ5g486jF_9sLhtRGx1E-d9rRH7C81noOoaNyxgcW9m4iJYuNwgP8my5H4ooZPGXea0_zXEt1RS3WrjW7oSZwZGxB3bssuXrGF6_OBC6sYSBRF4SV8zY0bo0dsbJ_Gpl3l6aECw9YYbKA7MI3KLPRlyvqNWV7IKhnIrY4FyrItLbljHNqbeia7ePD8vdA5ePkkOOt1m6KYMf61zwU4ifud120XGTK-_Q52S_t5zzVkejkGvelYdp_63i7GNmF-aWdJMcr3wjqFjkS2lhjyuWTBO7PhQcVkKeTV5mG0Sg01H-p7eVeNKFukaGTWEZ6jjJ-QSv1u_lqO1SGqpTZDUynJ_az3advMBaHqlv55Vg5muw9krFu9t-wlxpdGD0NddAKlsRjeERtVQoGTG1cGBB1sDfelTlLFNH8ROAxJbXatpdzkZC8IBC9Rv7CYlPVkAkHX7b-td80rPjII318610ikwpvGq6l2diwjTshCQcL9DEAnfoGbnFyVR365ODfAI5Bp2wNRjn7fhX7mfOgBxuP7SDDNiILObS1gDFrOmlnxmiTdmKqk0B60LTqFtl349IvB8BMpJDDYqyz7k0z3KaQpwIST9fdXf3NbfhewXyC3Fhwe2DBpPVJBmPonzmmUECqe0DV9Bv4JhZc9FzbSmK0Gr4imsv9C690DIGOta7ayqBLAFeF0fC2m6nIVhsxvFKpt8Dcv5ThIAp__MiBBW_9u48qTCVXHFq6-u6uw9kUtgmf3r66Y1I-oqmnGDrPQ-IFixIBdE1Kkh6kFnThLyllFMYDRMdNAdMMXRT6yGKO9aCx4ZVHA3_UN97VzuObxVnzW5XccWl-jb7L3sL932d49dagzldxPF7fEBm2pbuDxk7Sgxyz7LvXk_RxGSXWhLtA_vFHBHPxW18jAMTKKycPHXk-RSmnxL_LPFc9pHhlyYCwRuTSIngnYGLJ2yNQedMAgF3hzZT2gZ2Dw0f1dY7KE4f_MCxxf_69BueN15hO64-fh7-Y0XAoCekcginC-EZrf540QkzsVl6uHIa_1O86jq4DLQ8JjDY_oTg5QH2erpemDFleQ31OuIwCOQ1fYSAINTNCTJjnvsx9PgqNtUK9laBz4ojKEJ4LMelVyOQe80HEvDDa9Ob9g1d759wAJMywEJGEqyRA5TTB-YWw1uJS_EMySqrY6akwTacnB0YUpKYRzzr9tu_ZZKmlRGEk2IWstSyqCRxD4RDelK0cWyRVtomQwRy6JrYsB65cPdxDmmV8aOD_qHR00r_0NyY82lQzL8cKhBLpBlOu9NtCp3YsLDqQhAl5cTFM273QzjFQsqz5vhExQZyQp7gd7hMDuitmFsWcaFvALlG3khhbbr5Zhs1sB3z31FzQPwA2ApEYraZoL6CsNaZIwKXYyDazK6P0AMmxEBZz8nFLuPzhTNn3B_mWoHMNEwm_hPMlfFTYKPZSjAscGVuD-jEtTl1ipuRSN9xxt-SeE7qgF0l8_PfXBZ_jTmNkioPrjWRtZrj2NmLhwyxv-2LJE_pik6LTLXMYZawk601I0SHq-lam3FLVJlFbP8yKb78pA5ePb1410cblXEY_mcbRE4YQZU7_zqTSIGJWxFEMLdLAyxqikhuBVpLDdSfgTGrrJC-v0PGY1_pbEmiAPNF3kjHlkjT92F3Wm20WGqncvwBWBLawnVA0MLxoeZUPTlL2MPacZjHF98PeZ64j1gzKw9OEYseEJiv9GO5aZIoewJVP0uatqOP3OySo9_vclOp1b-VQ8mSSZg28yBA-Fz8ni2GoLLo-CmNVbAkU7ISlKCdw0SB_rF6S83196kfg5_p-mTJBAajt4Am5pz1Rebp-GWjAGFAzd-uyLlAhFGL4TbX9ISG5FKUpZmB16AVn6fe3j4cMWverVVjfqLNi_wtcLTm9wNMyNRqr2tF4Lm5uNLeXQUxo4gQZEuYltdWWV1R34WwiPqE1ZZXqL4LkU-TK2D1lbjI_dcNFftwBPXw1nqjbTtkap9pyntCpn2Av6jYQs_2aiE1SMV4y2xNFLQ_AlXKAGG0jd4PuX6xtqnAstYnwVtjkCUCIT_OD-riq6mfECP4ZLvYQ0jFs-_7vhobIPHb_kXTjaOL0OltA3r3dDnqvPQ==",
  "id": "rs_043031ff92410c15016ab46027203c87d0b923731f2b951705",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.07,\"left_z\":0.11,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"I see two groups: soft animal toys and slim pen-like objects. I’ll put the toys in the left basket and the pens in the right, starting with the gray toy.\"}",
  "call_id": "call_9JDVv6TbYEjBZtpHO3Hsp2dS",
  "id": "fc_043031ff92410c15016ab4602deebc87d09a408afaf502260d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9JDVv6TbYEjBZtpHO3Hsp2dS",
  "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]: [-0.4374, 1.0378, 0.4149, -0.0059, -0.3603, -0.2558, 0.9996, -0.0208, 0.7986, 0.6144, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.309 left_y=-0.0718 left_z=0.1069 left_yaw=-0.0097 left_pitch=-0.0168 left_roll=0.0031 left_gripper=0.9996 right_x=0.2922 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.2752, 6.3248, 1.8095, -0.232, -0.0513, -0.0708, 0.1983, -1.2923, 9.4154, 1.6484, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b50e63a2f29d9095aad66b7b4c67a07f96062f9fdeee9234d63eb0e101ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e079db0142adc06e97bc3c9e67bf4da4505e000190a68214ba32ff73dc0709aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e6eccc2b367cff44a3629cc3b21b2899427f6f853509ee203f2d53d33c9dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.474 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8032, 0.6174, -0.3805, -0.0216, -0.0223, 0.9996, -0.0216, 0.7971, 0.6128, -0.3851, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5932, 9.4017, 1.7998, -0.022, 0.0611, -0.0708, -0.212, -1.1966, 9.6342, 1.8828, -0.1099, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4374, 1.0378, 0.4149, -0.0059, -0.3603, -0.2558, 0.9996, -0.0208, 0.7986, 0.6144, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.309 left_y=-0.0718 left_z=0.1069 left_yaw=-0.0097 left_pitch=-0.0168 left_roll=0.0031 left_gripper=0.9996 right_x=0.2922 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.2752, 6.3248, 1.8095, -0.232, -0.0513, -0.0708, 0.1983, -1.2923, 9.4154, 1.6484, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b50e63a2f29d9095aad66b7b4c67a07f96062f9fdeee9234d63eb0e101ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e079db0142adc06e97bc3c9e67bf4da4505e000190a68214ba32ff73dc0709aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e6eccc2b367cff44a3629cc3b21b2899427f6f853509ee203f2d53d33c9dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGA3zxJmi9kSAPmGjAd1p7ShP_0H6YlIFchfC1E_Ue9DJh--99uka6Z92Su6-FxHejoa36ZgbYSb1fhytCHbm1P2wIfQFOtsNgj_AzF7ARcvKHX1jVubAP1MWoqLOGjXii9zcqX9oR_n2vrU4cECts_urDKATRMK0noL587AtYuMjgGDCa7C51NE3qa3t7DhiAgfkB8QlLmADns4dlyL4Eb7z94ta5H_JJaXJD36NmyMb9s8zUw-zWeAR4or2xWWa9wxhizDHZ5_FlYmKdWUUT0-1Vhmc8HXQ7tFCNvSVIEWN54RDNQKlcjd_s1Fsy1D_urXUik6eWVVRYqJdiE2ShxPQ1xIIEMIhCYtTbaAGvPLs_ftU7H5F2grp6n1XlrzIzXqGHinwFPS1M-XVBCSr7ovFXPd7YuJb39Jk5zFwCa61Jr0ku1EwkgJ3TcH5HLZ2qra9vRf_x7flB4Ty30ajv81A2ZQA7jmqVgTB-yxozbD69aF1hK3Y5E4qmip7wFfvm6FEnK7H7TBnjwDLg8gVnnioaWLFdgGej4-a3j0iRCTSCueW2NAk7OcnfnIhaO0nxEDYl7dPOq_D5B77ihthz_lZFWjpbBo3vQovPiQyen8YcrHPbbypPFDhE0fntxqOWeCEwf7nPXADVEBJdtCEaqKpn1Yu3WgLLM2Wsvo8IRrbOazH4hYRjV9TIfiTpP3MQcSuZYxQMhFutP_sOUs51TwmpbhQ17lAYW2rcbaNAjRI9bfeCQf8w1mcPRim9ZRw0fGlRTim-fuRIU2rxtwVdH-hkrm0sBRr5zOyu9CLaU6cn0_jTHQ2BnX-rdenVNmmTMjWrG8inBgs2_p2_d_E60Cq4_3h_5oovtbZUMRdUB_VZ7LWCrqreWpkuJjPDOq2MtRh3RtYyYcWjnsnA7PhozkW6fd4jchugZ3y3iaZLZ6mRaCkky38EtdXEhKbp_8clZN-L_9zOYHd1a7wmbpmAJLg6UCsLb_JV_3lKBhqKSCKNPSREpV2YDa3vHXc7f0g55xC3W6-cVnR1pBGjeWhzizJjTuFls34dLtWaHFkUqaOILep0JjviUXQ3fXFYF1Ekr7nojPNILiHCrwTUye9cw5wdCc6PRXhXKhu61thYcjFTXRXJZpMAIrtjStedJ3newm5l8WdDlMxaqbUbMjLxRLD4Z-yb59e6zQPt4n5etvFOT5AZtQnlPj-QqlSIX6IE7ENpFrKyrClcg4RZHwrGBN3NJn55AMsp49z7CDy3SWGxnG6iESKWGeXmOwpLyC-ChJFOQEIhGiKy-AVti-7RJXK18RWhE5tO9xBuevTqDek4a_vwNzpQSH66ZI1QUrEcNmqZBndCgQiT4WVHbHHSRHZzAwjpHKJXqyvDH5dn7wWcxqR88lPHTcalY3RwIYeDUyUJb4ii4xLxF6ISuJN3ZxmkCd2cCz7EH70wq5S_WRCBAcIMEm673NqyeHzeiWEXGrO_M-lKGsA7HpZi9w4ApZrhM_zMJid-hBUh8EsDZH4UNpCSRfhckOc_-Z_SPunvzkzubN56n8WU9Z22kxbZFEzzZkRs8-hOWPNEiMRz660i4Wcfj5ssNRRgvEJU3Jbhev1XJSMedXt9oV7Ko-kfSWUBUfhSt4_OAUrR8UuYL1RMFJdxnDKvbyAL25aGmsCU1w_ydw0t03jaWiryPi9wFvXDE3YbIwl3JScRxwuw1yZ57vrR5laRnFc-g-IcO7cDAos_HM6VF3TPzaxiUY29acIMN1db4Mp-H_zPQtbv32WWSCW_DBrgQO9nFp9---j9CqZrM5anivcQHGb6ZMADde7PV9gT-sAxy-YlfYlMrVtZ0hRMoL0qVXBPasIsB4XIgwnRAJ4OpcTpMEcqLkDGxYwzHyX4NZ5oRnZYfXI5eqTfC5Dx1N5Pq1PvJyEwX0guk0AuD0zq9aLpWYWfUPUtFMzF0s8d8fxcPGmiJ9MNwsYMrHlNPzNLFwjn3ic8eUGyyHBrQ121s7KCllIqc2i_7PQ4zxowPAzhw8zU8Bqg4jILSU1LYAe-a_G0SK9sROVC9vGacZjAFMKfknJQywKpSNg8BcLd2YWHuOh01DAmHwWvNztBCXAgUNvwtXpNa165ak",
  "id": "rs_043031ff92410c15016ab46033668c87d0abe2f98f632e794a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":0.01,\"left_z\":0.045},\"note\":\"The gray toy is to the left of the open jaws, while the yellow pen is closer to their center. I’m shifting left and lowering toward the toy’s narrow body.\"}",
  "call_id": "call_J1mfuK9Pxt19OjNUigdOJXUg",
  "id": "fc_043031ff92410c15016ab46037038887d0999be3001c19d752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J1mfuK9Pxt19OjNUigdOJXUg",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0296, 1.393, 0.3058, 0.4934, 0.0006, 0.0006, 0.9995, -0.0208, 0.8032, 0.6136, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=0.0137 left_z=0.045 left_yaw=0.0179 left_pitch=-0.0277 left_roll=0.0071 left_gripper=0.9995 right_x=0.2924 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0002 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.8359, 4.6838, 1.8095, 0.1392, -0.0562, -0.0269, -0.1709, -1.5248, 7.2821, 1.6972, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f88b6e24d73fdd9349fccdad9d1853d907243872ec1a5f8351425d62372ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714e191a610ad9c966308d132a1f97d1a1a669e1dd9d59caa8ad14f8a6da9b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08f0b105265cee7e4ac8fe3d4aa3e1b63585cad046fedc1da7997f0b4fa8ecc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.155 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]: [-0.4374, 1.0378, 0.4149, -0.0059, -0.3603, -0.2558, 0.9996, -0.0208, 0.7986, 0.6144, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.309 left_y=-0.0718 left_z=0.1069 left_yaw=-0.0097 left_pitch=-0.0168 left_roll=0.0031 left_gripper=0.9996 right_x=0.2922 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.2752, 6.3248, 1.8095, -0.232, -0.0513, -0.0708, 0.1983, -1.2923, 9.4154, 1.6484, -0.0269, -0.0269, -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]: [0.0296, 1.393, 0.3058, 0.4934, 0.0006, 0.0006, 0.9995, -0.0208, 0.8032, 0.6136, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=0.0137 left_z=0.045 left_yaw=0.0179 left_pitch=-0.0277 left_roll=0.0071 left_gripper=0.9995 right_x=0.2924 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0002 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.8359, 4.6838, 1.8095, 0.1392, -0.0562, -0.0269, -0.1709, -1.5248, 7.2821, 1.6972, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f88b6e24d73fdd9349fccdad9d1853d907243872ec1a5f8351425d62372ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714e191a610ad9c966308d132a1f97d1a1a669e1dd9d59caa8ad14f8a6da9b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08f0b105265cee7e4ac8fe3d4aa3e1b63585cad046fedc1da7997f0b4fa8ecc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGA9IFuzwhzXwrr8U58yqHk82y8Z2RHL3abymO4AwZKvVKlUZgomW5J3GfD47ZrmzJFT6xaEW6cDkaD-uLVZXlOouNv7S5xnR_8C2y_7HXVXA5CbKOGDKp3PYVKGstrGL2YsUGO0UsWNzNF-F-IGGtGD1_KHh3QiH4-WMZGRaJI0bcz54ZEUJDgsRcYqs9TeT-wWA0m3wv6FUjGCYESiDGHqINigInzm_imvSyr7RLuWSYfhH1RvhlvZ_uWVGVrtb7zqUYHZ0ZMOyF2Di8YwVT4V40CJW_5cPMeeFoXaL8fU4P0CvTa7tnrQwERm7A0sWGcXhuFLRhyPFB08q5DwnGi6mTL-Hy4Cjr3sfHqTxRpus-2TzcTYJJNCvVG3GR_UG7RDM4g8fMjIoKyBmw2cmmYAc3zMORFpd7SwldkQ2BrW4nxsSrGsiNZ4TFPBKqmuxSe2NzfFxBBLJG-Dz02KZ5aOuGDlHXxonO_xxkTt6-mFhr_iB-Aluel57P580eCQnvsUs5EatVa5zN0jDW3QuNryHbycvF8bwYUpkhTtBGDgiooQTjM6pHR-LK1D7bWilFtsjrR37CnVlT5CDoR7NP4F-5MR_mcCVqFUSCrzYVNMt9ZnrFetFbPN043kYyv0aaYIuFJGzDwLHAYHPF3CP5vNlsJlsm7D2rrpk7ITqqtdLqRRaDnwP8bBIG6Psfi9fIVDi8gGvY0vJLCKSXPUxwl0-1UwPoRQ7bT7Zrq7jqoP0GJ_OF3NZMgdK1liknnzWvPHvikZA5HHOMHn1lzBx6ytYpwyKaorwvTd3PwNZdHyBZOFhNVbtoQyBueccA8zCRGHil93pVuDYYGOAC7gtRK6g83cEz6uRC-4jpSNwlXVVv-ZxPHtMj-BCQkg39RQUHTv_JlE8WwOCrcq66gtaQQ0WUg4roCkG_IgAuTBuh0Y2Bo4GrJSr3jT1TiXgBjY0HKEYwz5rhXlskEEo_4rPGRwZtu9GnLzrnyQ_U48DUsvkD7Mie645kIVapdX1tIb9fwJ9vIkk6kdb-4xFZ0XsEJMOjqNe-02yNhdpykeXGZyFz8pSKIS80vRDcKQZXrFTe458qY1yLvGNpCmMGZFhjQFbMknRAoMSMxAedMWhlQw9nW6zozvF30TvcM_NBeIQjNWXQRqT7nwIING1_i-8F_CV5OVPSVyP7Tnro6dX7y4eH0QTsPsp3thxBj5FIDxFoOoVIrvW7nmrDmEUbTOVFSvn8lMZCBvFBlMQz50sODbslRsLNRgeNWEihbqYkf2CV0eMddfb3ghSho9Dm9QpHDuhAaq6j5-SezgSuzU4Cnk1mSj5FwnCIyuNuCwGhHMGbsgfIY7J3_C9HTQQPjgzsbtcX4iqXfjOu5X2UeeVM8qbMfRpoOQ7DiIyGN_pp3AManHLrbava3FXlR3MKht9SgwFYYgTCvWfM0XyC9FRhY4HiOeGWvldbloVlhIT3cP1d5ojxGeBZf2Q2kaFCbPWsJIXcTud6r1CtFdyH3XpefUQjpqQEAHGfi5R4n3DQHkUIuS",
  "id": "rs_043031ff92410c15016ab4603b3ac087d0b0fdd6a28c1e74e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the gray toy near table level. I’ll close gently through the controller and check the remaining jaw gap before lifting.\"}",
  "call_id": "call_0T83DMLy6PfQycfNV93JwCxn",
  "id": "fc_043031ff92410c15016ab4603ca45887d090b54c7a940ecce2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0T83DMLy6PfQycfNV93JwCxn",
  "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]: [0.0315, 1.3933, 0.3023, 0.4908, 0.0006, 0.0006, 0.0122, -0.0208, 0.8055, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=0.0143 left_z=0.043 left_yaw=0.0198 left_pitch=-0.0342 left_roll=0.007 left_gripper=0.0122 right_x=0.2927 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.3282, 5.5043, 1.7314, -0.0122, -0.0464, 0.5788, -0.212, -0.9915, 7.0359, 1.7216, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ea13c2bad0b28b4ddcb5498030fdae4f9d6d6e1502fe1b8d69d2aca7a52d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129d550f1e45ca690872a2b09625d98ff917117a6811e12b75d5547086b69cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e87d01dca8ec260b5ca7a38c52bce294391e14bb7e36c5e10946a8f3e90051f",
      "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 · 9.138 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, 0.8032, 0.6174, -0.3805, -0.0216, -0.0223, 0.9996, -0.0216, 0.7971, 0.6128, -0.3851, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5932, 9.4017, 1.7998, -0.022, 0.0611, -0.0708, -0.212, -1.1966, 9.6342, 1.8828, -0.1099, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0296, 1.393, 0.3058, 0.4934, 0.0006, 0.0006, 0.9995, -0.0208, 0.8032, 0.6136, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=0.0137 left_z=0.045 left_yaw=0.0179 left_pitch=-0.0277 left_roll=0.0071 left_gripper=0.9995 right_x=0.2924 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0002 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.8359, 4.6838, 1.8095, 0.1392, -0.0562, -0.0269, -0.1709, -1.5248, 7.2821, 1.6972, -0.0708, -0.0464, -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]: [0.0315, 1.3933, 0.3023, 0.4908, 0.0006, 0.0006, 0.0122, -0.0208, 0.8055, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=0.0143 left_z=0.043 left_yaw=0.0198 left_pitch=-0.0342 left_roll=0.007 left_gripper=0.0122 right_x=0.2927 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.3282, 5.5043, 1.7314, -0.0122, -0.0464, 0.5788, -0.212, -0.9915, 7.0359, 1.7216, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ea13c2bad0b28b4ddcb5498030fdae4f9d6d6e1502fe1b8d69d2aca7a52d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129d550f1e45ca690872a2b09625d98ff917117a6811e12b75d5547086b69cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e87d01dca8ec260b5ca7a38c52bce294391e14bb7e36c5e10946a8f3e90051f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBDGql8Y9vt1nLA8cuqligGR7FyvkYGbK1oCfZrb0PqvCjMN4_o7dsjnrqZpzvZyi9zwat1vrGr9T4tO2q9mbOFbgI0ywKN4AKdcSvB7SG5UDErnSXT1J7u2LIg2NwGvf9Yr1-uzZIa2pDGwlagskXACtu5lAAjxidVkb_XKW8U_C58dv4kKjKcRMu1sHJWsLtDL_AxnTp9amep4cM5QtlEvsY9GA1cNAJQBbvK6b7-gpuFdn7PquOBig9KfRAtKX1na5dQG3FIOWOtwAWqbW5IrDLh3_kaBtygOgN_V4ysBZnJMB-XHIB_vAIvPi0nWSMcApo_kJgVhBWznM0DW3ktdyVtdTilX6mIYYNSx-edwKzAEChoqWZTxaKZwFY9dc9vC4UH0iVnE4cTDl2Gn_-89CIIL2HyXeFG2hCJakwjkt6a_diO1bro3bCrWLmJo91l8z2wjtooWwTOObT5077xgiknMFvkWf-OwSzaHJzen7Ov_vCQLSyYt8PAwi9AoscAvi6ndoLYAcWzlS3fYHErg1zsoBR0pR2ORvVk2f_wdQKH3xdQTIPajEHhGretoLl1Vj0B038WalyfSFb__AzIAmn20I4HHq7nv0vKjsTL--ehocytwl1dxHDrFSh2EgUUoPK-werEUcB4TtesGA64j0QldiUfezB3OEcBd28bvO3LPUlbKNYSqS5QbkgOORnEvd7eQwOlsQtyLby_BqQNk3-F68fbVeHoPGtnFHRrS6DcqAhDf22lGHjaKDwsZItzQLB-Tvqe7l3QQzudwRi9RbQYKBub2TPpvwJBlCc4nJEQA3g7WtTxacscXYg4vjnQ3Vg3j-AQs9fCk8KU56DawQdI3WTquIRvBsLUucvgRqnDXwWnLqmC6L8X2brHIdt30jAPjQ1tgXMGqpzyCRF-liom5KMY1rc3OPtyH2gZfdzEI7Bmj6zGe9fBOhxHq_PiD0B7-qWQ2vwdXuDKkSJzlSynlWRvgJXTFUcaClX6YGqFhBghl1xNxcx64COQeE2md43257RtLGTwDPgA61ZQ6U9u8TuttZ42pRZg2cTO8hXebzYf3RK3LKyf3ZgGZtthaIX5SFcpCSzLA6-6N8fND4RRHR8wsLeeimDISMhkBBW87Y-MeSfnKBedBCOzlzZPRN5mUwYqQ7KttXz2eifsesbWygUL52Mkj5A21XrxVPVbnCI7oJJf5BAYOG7NvXKMlIQu6OvgNT5egVY8G4hQlt_rIxk02afSEtq8Tnih_dSgvygtwurFDuP0stsoCf1LwVePt8GqzFQBF2z6y6RNhbeqwTfVeyQy_Qjbn-ToShMOSnkocKIoGetYqu7dFafbUmjEadyj02TI0-QZissWLO24AtkjVYoEFi-aX9CpSQwzZjkngXve_V-IruhfS1zNvxTUGHb8WVxEkXSz0m95sgsnftRFno5drepEtHqY37gt6ahogthZMyKi77w4mNesvaEDUpNn4uqN7CbXi2kuCzGrF7ZLodHYBth-vL53G0Y5wf5gmqn8HMnlKrD2LRg5ZJ__UGxJlUL-gtpKvOGs8PSp3P55A2b1zsB61yKw84AWOjppn4LjtZ3T9JbXRm7SooD1XobZ6xNw7DW1YUxskDputOWkosfY1AK4fQTeyyMhUhDTxpTPLFNQsiu-71yjfTsS95n7Dx8NMXcvMiYFX63FtnQI6hhOCCH16Xxm9MeQMo8piz0K_DH2hLLJW53EriyfzgEJcTVywExKRQ3ft5ln02p59PQLbpin-BQZyGvUIjc6r2KvklApG6shUMV5hyzEwsKiaZEtNiyR-hNh7HcOGeEZoBSuV32-8UM2Nuj9ZWY_CTAHHEK0Xnz3geMWxg5ZJW97Tvyms-y6ZSmXKhkuBYoMc31lJbNXGhiVnqcJA1zqnELWhch4zt33CV1BDi5t4L0RzzjBixo-Xpe57FMqgYE7drTID620uTZEQPOCbo_LiUPQYWPfcZ9jycsQt3nWUyu0E5ZlWbdP5VjfD_B2c4M-prPrtO1MQLThYje6nH18FlFlvIegaLIPOwzq",
  "id": "rs_043031ff92410c15016ab4603fbcf487d0b4bfae18d9e5dcfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":0.045,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The jaws closed fully, so that grasp was empty. The gray toy remains on the left side of the wrist view; I’ll reopen and shift toward it before retrying lower.\"}",
  "call_id": "call_aPTwgUrpirdHDG7ZE2o4YWXr",
  "id": "fc_043031ff92410c15016ab46042690087d0be0c66f2ce2e334f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aPTwgUrpirdHDG7ZE2o4YWXr",
  "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]: [0.1955, 1.2072, 0.3027, 0.2836, 0.1223, 0.0799, 0.9968, -0.0208, 0.8082, 0.6136, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=0.0454 left_z=0.0606 left_yaw=0.0385 left_pitch=-0.0494 left_roll=0.0009 left_gripper=0.9968 right_x=0.2928 right_y=-0.0004 right_z=0.1743 right_yaw=0.0001 right_pitch=-0.0351 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.3282, 7.6239, 1.6923, 0.1783, 0.1343, -0.149, -0.0342, -1.1009, 7.0496, 1.7167, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3c66996726ebdbba7e563bcd04ea5eeddacc056e02eb035238d58b8d8bb789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14549b21b137c66ea7f1e758424b6df3577fc12d1fb998ab9c9954c1ddd8fe6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b9a1361c9181927594e94d8cc0abffa45648545d51528431752898786b8ae0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.407 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4374, 1.0378, 0.4149, -0.0059, -0.3603, -0.2558, 0.9996, -0.0208, 0.7986, 0.6144, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.309 left_y=-0.0718 left_z=0.1069 left_yaw=-0.0097 left_pitch=-0.0168 left_roll=0.0031 left_gripper=0.9996 right_x=0.2922 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.2752, 6.3248, 1.8095, -0.232, -0.0513, -0.0708, 0.1983, -1.2923, 9.4154, 1.6484, -0.0269, -0.0269, -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]: [0.0315, 1.3933, 0.3023, 0.4908, 0.0006, 0.0006, 0.0122, -0.0208, 0.8055, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=0.0143 left_z=0.043 left_yaw=0.0198 left_pitch=-0.0342 left_roll=0.007 left_gripper=0.0122 right_x=0.2927 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.3282, 5.5043, 1.7314, -0.0122, -0.0464, 0.5788, -0.212, -0.9915, 7.0359, 1.7216, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1955, 1.2072, 0.3027, 0.2836, 0.1223, 0.0799, 0.9968, -0.0208, 0.8082, 0.6136, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=0.0454 left_z=0.0606 left_yaw=0.0385 left_pitch=-0.0494 left_roll=0.0009 left_gripper=0.9968 right_x=0.2928 right_y=-0.0004 right_z=0.1743 right_yaw=0.0001 right_pitch=-0.0351 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.3282, 7.6239, 1.6923, 0.1783, 0.1343, -0.149, -0.0342, -1.1009, 7.0496, 1.7167, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3c66996726ebdbba7e563bcd04ea5eeddacc056e02eb035238d58b8d8bb789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14549b21b137c66ea7f1e758424b6df3577fc12d1fb998ab9c9954c1ddd8fe6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b9a1361c9181927594e94d8cc0abffa45648545d51528431752898786b8ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBNb5xEMWJJTp-hNi7Q_qH1WgLQbFHObAdvRakx7c-zv30dzGWl2qd5g4XLfsyHQL8_Binuzb-zDyqUKIp-Zgks35K3Eu776L_RKlYu4Qne9lulZpK9aLn-dVtqJYXgiEOCSwENWWW5pHEl3_jisNvR5wL6dLbPi0MwIqHc8a8OeUIKoM_QoZ0-n91EfP4_fIDpHMyC9K5UV7V5nJEmoC62cvHh1-ZgoKK_a2WWHcYOJqfQ8XTci-iUn7aLAZKoQhLTpsa-mntOqmZB1k_iAtyKoBJja4obG8dm2bUiU0Tiq7NfNtvVjlNwiIAjicDvwh00u7rWUOJGauZ4lCDjLK6gR0iLjLMd8pHcerRx3eqZZUskJ60JdfL3F76w98JC4co7kb3FDlIHKjQoB7i0IBFAzmnQgUrdSAJYEOdAUjBCigURCMHQDTTAd84m8H-SCxFJu0lhVdvrd89mD7IQrTaLVr2ybKR99Jp-UvO_8dcvKJpOvD83vv3rlzKIOX9bh9l5j7tKGcVvCdegg0kAoeDWldOkfuWsHWYIi7jxNHN-xTiqQqD_85A8T2XvZnwSzEsjMqls9rzMUx3SuaT5Tfo0SdbKeSrbpZ973OXF4WiPMDtJle3VKRCpnkRQeEbGfe1bX5u7Ot-9L34ARcxjGnSplMSgeatAfvJEpmGgfYnGYYVQVRpRBQS5PgurZHczo0owk_lY47EdPOu7q7GWge4eW_YoLlmAc7Z_vyr5Tb4kvKVIK2UOFpugBz92nf5UiXhPq3eIUbWbO43zePL_MllnQU_3T_FaM1jsNt0K5q_RfX4HdxVzAkddnOk_-sK4C7qMO2ATowbg-Sc531n_9zfE5AY467_mxynlDJx-93AsWnRlOyVT-rr4rvOcjjCTMt_kOJWaD02xcm0U320OJpeXIf7DiHGCNZkuycJkV1-6p0DjeFvOl94w1_BzBD3lpRwLRk1Bx3gGMrPpkuLZgQ7URvqprRjoJCO9gF7bU56f9-a_5PVn-RO7CyDQOiA9IAgR-ayU6btDy9oGa77iiigz0WlZdzcOyMVIQRJolezTUbrTvzC9IqYo9Wiz86j0Qg2zj9YokI3I-oPQBf_jhqy0SVVMkMZs9QMJxQTGRfwbDeBKXw7ev0R49aBH3iCLsel92a99ljUZP-UmrNUs_i7OYBH5oumq0oVvTshR6UIJWJPql902649YlT2n8OTXd4chzgZyZ1NyxZV9Nxgi4IVyacUZzs2In-8oHQsh60B8F54gklW1UFdal5wwW0jBAwiUHeCEc94SpCFYwqUvgYYh_RuBeEYUdxEVjRIG7zvrIRlX8n8Qpqkg4TKrmvRxIATwMFhcfgU7Ns2DQ9p8iv3IUr8EloWaanYrdF20MbteQ68cFj0JJhXE1qrq98yrkeA2e3GqRNM-_uekgbVOAZJaFT0-FtXTuv80PMJ4Kzo0eLUzTHLJI2MA5ZcWEGccYpJly45RcguA9keLQ24KF1C-DY16Pjn6HUkgaFVEVCLk2I6fXESv-V4rnnNtz0SiHYVyNLmkJ9Eo2WlYj7m-U2xPw404DodBQk0TbvA_OLKYyP3FGIocSftd-dwubtviuaIrzpYgGwVQLYp11F1r2Wahi-lBu4ERHabAdIEfrcvXpKvjCMHXI2hafALkTBxZMR909cFJFaL1sYLLm1OdI1YUWE9GGOw21s743oHRdefkzPjjHFkiR8YVL1PnoQegYPaV0x_lt6xTDkARioRwnlnj1MgvrEobytpmmjE8TNToHBw5bZ1HC-2CpWSmqCUB2Kvp54USVU-KrbZmBQxLLQR-3WjoVSsnU-hBIENWcznMzLWHEbzGkLK4h4SVJC-IQbGwlWh1O1gWf_l0ZTk41wTCGl9Uab0qnRewhPYBV7Kyfqp0JTDtApv8DwWC6zk0AnjmU6AwwSxWNb6Tz8448d3Ml8M9CO9KhMNR-mJugIczDCVFGT6nACcAFRNU3zQvpn59P5tjWxBb5bvbsDeqsxVkudxSVvnjspFWHzT6U1uSaFddRiP-Gw0Pigr2OfP8mq2o5i2DiZ9aRQj8F6pYIooapuuemL8TY7jL6UpxZhgqrzcAv7q8nM6liHNr5AQ321v_l5KNHq4Mf2gjWiMubsev0Oa9ac9j_kge1nNLlm-IlEdzubNQXDI_XCD_0Lzxu41YrVv7l6PdTHWeqGxjfGzNtU2HTwF99pWXqCnKrotFfc2O_moRQWhzDKLpknSOl8OidlLDTdJUEhvKFBTp_8yXm0JlcJpouhKc8Ee4f0vd3OZLYubqy0yZKpTeEBuz0ec9gT8I_nvnCoTiE5P4QAKQaQ8ao0rhri4-uSGPKb0y-nVxmft3Wy6NCeD4HBcnuXa84f-Y7eVzsWv78P1rx9fX-emKtLAz4j5Ktiom0UK4fGTuCf-yN2Pad_4MKvr-JvvuCsIeZ5S8j_6KnxESNkslkGNpbOnu9ey2EpW1Ljgxuh8krsAXftDP0X6sEnSTCOuARW5LLQYZwilYGWLPIOq2FEzfzjZkmWPYfBUNLCWDSOjrm9rI1MDPo2DC3s__dL1kYYMWRQYIfrqlMIyMyx7ZtGx-cP7ZWHcZ4W1UOO2OeAqxdXwT-i6i8NiPhy89oMhnx7OrtB3sd2IvB7z5hYrW6HMTttDS7EhuclOMuBdEprPwM9LtfAMT5jpQOECOa5R9LjHjocTkaVjVyIxU4a9d_sMCjwgltT4ZsGj0wcj683uA-AxQEWCgUUq03loC-mT9ny-zGB4wYVCpvLkWR3FHCxDaeIMiB6LKvXUcY63jGoR76-Vc3IoRrAOAWT3NWV4iqEyYuRuXGvBUmLXkhGf0atr_puXDZoUrQ_-GZFqh1wq17tIEerRvOU57RFbOx_VzKqB_gpXHnR3jY3LbdC2S1v5e3goEApbe7AkzQUzoxY1-G5ZT1yx8Me5hWPbradDIGkdE8B8ofx23dGKa8GZVtgONpAc-HaYj9B4uSdZXZCs7isgqoVeK0-2MusPysQTe_HUQRr-1bHoPrfiMyAqG0R5ousOQlhW316NdjViuq2UsQRL_pEJS8bwMK9CadO-Z8V2veqAQyt9VJmW-a7_IdUr1_ugUw67DfU_cJEhCOWbuQhQQ3Bmcj4zAP2PIBneG",
  "id": "rs_043031ff92410c15016ab46047271487d094dd4ebb18983573",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":0.05,\"left_z\":0.005},\"note\":\"The gray toy is close to the left edge of this arm’s workspace. I’ll make one lower approach at the reachable edge to catch its side rather than its full width.\"}",
  "call_id": "call_msX7bVBXCGiSxpjdfCmHF0Z9",
  "id": "fc_043031ff92410c15016ab4604c9a0c87d095749704a7df182f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_msX7bVBXCGiSxpjdfCmHF0Z9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6238, 0.2947, 0.7181, 0.1345, 0.0933, 0.998, -0.0208, 0.8104, 0.6136, -0.4084, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3493 left_y=0.0462 left_z=0.0117 left_yaw=0.0142 left_pitch=-0.0385 left_roll=0.0066 left_gripper=0.998 right_x=0.2931 right_y=-0.0005 right_z=0.174 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.7915, 3.0701, 1.5116, -0.149, -0.1734, 0.1148, -0.1983, -1.1692, 7.0085, 1.7314, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c0aad57032896b547646355f232c7cb29e8a54e932b5b6ad11995f0d4addae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a97ac504194aa167d00c33c3d895f0f63cd2175a133f74c9e0a498a70db96bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c9b31e565d4887ada68c3f90f41945522ed8651a304e62f6c7c7359d940eee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 4.387 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0296, 1.393, 0.3058, 0.4934, 0.0006, 0.0006, 0.9995, -0.0208, 0.8032, 0.6136, -0.4107, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=0.0137 left_z=0.045 left_yaw=0.0179 left_pitch=-0.0277 left_roll=0.0071 left_gripper=0.9995 right_x=0.2924 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0002 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.8359, 4.6838, 1.8095, 0.1392, -0.0562, -0.0269, -0.1709, -1.5248, 7.2821, 1.6972, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1955, 1.2072, 0.3027, 0.2836, 0.1223, 0.0799, 0.9968, -0.0208, 0.8082, 0.6136, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=0.0454 left_z=0.0606 left_yaw=0.0385 left_pitch=-0.0494 left_roll=0.0009 left_gripper=0.9968 right_x=0.2928 right_y=-0.0004 right_z=0.1743 right_yaw=0.0001 right_pitch=-0.0351 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.3282, 7.6239, 1.6923, 0.1783, 0.1343, -0.149, -0.0342, -1.1009, 7.0496, 1.7167, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6238, 0.2947, 0.7181, 0.1345, 0.0933, 0.998, -0.0208, 0.8104, 0.6136, -0.4084, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3493 left_y=0.0462 left_z=0.0117 left_yaw=0.0142 left_pitch=-0.0385 left_roll=0.0066 left_gripper=0.998 right_x=0.2931 right_y=-0.0005 right_z=0.174 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.7915, 3.0701, 1.5116, -0.149, -0.1734, 0.1148, -0.1983, -1.1692, 7.0085, 1.7314, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c0aad57032896b547646355f232c7cb29e8a54e932b5b6ad11995f0d4addae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a97ac504194aa167d00c33c3d895f0f63cd2175a133f74c9e0a498a70db96bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c9b31e565d4887ada68c3f90f41945522ed8651a304e62f6c7c7359d940eee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBQs86F0JBUYOyyu6xL2E1anu0P9bd_mzrXg1VFqgyD9_8BxyMd7UrcLVPWoI68o2MV8HO7HwRsp5RM_NWmOaXP72_394tsuUySFZiZgusH6EvxNy8MlXU1UITokF21ptYH7AINyarWJ4ThWkBdHUuMbCZNOiCnUUfC22DCT0Nj4RACZLVhgMJu0d6vRzYaFyDeIuZxNz-80aC_kg6sEjjG2LoLuE6BqItNAKZAU-3fcb1TsUImoBlvymEU14fQbgGp0GLaJMl9Ta4wUSEEf5UXJL9h0eq0TDcpvJ3YWn-8pxAVBMWcKPdbPsKipF-SfEoKORBD51hagg4aPW5oBLAwpjZyfI3EGmwganjjlI6OBnkVWeQ-CNVZ4XxsccRWRBVXS9t2tGoKl8RSmkY8g72K4_HNATYQHKIehcbiniuXNF5ozwrxtZvdQToG51vdcOIvZ-dV_36gdyVLia2J0ptEEEJE4Ag2ffSG4j4a3a8k2qeQS0RmahmFNXXcbNCe-jQeWumEgZ22hQsYTkEe8OPAOy0uE6_z41nbLxGmDJXZAiCsCM_8H8dApUTMtppR9Hw_-5F2C8dbjOFiMV8BBxdt5ME9xdEriSbloWVNakXpJ-ELfa_YsZSufbsp3dT3tnf11G36NQhWfoeNTlhg5RI7ZAjNfhwkn0Y9TWZl_l2rQOzz4GdKN2NrJ_jB2vMzLsIcqMB93-xsPBEsOIXf7jeNCOwkQIvkStny6_G42BXKUmKpn9LylAFNmwV9CX-UihbNj81x-iYWUEFJvsqFL8BbjqnK_2pnZi4tAe-VekeWgjHkd7yG6-FIBTvd9hRKhCW-bT7vhMoPGiFDmd2_LBXvILLIcBFDEvC50hqYWqGUZcUwBtcwf7KsmSNd1Pl7JWfqsFa0NKDMoVJ7j-5OzuX-HUYzbnzyZUcsIXDLKmFQ_VGZVCgh3WOtAbfpmSS2RbxeM28G0wcPl5FVqytzoUDGJ3Yt9WpbKe4L2RWSrnFGb61f8gZmfA2iv6q1DbIoNli4diJfZ6-FfnGlg-VmcCqeTSyxUH9YygsHmsYVghbqxoQ8hRwIz1bLhKNDI-uJ9F4tTZDPl1s8Qj2KgdzI-BSPQB4XQHc1h7g7HqDmJpa9Pa7Zw8Ptj7qRK6ZloNCGKWvdmcd6w9gkW7glDWjdr89BnXYU8i9EZdesm0llu3Od48b1Z319XczvGvp-eyjGOc6-tWFSVbYhCjB2GAyQ1r-WHBip_Xb1OufvjojhC8oam1H1ExTL_F9TrgBRdKf8T3uc",
  "id": "rs_043031ff92410c15016ab4604f88f487d0a350da59eb637f5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are now at table height beside the gray toy’s edge. I’ll test this second grasp and use the jaw reading to decide whether it is secure.\"}",
  "call_id": "call_jkERE1xmhE4qzg6lPB2zVQyR",
  "id": "fc_043031ff92410c15016ab4604fe7a087d0836e5ca0a551b631",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jkERE1xmhE4qzg6lPB2zVQyR",
  "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]: [0.1886, 1.6402, 0.2886, 0.7204, 0.1318, 0.0898, 0.0124, -0.0208, 0.812, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3457 left_y=0.046 left_z=0.0048 left_yaw=0.0182 left_pitch=-0.0587 left_roll=0.0018 left_gripper=0.0124 right_x=0.2931 right_y=-0.0006 right_z=0.1734 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.612, 4.4786, 1.6532, 0.0659, 0.0317, 0.7497, -0.0615, -1.1282, 7.1179, 1.7167, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba314e80db1731daa319324ee997647e46bb498ba5f04944a1460ec0eedebdff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08f047507ebc0eb56b1def7dc03b24f9d5be1e59597e2ca16c75f344f600fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba2460f8cc8d673faf89b45ff48cb4cc8b8f5f06a6f294f4af4009f3fa0a9e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.73 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0315, 1.3933, 0.3023, 0.4908, 0.0006, 0.0006, 0.0122, -0.0208, 0.8055, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=0.0143 left_z=0.043 left_yaw=0.0198 left_pitch=-0.0342 left_roll=0.007 left_gripper=0.0122 right_x=0.2927 right_y=-0.0006 right_z=0.1751 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.3282, 5.5043, 1.7314, -0.0122, -0.0464, 0.5788, -0.212, -0.9915, 7.0359, 1.7216, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6238, 0.2947, 0.7181, 0.1345, 0.0933, 0.998, -0.0208, 0.8104, 0.6136, -0.4084, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3493 left_y=0.0462 left_z=0.0117 left_yaw=0.0142 left_pitch=-0.0385 left_roll=0.0066 left_gripper=0.998 right_x=0.2931 right_y=-0.0005 right_z=0.174 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.7915, 3.0701, 1.5116, -0.149, -0.1734, 0.1148, -0.1983, -1.1692, 7.0085, 1.7314, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6402, 0.2886, 0.7204, 0.1318, 0.0898, 0.0124, -0.0208, 0.812, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3457 left_y=0.046 left_z=0.0048 left_yaw=0.0182 left_pitch=-0.0587 left_roll=0.0018 left_gripper=0.0124 right_x=0.2931 right_y=-0.0006 right_z=0.1734 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.612, 4.4786, 1.6532, 0.0659, 0.0317, 0.7497, -0.0615, -1.1282, 7.1179, 1.7167, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba314e80db1731daa319324ee997647e46bb498ba5f04944a1460ec0eedebdff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08f047507ebc0eb56b1def7dc03b24f9d5be1e59597e2ca16c75f344f600fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba2460f8cc8d673faf89b45ff48cb4cc8b8f5f06a6f294f4af4009f3fa0a9e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBWzYusIQjv-sLyEH7tQkCVPhTYucL6bEzcMlNZyDNik8AfSVW1XSApeITymF26DcDp8u59MA2L1Kmedzps448h_rrPCmHXtPsfccCc1qaEIsHB5GVzevyCqk1AIHBqNzXljqEDcR8gB0FtltxJ8-bLbSOcDZpyF8Kjong_L_iVaUFXb6I0PAsB0MrBmdo3oEevPOEaKCxCRxr6O1hbXjPCQk3V2igln3mbaIRbQutKvG9IL9mgLHUh931fdcAOZ-5374sIa6TQQ6IbSsfjPAmC4tKu6GYXT9gbrOTemCz-U09cbjyqUFN_UN1snk2qOQcllzVgSjUA6wr_JJ_jLBkZIZDg4_YNs2GiNrbQCe3X55Pq4lx-r8ISSwzKtQ7OgiW01lmvp41an_PxVH-w1_OcN75T-kHHNdjNnlyc-mK01MYGfXExFeOzBUWFDBhZRXA1FsGmGMm31BtcnvfjYHrz6jEL5lzilJS5ASt8lAa6YyBdQ7tc_uGUjTgWFvjcUEi5yipoacYA6k4fIuR7n_Cmd0EvgETUdUXxco4fdS4ktXx7bQycGheHobevkt7eoQ_fr1cuCp2bqOpAfRnBZAG7EocFbUVYHQ0IR8yfr_8SLlD4Yt086pT_GupgdpvK_fhS9S05kSDqOTcantqnrKtuLr2dzRCf4pnPZKHYcpgddqfrKH8pvBSLxX-62UaXBrzct-R08FvSjfyi_uENJvBl-y8DUBwa84Z7jgHfGiiIU0di_yK6O0_9sWKO41xKzRLbopODfw7yo8K2c1KEXj5ihmkUunnfEYJbQf8cLVOroaiHYNYp5N5bW-bCBQCu5XMM5HQjI3RIMkCShx9WN4i3wmlvGSm89spLEvMCNiWk8gUM3csUbnewKPGXPfB7tDUXRJqvHGqBeAuAIWO9oXKiApiZLZJX7IPoi9JxuHSoiuHegirVQnsFDBYpNUtcCrbil6tJz_z16KdTqr7ZMofxa6ZqbNYzdlPjPstvg049CyL3Wj4oKCA43kLYoLqHhI_ULl2acnIyeV7AM7zU9Ecli_1OGIIqMsQ-VYNm01D7eYrGzb7SbW0UgkiGG_u0_F7SF9c0jNzsnnG7y79-J3_9ybJuFVrpqeqMdvSnrcRQW8_0jLPUOj_joHd1I0T96pqjnblB2CybzowFeyzXyiavhNaZRLL_4TLds0JdsR1no5G7-viKAuo8Ig_9mb6LUAg1RXRkJH1KBIgwJqciWLV1vkbx5hm9-tAKpK81oKGPH-1QZ_LG1wgD1lXUmFa08gR_lKK4D-71uNZ6xgZKZxw0sxF57HStvIEZ8CbpivgBJGhtM8y-UdTkJfYuwg-wS_QXZFsfSnAGinZOHZjXc-hI0AE77lTFm__C_Jd6eE7kHLDRBE-Vp92haCwD5UWX_areYVs2ShEi1kwkJZyouaujxnCMo3vhsK5Axse8Mqlh5QaxN_hpA565MqxBDx-Ojts1-PqLeIHwVvsdSOiT_hd5L_1bGeRBTze6vYDeS-DSIOqianepjhr1XIGii09jVr9hO3PpSsMpYWPTB26WahfrjnuHjW6t3qAZeCqwetdHaL8uLh3j-0tLGx7r-Y_pmF31xumF103h4q6gl3wFj84klEpdrvuFnt6OwRkAaKnSNKOxN5Vyfi63d63vYcqoWYXM9tsu7pT2q27BoRXI4gQR1IO9-6Bto5m_W2VYX7W8P-P_pO8c352C-adwe2W4YSJEfZgWjIpbmrQwcZc0IXyDjOEEnzqaCssUi3rPB4tdNWVpPQwl0saEC25m7ARCg_PSoATFaLrBHP2In6S2Vw6VciWae5l7w1kDJtk0jTYbg6ZWIZWVeXVWqQRLFCA-kFC5UeeJPkk-ZCx_TdDtisZpxA==",
  "id": "rs_043031ff92410c15016ab46053290487d0b773b3f4203fa08a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.15,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The second close was empty, so I won’t repeat it. I’m lifting clear to see the toy positions unobstructed and approach the central toys instead.\"}",
  "call_id": "call_GKgUh21NpaoMEyHUGKa76vrs",
  "id": "fc_043031ff92410c15016ab46054eda887d09a0fe09187b46a28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GKgUh21NpaoMEyHUGKa76vrs",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.0584, 0.7914, -0.6994, -0.7609, -0.7952, 0.9988, -0.0208, 0.8173, 0.6132, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2388 left_y=-0.1545 left_z=0.1725 left_yaw=-0.0035 left_pitch=-0.0723 left_roll=-0.002 left_gripper=0.9988 right_x=0.2933 right_y=-0.0005 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0443 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.0154, 8.253, 1.0623, -0.5788, -0.1343, -0.1538, -0.1436, -1.8256, 7.0222, 1.7363, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304cd1f61db9cc095278c25c99cec027c914d3023766a9dd92c9a7b80d48fb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800bdcf47324fa6b418ac08d996a4792ee18865e07cca589d1c1251f7a90c455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4159141b1e3a029e74e6351ae02045eb1498bf58a9e21108e59e0d65d1244026",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.645 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1955, 1.2072, 0.3027, 0.2836, 0.1223, 0.0799, 0.9968, -0.0208, 0.8082, 0.6136, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=0.0454 left_z=0.0606 left_yaw=0.0385 left_pitch=-0.0494 left_roll=0.0009 left_gripper=0.9968 right_x=0.2928 right_y=-0.0004 right_z=0.1743 right_yaw=0.0001 right_pitch=-0.0351 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.3282, 7.6239, 1.6923, 0.1783, 0.1343, -0.149, -0.0342, -1.1009, 7.0496, 1.7167, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6402, 0.2886, 0.7204, 0.1318, 0.0898, 0.0124, -0.0208, 0.812, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3457 left_y=0.046 left_z=0.0048 left_yaw=0.0182 left_pitch=-0.0587 left_roll=0.0018 left_gripper=0.0124 right_x=0.2931 right_y=-0.0006 right_z=0.1734 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.612, 4.4786, 1.6532, 0.0659, 0.0317, 0.7497, -0.0615, -1.1282, 7.1179, 1.7167, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.0584, 0.7914, -0.6994, -0.7609, -0.7952, 0.9988, -0.0208, 0.8173, 0.6132, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2388 left_y=-0.1545 left_z=0.1725 left_yaw=-0.0035 left_pitch=-0.0723 left_roll=-0.002 left_gripper=0.9988 right_x=0.2933 right_y=-0.0005 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0443 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.0154, 8.253, 1.0623, -0.5788, -0.1343, -0.1538, -0.1436, -1.8256, 7.0222, 1.7363, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304cd1f61db9cc095278c25c99cec027c914d3023766a9dd92c9a7b80d48fb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800bdcf47324fa6b418ac08d996a4792ee18865e07cca589d1c1251f7a90c455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4159141b1e3a029e74e6351ae02045eb1498bf58a9e21108e59e0d65d1244026",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBgZZjvCF6pzRIhCrEvF8Y45bqGeHVQErkQdLJ0RorN1dODA7iSGcsoSAmGaVhl8gZw-xPSLt7NtHITlcPmPMHWDP91djFYqmTC3wIj01hzeTVLURLOXFRoZoR3394XhBIToaSoCyI-cu_wGkcM-fsRLXACzQ9uHtmm2fbWvVMYf6OwIrAHUhxd7-eCPb8bApLVY2bCKKU6Jd-WNWOGc5seTClCffH0y5pHTk4ywZIgevSvunLSwdyBp6veUci-_bIiwwsKGxpzmBTY005WfZ2GYbERUyUFfgpG3LjQ_xcl-mhh2Af7qXj3yBjVHB7pU291HFQWXrFi_p9d1hp5IeFGz0ry1qETpoyPqqJLxNuIlVG5_pX2zw8m5B-cpnxQHXIil_8sHc_AqDTXSvfj8KgaT_XfS4nlEmcuckiSj4BkMi5HtRspsNyrK5xYi8-doP1dxPdKGov4dxaO3rDGXGlmfhitOCL7lTvYG4DDGB3YJVvoFnX8FM4QcKJybX0B2w-Mq9XsgTFqMfsZD47BdUOmF42KyV0JypLmGuq37AtaiK1qdgVkDSrYkJHLk6QourQpwYQJqA6H8PrKpnQl0AFP4-jRoGmgV1EEfT6QgF5AY9J5hzcPvpMyf7qMLmNTF6qw0SAgwj7iUc0PJo6OkxsmM4wcJfYN6TvfETS-afZWpHTXBjFGZ90G6fru1tFUUB2axrzdE2J-vzr_U3nGnKh0KGGb6-fhexJcjQaptcAtW5HJQbwe6QH6zLmp4itaHX7xdcLZqwcLDq-kE6zpKQJ2BMdrXiqemr8GlSg5L3URfuaA_yXzPTeaNdd1F-lX1ppKdyczQx8tnfXAfq-31Fc7AbMHuEXXLnG-fjWxhusxA9k7Q-k0V5ttA7RBtb4Uo9FzF8tD8kBgfYF1CEpWIDJjBH9YDWh_zngF1D--Tc9Z-1KQ7Ff6j-9GsSpqWDqwyzrZTVFf_xwG2skiqO9YNMlGVIus8-A4XuwAnLx8WRDRZ3nFcA-jw72xUsJp3BHmw8b4X1uLQNEXXoCylSJuuE5AiTEvLtlbj7cOKfTnzOrSWBPOw5Qk7R46KQmUIhFkJMsXaPJOkbofRfOm1cCv1HAul0s_VobJIc3Lbwz9sq6bBx1isijvE11j58nIbn52esa3MgR17vzKSOoWRC3SUfI1lc13p7oRR_pwbR7po6V3rP8MkW468G-TU-pJh5o-OAyeJeWGpOBuu8bdiTIdIiEpfF0vmK_QhGNNct2NeFwQxKs3Oil21CgFfE4z7krlxtWALi8T4Gv8_5H4ksreasLhQES2YEttEHLtBMC8dVRZZqveWV50ZuUryNgjDQYLH4MH3yt8dvOcZspd4yHYtl0gXVIW8n3mWDfMDGpccHBNUwOMXfzMaxrweZiIKR6AFNKQMHwbYZVJ4Z8GYEgd8upO9AVR2DYL3_ARCHImP_1IYrXAcDHkT-ypHreujYGIq6_NWhB8-bO7AsEm5tNPRE7M7bLpKzshguC_JnQBjEfHiHShSRqvHa0gwIExRV_7L1cfDV34PGHFtvlOZvI4hwjEctnhxsO34mC1ZaGGtyaddYi_bsv8Y5kMTLx76VzElAV4jq1OC6agJJxjEI5pPLEwIjofF7FX_yCVCR88CZvro7xdmVLUePkSYi9jOgoTEbVgLPU0jraznCP9y444w0KA5aeg8-47zyNOhFW760UmXiDUg6fKqGQtg7FFSfybHuNgHM0covVbQ2k1SbRiDQ_HWeyxdTig49GhQYN0thmLxKN98RgBaBM1YL7KWNK9klE94jzeqkw1z-ne8RgMNwk3lQyS5MuY_HtmgEZY2JUAF-6WrVnwmntkZuPTXJjYEFZjJHneRcsjIsn6Hd4qXRuMUnC36mhzZyf9sKD3f5JIR_r0FB4FBsqBBQU_CW9Rv201goCerd-l7M7jzQcOFFC6PKbBhtD9Py54slC4uqi1QRFNJ3brxxHcQJ09onA7ixVcUGtMeqDpGIlpH_BWAQVkDGbszhOtwK0zeHdJPFWLKUEsHSjpiWDpMLllrB4NrKesZtf-iUAfMUVH9bF5DvvxzhBwetzCpv3Y30o21itLDThVOFlxhPyOIu8s9fOJuJGOkk3-JOlN_0Qh5X6AjHI_Bq1n3ltyg_kndbAf-_slDSj5KVCNTejjxxydeYBmQY6TUcO_mELu41rTmPyhqXynMFc1V2j8AGxZlOKSFVJaY78=",
  "id": "rs_043031ff92410c15016ab4605c39a087d0a79d450b1748d3a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.035},\"note\":\"The brown toy is centered in the left wrist view; the gray toy is farther toward the left fence. I’ll descend around the brown toy’s body for a secure grasp.\"}",
  "call_id": "call_ezM5Bf21XMoMlDyaEAnRicNB",
  "id": "fc_043031ff92410c15016ab4605f38cc87d093742b08bb46f9ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ezM5Bf21XMoMlDyaEAnRicNB",
  "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]: [-0.7147, 1.5372, 0.4843, 0.2943, -0.5861, -0.4934, 0.9983, -0.0208, 0.8204, 0.6132, -0.4091, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1478 left_z=0.0434 left_yaw=0.021 left_pitch=-0.0441 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2936 right_y=-0.0005 right_z=0.171 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9162, 4.4103, 1.4823, -0.022, -0.0317, -0.0659, -0.1026, -1.6342, 7.0085, 1.663, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fbfbb3143c8fd6bb7a66823d4bed553694c1b851fb627e6773b59c2819873a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479a70f7cd8cecdc5349199c362b4c970d181682b066e44b103f7414c9ad49db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb33e2ab047686ea581c8f7b73ce8f6a34233cf2cda8b592df34fec4c2fe2d20",
      "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 · 2.342 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6238, 0.2947, 0.7181, 0.1345, 0.0933, 0.998, -0.0208, 0.8104, 0.6136, -0.4084, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3493 left_y=0.0462 left_z=0.0117 left_yaw=0.0142 left_pitch=-0.0385 left_roll=0.0066 left_gripper=0.998 right_x=0.2931 right_y=-0.0005 right_z=0.174 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.7915, 3.0701, 1.5116, -0.149, -0.1734, 0.1148, -0.1983, -1.1692, 7.0085, 1.7314, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.0584, 0.7914, -0.6994, -0.7609, -0.7952, 0.9988, -0.0208, 0.8173, 0.6132, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2388 left_y=-0.1545 left_z=0.1725 left_yaw=-0.0035 left_pitch=-0.0723 left_roll=-0.002 left_gripper=0.9988 right_x=0.2933 right_y=-0.0005 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0443 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.0154, 8.253, 1.0623, -0.5788, -0.1343, -0.1538, -0.1436, -1.8256, 7.0222, 1.7363, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7147, 1.5372, 0.4843, 0.2943, -0.5861, -0.4934, 0.9983, -0.0208, 0.8204, 0.6132, -0.4091, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1478 left_z=0.0434 left_yaw=0.021 left_pitch=-0.0441 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2936 right_y=-0.0005 right_z=0.171 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9162, 4.4103, 1.4823, -0.022, -0.0317, -0.0659, -0.1026, -1.6342, 7.0085, 1.663, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fbfbb3143c8fd6bb7a66823d4bed553694c1b851fb627e6773b59c2819873a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479a70f7cd8cecdc5349199c362b4c970d181682b066e44b103f7414c9ad49db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb33e2ab047686ea581c8f7b73ce8f6a34233cf2cda8b592df34fec4c2fe2d20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBmfW8eGollioLYFXkgkJ1ksr4AtiN509nVXJ1SkhQdIdaJO9VBdaTJCNaaifO-GkDdorGRKlQzWQuj-Bz10iqSfqu9FHCRYnMRO1DDcWGbjpoMwEY7Yo5NoUr5v4lSIL4GeKL9uOWEyIotTiTeBzSaW24c2WYhcOvCYWrmugvvriwVICdFP5EN_A3lMVS3MZ_Usi8Lq5ghZfr01JS_61CXOwsweckNGQwjhwQzm-VuH0NZLACXO7QMqNBx3rsXSc9lDYY4m2FxrFNKQHcQucdWEh7Zc04QLxFIS0HL4VDY5UVJ3a7YzwCvs-lBUWIhoRbB_tgTlFTgP_f1yNnuE3vDETOMJFwJPTW_1zi2YZyhhrRHcpPxeVxNhiLWosqmrP3_c9qBWrfKt-jrRWOjm-9i4Yj3NBz4O80fC5pOGtWzToBgKMoleSqQMMUmjZFRb7EZtWPTaLkBfGJtPn7tcYEbyaixQh_BxPitNxnc0G0B-_NXna9cx5u88tq8c6Te9hrm_tOYjP-ThFPiGW2YRQTGaf4B6BLHT1C2MnHrTBL0QVlOZzVAsgWeeJSgrkm7fKRUd1ooNcNx-dpUtFPlopKwNKnEvrkrFLJOn5uo6KUJVQdTrV6hBjXmij28P7G-1WOD6Ot3WL-UQCQSQrrW5-2UycQgUNnQK3AVfBqMNcEZERSlYnjJ45wBgNuSHPKtT3X7obyI9wovbeqCPy29VmtGJf7uQ_cbgAcePB5S_06SOVrNJvr7ZXuecGnJLFOhcXe_LQ6V3yzDmgYFK1rgr5w3yGHPZqK5GirzjyCUbz2hcfpmy2ftIS_ftuuebOZE6Dx1_MjRRV25ym7XJxSzm5fn8S5TOrr4yXVKWvL7ppcxhlin5O41w0c5kD4zw_60bkGxeBKREfQluzKSJSE9eeRUEWH2zz8BjlrLypn3jEMSUSygMvcliajx7SRmWMM13u2n8X_AJAQZJyWaF9aSsQgLKdqVzsXivyqOBba1zqw0C3znBhbGpUCY-jrUnKZpK0UNA3nH_WnkGFKM7kBrjTBF7JMdu4ajAiRLntUoebthnmtK5dXla-6odcpA85izT-wDM9oGdxqSsWHMnHmQd9sNyibyMs-fXVc6_D50iFU3CLbk_bn_DCVQHRggH6nl7EwDLKT0rL8oIPlbBUyGZxdStDKelZnxsucBFRv1oNDkf10NRtrKzi3CGTtbyA60fCduEO35oLK2VL7zE16-Dy8iTNQ2j1-684HRdvMhmevuNaKYbPOoGKWPRQvDmXHKP-SrJAe2xHqqC2NHg68rXrDacHivKuYkAIIbhvF4YMtUmXkZFfzB9frlyJ1-U7FTJRG3XFqof7MLuikP4XBmI7fTsaAn-HBvrEOZYnRWkpGodDfZlJWqln87fXe6CJZGmludoPm2kSLfbAEgBhYaVPakApEE1RnxWrVk54XVYBiCS2IQ_R3eKh1BncoLBezw3Ang2FVaZqmkBxip_FejyVTgPzW0gJvUu5AdADuwqZT99JipIhlNG0zME0zAfDDsKjYgt205Yhe8DRHAWweSzHXruw==",
  "id": "rs_043031ff92410c15016ab46064905487d08f41763d5a8ab9f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.01},\"note\":\"The brown body is slightly left of the jaw center. I’m making a small lateral correction and lowering the fingers around it before closing.\"}",
  "call_id": "call_GYDFCMMfeTVZ787LtDkcB7Uz",
  "id": "fc_043031ff92410c15016ab46066083c87d084b079ed4a9beee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GYDFCMMfeTVZ787LtDkcB7Uz",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5701, -0.5705, -0.4191, 0.9982, -0.0208, 0.8211, 0.6132, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.121 left_z=0.0231 left_yaw=0.0506 left_pitch=0.0049 left_roll=0.004 left_gripper=0.9982 right_x=0.2935 right_y=-0.0005 right_z=0.1706 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.3829, 3.7265, 1.4286, 0.1734, -0.1832, -0.0269, -0.1026, -1.2376, 7.1863, 1.7021, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5180f20673a4d727e728f32d8c4ca2a6cc0a8dfb0146a663bad708afc156c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e37d11ff9ee55ff605926931ef714f8c848c7e11813477ae2f9985b042144a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fa7e60b3bcc730763abbf3023f5abe060fd48917c67af0de928a5e8fbc201d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1886, 1.6402, 0.2886, 0.7204, 0.1318, 0.0898, 0.0124, -0.0208, 0.812, 0.6136, -0.4095, -0.0109, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3457 left_y=0.046 left_z=0.0048 left_yaw=0.0182 left_pitch=-0.0587 left_roll=0.0018 left_gripper=0.0124 right_x=0.2931 right_y=-0.0006 right_z=0.1734 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.612, 4.4786, 1.6532, 0.0659, 0.0317, 0.7497, -0.0615, -1.1282, 7.1179, 1.7167, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7147, 1.5372, 0.4843, 0.2943, -0.5861, -0.4934, 0.9983, -0.0208, 0.8204, 0.6132, -0.4091, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1478 left_z=0.0434 left_yaw=0.021 left_pitch=-0.0441 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2936 right_y=-0.0005 right_z=0.171 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9162, 4.4103, 1.4823, -0.022, -0.0317, -0.0659, -0.1026, -1.6342, 7.0085, 1.663, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5701, -0.5705, -0.4191, 0.9982, -0.0208, 0.8211, 0.6132, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.121 left_z=0.0231 left_yaw=0.0506 left_pitch=0.0049 left_roll=0.004 left_gripper=0.9982 right_x=0.2935 right_y=-0.0005 right_z=0.1706 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.3829, 3.7265, 1.4286, 0.1734, -0.1832, -0.0269, -0.1026, -1.2376, 7.1863, 1.7021, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5180f20673a4d727e728f32d8c4ca2a6cc0a8dfb0146a663bad708afc156c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e37d11ff9ee55ff605926931ef714f8c848c7e11813477ae2f9985b042144a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fa7e60b3bcc730763abbf3023f5abe060fd48917c67af0de928a5e8fbc201d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown toy is between the lowered fingers. I’ll close around its body and check whether it holds.\"}",
  "call_id": "call_GP7AXjRc1dpHtGo5WinbjKvK",
  "id": "fc_043031ff92410c15016ab4606a812c87d0a6fb66b2c5a4ec2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GP7AXjRc1dpHtGo5WinbjKvK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5735, -0.5602, -0.4267, 0.2207, -0.0208, 0.8211, 0.6132, -0.4099, -0.0109, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.123 left_z=0.023 left_yaw=0.0468 left_pitch=0.0035 left_roll=-0.0096 left_gripper=0.2207 right_x=0.2935 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.0485 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -4.3282, 3.6718, 1.4188, 0.0366, -0.0855, 1.0281, -0.0205, -1.1419, 6.9812, 1.6728, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136ba9414d4b9253f1001b1a9db6ab18118ddd2bf59152ac7b991b03c4093ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93da6419f3f807e70f78f636a349b9dc12a88efa2fa409000c789bf2a3367d16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c2316792f7b6e857da30e05f6235b4aefc69d4022476a3592a32ac8bc9f24f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.0584, 0.7914, -0.6994, -0.7609, -0.7952, 0.9988, -0.0208, 0.8173, 0.6132, -0.4095, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2388 left_y=-0.1545 left_z=0.1725 left_yaw=-0.0035 left_pitch=-0.0723 left_roll=-0.002 left_gripper=0.9988 right_x=0.2933 right_y=-0.0005 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0443 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.0154, 8.253, 1.0623, -0.5788, -0.1343, -0.1538, -0.1436, -1.8256, 7.0222, 1.7363, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5701, -0.5705, -0.4191, 0.9982, -0.0208, 0.8211, 0.6132, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.121 left_z=0.0231 left_yaw=0.0506 left_pitch=0.0049 left_roll=0.004 left_gripper=0.9982 right_x=0.2935 right_y=-0.0005 right_z=0.1706 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.3829, 3.7265, 1.4286, 0.1734, -0.1832, -0.0269, -0.1026, -1.2376, 7.1863, 1.7021, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5735, -0.5602, -0.4267, 0.2207, -0.0208, 0.8211, 0.6132, -0.4099, -0.0109, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.123 left_z=0.023 left_yaw=0.0468 left_pitch=0.0035 left_roll=-0.0096 left_gripper=0.2207 right_x=0.2935 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.0485 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -4.3282, 3.6718, 1.4188, 0.0366, -0.0855, 1.0281, -0.0205, -1.1419, 6.9812, 1.6728, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136ba9414d4b9253f1001b1a9db6ab18118ddd2bf59152ac7b991b03c4093ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93da6419f3f807e70f78f636a349b9dc12a88efa2fa409000c789bf2a3367d16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c2316792f7b6e857da30e05f6235b4aefc69d4022476a3592a32ac8bc9f24f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGB6Wwu8QuySuFvKU6GZU9CDCBpT0vXzL1EVUz79Q492NAYmAvb9YGL4trTo6PvFjKLxq7A8uCYWeodG9A8ZEf4kD8yLZIblnXR6gxKIlfpfTKOUG2HjcJRdNsf_XXcTFZI-xm8bUzB5sRzdwUFAilP3Vu5kgifm-D_kwv9CRXaNUGjNaXg96q0fqyACwtTqFWObysnZGBpQ9yIb2rlFy8QyG6qmmJPXytfUlTaYOjC5bGkQzCgveuO9paKH8GwKpzCY3cSiO_S6n5rS6G2H6JHJ-mu5gGam9s9MHKR_DOJ0KyF_s6FMH827mkHnsTKcTDo9DmC8TSjH9XMP58pctUdaEcwcIUT8IJcbrVfMQn8c1nRHRHNK2svmPtyNuL0fXSl_GjpxdogCcXic2CJRneuKimINPa4C3ECoz9R89HtcQ84_1nV3tu4E_hfBuOF8cJSOWJADZtlQEYVxfabc9oR5J3mM5Smr4u7mvsUZe3de7j_LQWXIiMesCg2YLbOG_HbQwwJLZRLHbmafPxxy5vlC3fc1ct2AIqWl_7QRF-sC6gnsMBSv6TeayE_iOb2LQINka9vZFb3f4cKk5x2SwjFjce4EQn8HtACh5U193uMIcKzEySOgp9IhX17TEo-FBTFJZaAtGQAiahVdTRjFDthzziHwdfYkGF48dsBNpwXVobRa785BscKFIsPlQO5wP3M0c9Vu6C3s9rcFqQkdbYi6qTg_BDSch_eMIYMHH20enup5v-MfE29T_-aNWN5xx83Obn3ahK-_oOn0u4Vp4fgodXvzyeBCsaPNffZYutZdpeF6_IesjTVWPEuVGtfrtFUnmnPpykgaKG9uP44I7cy84K38qDMKgOktbMkx4svqipfNOvAkOr8fbB0pJHtgBGsFrtupZ7lwzUcVrK3o4lf6LB0eqY184rLkuXeslpOwgk4mzOOyHOvg3_NY4Ki9Drjy11fZGslsVt4rXrp6Jt-E_Lf7vXlkQzkFe1OWIgkrL5WQyLZHIRyvf2yzDclYRVabpFChDTSTDbVDPUZ2bpVtifxEC1kbGD7tB13PpikQDMfxhIDnEPB83bkW9jTLDAxynnfBWSmxBfZ8HVyH5_917luQykswqnOkCbg9z7F1P_a0RLMAOTsgtSwdXXsyzhzLp8rxy2EoDHgJFX_HmK3dwtEatqbp_1UegOVYlPZQv_DQWr58hWRiPxUn2lo_rvUwj_bDHBFQwaGPo8UcBJWY2e9p0eMqRNl10n0MDLDCwjxavikfHa1TycUYVHbADZaG5X2sCq9ke1jroeLCVKQtVCG1TZ2LFgo2vJ5BqS7_qrZb7Qvgg_nu8XcCggFXCj134T_x_DNHT_ku_T-uxn7GIpuyYp0SenUSseMaauDYD3Iu4AtdkESGmdHuQpOFZuaihEwuxSZ0p1tOnVDEICoVXCpAKNrDy1Rphkj2VVBCzAKQSbm5dIpg-paa8RQCH3kRC8cZqIt0usPm4AyGEksLyY2_F6zWL7xJTDMdbnV_vACAlVay8hU4q2qv5UWjkwci8aZh5x-h5yUWKc82-R6MVFPPUVxDUl2Rx1TfWDBZeUpWQ9ueQodWHjIAykrA21gm81ETSVwqAfKGNje5u-gtk880BaKl03vFUqySVn-ArvTWYDhy5EGwQymW6ihGsqbnKXc6LstVefr7bYQTsKhcy-dQmblsoHi-aGIKvGCcOQ8=",
  "id": "rs_043031ff92410c15016ab46077193087d088085a5426510074",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"right_x\":0.34,\"right_y\":0.145,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The left jaws stopped at about a 2 cm gap, consistent with holding the toy. I’ll lift it to verify, while the well-separated right arm approaches the black pen.\"}",
  "call_id": "call_fTM1kjRfhmLOMF5a1SdKnDgK",
  "id": "fc_043031ff92410c15016ab46079477c87d0bcc62751384b5317",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTM1kjRfhmLOMF5a1SdKnDgK",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.3201, 0.524, 0.0677, -0.5598, -0.4271, 0.2208, 0.622, 1.3914, 0.609, 0.0055, 0.4751, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=-0.1181 left_z=0.0885 left_yaw=0.0471 left_pitch=-0.0334 left_roll=0.0196 left_gripper=0.2208 right_x=0.3303 right_y=0.1418 right_z=0.0825 right_yaw=0.0249 right_pitch=-0.1043 right_roll=-0.0298 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.5726, 8.3624, 1.5165, -0.2271, -0.022, 0.7497, 0.1026, -5.6, 8.335, 1.7265, 0.3883, 0.1441, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa1c79c60961b10e5188cd119310117cc00adefabab46cf8c39376033c8d87f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79a46774a145b029a28d189fa3dd7dd327711b91c467f964c9eb86cb41f797b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c405da45c251cd0a1ce28e0f4f8552fa1c7ad9b235de9246e8eb47adaa9b4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 8.865 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7147, 1.5372, 0.4843, 0.2943, -0.5861, -0.4934, 0.9983, -0.0208, 0.8204, 0.6132, -0.4091, -0.0113, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1478 left_z=0.0434 left_yaw=0.021 left_pitch=-0.0441 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2936 right_y=-0.0005 right_z=0.171 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9162, 4.4103, 1.4823, -0.022, -0.0317, -0.0659, -0.1026, -1.6342, 7.0085, 1.663, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5735, -0.5602, -0.4267, 0.2207, -0.0208, 0.8211, 0.6132, -0.4099, -0.0109, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.123 left_z=0.023 left_yaw=0.0468 left_pitch=0.0035 left_roll=-0.0096 left_gripper=0.2207 right_x=0.2935 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.0485 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -4.3282, 3.6718, 1.4188, 0.0366, -0.0855, 1.0281, -0.0205, -1.1419, 6.9812, 1.6728, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.3201, 0.524, 0.0677, -0.5598, -0.4271, 0.2208, 0.622, 1.3914, 0.609, 0.0055, 0.4751, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=-0.1181 left_z=0.0885 left_yaw=0.0471 left_pitch=-0.0334 left_roll=0.0196 left_gripper=0.2208 right_x=0.3303 right_y=0.1418 right_z=0.0825 right_yaw=0.0249 right_pitch=-0.1043 right_roll=-0.0298 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.5726, 8.3624, 1.5165, -0.2271, -0.022, 0.7497, 0.1026, -5.6, 8.335, 1.7265, 0.3883, 0.1441, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa1c79c60961b10e5188cd119310117cc00adefabab46cf8c39376033c8d87f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79a46774a145b029a28d189fa3dd7dd327711b91c467f964c9eb86cb41f797b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c405da45c251cd0a1ce28e0f4f8552fa1c7ad9b235de9246e8eb47adaa9b4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCE0dB1NbHPUAbV4Ebraa9l_sEfrPTKmisH1Y0eQLADaimTPRyODd799Cma6a4F2DR4SuOuJpMsNNkIvf91dvfrTpSIsP8V3gSzNQq7ZqryPxoS2WEO_cZ54V4b8oG7AS2hy8d0iVFRK2gMblKfymNTIUF_pIcA1BIS8BNuWmuJ3GseHDZ_TDc2fWtjCEx2_5eQGcsHW1oQfjJdGZEXirdCEaETEGFEANDoRhVfJPkO0S1zJ_cC1oWx9ykhizX1BHbZasDNFcSJCGxZehUKFZ1GmwN6c96mvK4VMzddhlsGI1YEr84Hy7jhQaW4qYdnl54kzJ10BHRERehD54zogkUE-VHuuNrMB1mEHZdTjZd84Px9wa5WatrqBcox2jNn3Fo353q_xNPkNAyOQo3wUHUGb-vkNb0H_DZG7Qb1PaUpcsjr6ymVy4uomWGg74Jjli4TRm1YKrsfLRRW8hVi4BmGzYBV_8Y_g_VomWxC18Yxj0u9tS5DcvX08oNKJ_vrdm8ImpjRdEtiFDSaWUQsnB2Cn9jtBjAAEyHRyns3m1cpOxDNCzAMTyixLc4bCJAY-wn6oDSiNDZf498FalB1xY657iCfqba2ABgxFdusGylWzDxbkskDLeov0VDC0qo1z9IFQca1HKQ_YTYldLTL0k4_DvTss831QVAbDvWpeAuz_2mZ1LKbKfsjbtxuCU74n8Nzyb8BhiEwlT3eo22gHa9bI9IW7GuJpnavzQGpHQoCOkxeiN0L7ACdytbvUR39YKtGAS8QcCTAUWBJ_ma1EtACjixmFK6RRfTCYqGF-Ro9vWzRbH-wsFIXBEJJoNI0JTJfy_xiadFu1Z9iloC2OiEOKKfS-84Msu5abXa4ibtwAdna0Ni4ZYsyRLYWkc0vnnuKoqaHowh0RExMKCjfRsQ-2nuT8nkwUgT9dlJusNxw-EBh1zYXzG-jjEdD-XuN_pPeltEdjngM-ynwxSlV8jl7kQw2zVxvqeRSiijRlACJQKDCZ7UorMuNtsWfEsdKQW3gJJkgnbeHHoqEqDjPyVHswgI18aVGDhWnSB8JagR8be9ykBuymXMwnvMdgePFAJtdHyrSRQ1qx-OEfD7YW59RnNE2IMt82hS_S-lo5c2tdhU5fNyJlxYu0kNKYYHpJNNnEHZFuIJQwAuqkL2UVtdxXVtwPvuuKRB9cUhNE4kvDTWVhwcRJzbr7QLr0eKwnPtF2dIAqF6pabLDBb3f1rQUR5ExWCZPrSW2pqBL5GvkM46myuT90wJaocHk_VpAaf-1Sd8a8TVZrbOOdtSAbBhWNbzuybFMDeMx7pwUPzt-N9jkvYDj4da4keRwmP0fHaRmC1YetUO1IwOIpsgXHsAmxwbjt56rPEyBHhi1Xh0HXAwtUZldTyjnRoLpkSBOBzvE76JQCujQLpXzRzRfmRxA2yGv4kiMNLdgwuwuTFpT1yTiP7CkOHpyiVDJUADJtsO3e2pvgdTEq9ydVL1GcJ64wUH2Z2afPohaH6DPuNuBtqjPSY8K82FmCKbdSB_dDEJtLi_pMPnd-s2RHfSQ6991UXM_CVOMjwiO-TFs8XfK3hT_ofMWsIGiNLEMjgSl77BebLxmGYOqssJU2X2TCxwslicZrRNnhGkqdspJiSLsYJk12jnBpkqgA6M4fgSvrCmrhAHIERWTSPCuJv1BAaQ25D8wQlR_QyWVdzzpM-n8h6tmMUlD-rfaVb_3F0lM-1kTmXs3b2v_5wmJ0ImpNFKwY5hnKuDnU4mmnnJmTZGkWyZGMSYLdjNErht8nC787M9VrPMw7QpNCPOPCR8PR6js9xM5L7UnZZ28NS-oqSeR-A-_urfReqO2cvokSGt_Kq8Tz6ZbYppVdvLQnpIJ8KqaiafR6TtpGaXvY9BN4Gqw-y4h-qfpcuSo3ISzRMV4UxpdPByCH0QAEVYSbL1rA4Cv19FCxPepJr6cOKABkfRYAmpErE9LcNxZ2xmXXYq_B46Sg1Dssekjmwsc4zNKdQgixa1PLQeBasy-4TWUfSnvX12Pf7TUVC2mtaLlTcestEBfIRrUHYjbfuDT6QCVoe3jxaw6Rz0qr-ioWN_WTq4rJaUpIoViWJF6nZzyEr2pKbAGPO-Tc7NeKZ0OFhrlTvlPZ0V6ci0KLj5OyVmT0gDQKzba4eFG72YXAsOQdbHehgfKMRGxKbc-5S_TXWk63qmfV1glhdQ8yMBQaK4N0_RUvZtLerFXeeyJA1igncXh-05rK9WfEQboHCvhbj2AY9LUovbSPaUjOfln1AYC1LhkcfbczLMKDuXb3L2BXxC5i_VWwh_7nylhUDaaDyw5a85hugpPN3Yo9ECa6XwZo_J36JF8KNyp28iQOyUZi3Ja4y8fWNBgwDFgPB1yzcl8dHE2S4w4m8cUskMr__OaWFLzHEI=",
  "id": "rs_043031ff92410c15016ab460801b6c87d0b61f56acb0bad2b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.345,\"right_y\":0.145,\"right_z\":0.002},\"note\":\"The brown toy has moved with the left jaws, so I’ll raise it for transport. The black pen is beneath the right gripper; I’m lowering that gripper to table level.\"}",
  "call_id": "call_syoianCalF8wB4lXUUKEGUYK",
  "id": "fc_043031ff92410c15016ab46083b42487d09b95b48e7bafcf98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_syoianCalF8wB4lXUUKEGUYK",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.1873, 0.8639, -0.4332, -0.5602, -0.4381, 0.2222, 0.6064, 1.7214, 0.5182, 0.4831, 0.4599, 0.3595, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.1179 left_z=0.1851 left_yaw=0.0541 left_pitch=-0.055 left_roll=0.0285 left_gripper=0.2222 right_x=0.3511 right_y=0.1525 right_z=0.0155 right_yaw=0.0325 right_pitch=-0.0629 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.4359, 9.4291, 1.2821, -0.2466, 0.0611, 0.4811, -0.9778, -4.8752, 3.7402, 1.2039, 0.0855, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef24aa1eb31fea075b570c6b72b75284adde4cfaf05dc07d827d572bd3293e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f87a85a140429709f385d997fe1b7161c6a7378a74ddd3efacdad1aa150bc07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1933c3253f5e6c5c72c5f41d1d87ad952550f0c7d80812c147a20b2c28f9f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.147 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5701, -0.5705, -0.4191, 0.9982, -0.0208, 0.8211, 0.6132, -0.4099, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.121 left_z=0.0231 left_yaw=0.0506 left_pitch=0.0049 left_roll=0.004 left_gripper=0.9982 right_x=0.2935 right_y=-0.0005 right_z=0.1706 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.3829, 3.7265, 1.4286, 0.1734, -0.1832, -0.0269, -0.1026, -1.2376, 7.1863, 1.7021, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.3201, 0.524, 0.0677, -0.5598, -0.4271, 0.2208, 0.622, 1.3914, 0.609, 0.0055, 0.4751, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=-0.1181 left_z=0.0885 left_yaw=0.0471 left_pitch=-0.0334 left_roll=0.0196 left_gripper=0.2208 right_x=0.3303 right_y=0.1418 right_z=0.0825 right_yaw=0.0249 right_pitch=-0.1043 right_roll=-0.0298 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.5726, 8.3624, 1.5165, -0.2271, -0.022, 0.7497, 0.1026, -5.6, 8.335, 1.7265, 0.3883, 0.1441, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.1873, 0.8639, -0.4332, -0.5602, -0.4381, 0.2222, 0.6064, 1.7214, 0.5182, 0.4831, 0.4599, 0.3595, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.1179 left_z=0.1851 left_yaw=0.0541 left_pitch=-0.055 left_roll=0.0285 left_gripper=0.2222 right_x=0.3511 right_y=0.1525 right_z=0.0155 right_yaw=0.0325 right_pitch=-0.0629 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.4359, 9.4291, 1.2821, -0.2466, 0.0611, 0.4811, -0.9778, -4.8752, 3.7402, 1.2039, 0.0855, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef24aa1eb31fea075b570c6b72b75284adde4cfaf05dc07d827d572bd3293e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f87a85a140429709f385d997fe1b7161c6a7378a74ddd3efacdad1aa150bc07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1933c3253f5e6c5c72c5f41d1d87ad952550f0c7d80812c147a20b2c28f9f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCPaBKgK1CfP_8TyAcuU5JXYu0cb5tkj62c8yViol9WUGbMtpMueXN0WAD5DISz80unEvuYVw3QK9r4AbMtBP810oq34lXClE2tPyFnzLG1BbqiQ76UZXZ7jDcpUQVd4JLEx6ulABDxMbxWNgBjXHbi_uzNcPylo_fRaP78c8yhXOTzcbWLSOoWp0VRAb4tqoUJNFhsxymrb3KYA3iaz6kv3OEHEE7LBAop1J7ml-9ELpzRukU-0v-3TZg3jrvnZux5QXdmPiukIkjZkngx8la_zF6z6RN46TVSXc-nDjzlOVNsS4dbbM6U7XIPX5INd-F00gRC_houGkr05QjzVddwVjTPiMqhndgpjd6uLA2CfCRzmD6m2R6QtvhfOKzCWSKBat9ibHzxLBzm0fh-YQnOlKPqdIU7VBr1fW7bV_Nji68lJX1TFci-7MnuWAm2K5-SFLAYQ-DEzfoD2qq-SaWVds3hnVRRxjucegwv2aPEVP0_nFZ0mHDKt6c2hVDy5ORVgG41AGF7cvSlqW3rsAjNRCTbB6gvvub5TR_6eFgcjyvanj7k59HKOEKdfoOFYY61AXqjSJo4F2w2u_085qeQUFPL2Kt0AbaKNONXGjT8hwvJFtGtINeHxqgOB58_FHrbIGmmJBEORqW0Sc6hjXzhlgSBk9yQXiDOXkdeAPH1pm0Y18DH2WcML371cNhShHL9LHrAjgyyJqSBCzbKi_Rhk5YaoDaEFJ8qajTzP_OAAeQfvDrbBeyuQfnMzvQHFP0YLrA8hH0Ciqs7pS9AwsaY5iwqGyB2AmM8_Jvvchv4B0bRx5cLC46TlzWkU-5Ghz-eTNqUpyj47AXmgoFtTQ2PJwW445ILZIf4wxCULQG8RdccDxWX3WWtVgQhoNRD0WGCSTCTtfe9hgJ9T8SJBAGbY6w585VTaPMCfT35BkFC-zWuu1hRtaygTXPALTi1HMJS_hHqhji7dE7bBugBWL9ZCzF42F69ixkgHcqPN4RKK1Vfs4RCAs9q2j0omBTBKAyclGZSRmBCYOjlV-18uE7Fv3ATwb5U68_iTQ6THhbij7-XxKOYANMViRBb5letM6y2sGJJB1DwnkjuWAWpkFiBvQz7qaCuXuglDuX8VY9ryoy16gjypAK-pEoQnvlHj6QNNkCwT-vEtXsmFUZ_hVOIh986Yed4oMDyNO73cKmd-oTIdg02sYnLxVXpH32Y5BhJmP6x4o8op9_20j_BdfBPewmVLcheKIpWs_32iPbdxAZdyOVl39hS6y2KbdF1ZE5DOkNKwZv5eJ5wLWRIqRi1pyAhqVR_l6tM8ShfvwEwDhvth4t2dIqgDQUrzMkg2ObJB9U5y0KxdBfQhdrtkAFpQ_lm30CZf-j9qAawDgyLn1IxdeHkUeT0RTfIMoOkLTaQBKZOonh3NqoEZXMpT11XzY9K7iWMU71vFYkeDY03CBrX0_XOHuVI9jzwB1CuQMrIcMrzwRgRdd5v2J98s8wOuAvpTqhlqEFrdBJl7ZLI61j1qKkEjuz-TUOqR44zdskdgpc604i4pAJFcUg9bgRpAv-sPsfX899bsYcXphDFkjJUwO0QAvqt9-0THM9zHTXTOZf4KGzOb2NTfkQ0UyLNAc1pmv5uUHgd1hYveIdttdGx-udRE9XeeOZsB9kmxZ9wiL1Xlbnnx3LkShA-G2QgUkvaDss4LCrCncnLiLC6EtCbRt20qBkMBKcUbov1dDk8R88ylYMNxPBopFYgGeYX6E1rE3rbSDEccj6A8YKC0OdxUMzsN3tRRiJYz25cTKAfmY-O5LQD3WN9AEAmTfmHA1nF0AtynetsqpYbRO8hycIiXoAVUeI2Z4of3UkNnE0TY646QvidN70fjlyDXaS6AoydvioQkmpLyBeASyHpaj616jnLkydaz1TSCFv3K1bGE6XCmraowHGR_yu1v6EIV_wIEI524tz0PtWfKyAj_szfOpFGle-VA13MGJXb8Egr3Nc9T1cJT2DvkFcXUWty83_mi5jABKbkkZeh25qZ3UGU3xx6r2vOV9RSbQRgaj9MtfqP3JHjC6tmL_tgr6UDd4bCvQKpuPxYdKr2tRe5DbyG5dg2DyQq4er5j4zfmtveFywwrgXvInsUdPZhukHPwVPVJYBp03B-mu4IveFVwr6E-5BDbzoOPZfT8VHNIYWddvwxUt3BkUjss3SS1DNI_HcGnOjY94WE9B0anNr-3sp6S9HFiAPciuug1ZGTI0vatTZ8eD3Wz42J3_8r3flgpLyd4SsgzkuZoz39ECD5Dw7AcpkzkyyfLbsuO3iqUFX_Q1bHaqoPxXqGOyFjiw9CkUjh-FRlUfaQddM275bTk2QjjIg-T94mhs5HpZRvXHMFewwecEC_SDdnfWIcp8oziySOO2Vl-qV6XUz362mqnXNhCNWus0ANFMji1Kjh_yL3gNBTRD46gBFYFpCYWRZJ4dZwpChT35wSP9IXRdbzOZNWYrUXCk2rvs-YICvTm0onqhRhkphYxleKRH13VBcoa8EfVTUOR_-Uq9Y4NL9PckTokEoOowCQJcpLpKXI4oSP2Gv7tnhTT8qyJkmqCVkzxVxU92jFasfGD9tvP02EiMFYm0zsr9mL_Xu2ZVN9mOHLkoygTp69m1AGGy6PlZjmRNWn7TMXQ6GgHJ2FWJu-RpaNZKHgZYSoH3bjvQ99hr0CSmRSPuz6SA1fw-UF4hOzD-w65pO5O92uje9t8gUhGJ2j1oKIv42HhWCqqxogncSH57lHvpP5NqmxfjBedruuTyxU2Sm1bv4UjtGS2mznk3U=",
  "id": "rs_043031ff92410c15016ab460887aec87d0bd37fb2cdd41cb1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.115,\"left_z\":0.24,\"right_z\":-0.008},\"note\":\"The toy is hanging below the left hand, so I’m carrying it high toward the left basket. The right fingers stopped a little above the thin pen; I’ll lower them the last centimeter before closing.\"}",
  "call_id": "call_2baJNclMxbNyh5UrX3TyuPyg",
  "id": "fc_043031ff92410c15016ab4608df94887d0a80bc8883815ab59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2baJNclMxbNyh5UrX3TyuPyg",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.7569, 1.5307, -0.5037, -0.3641, -0.2829, 0.2229, 0.606, 1.8061, 0.5121, 0.6605, 0.4625, 0.3599, 0.9998]\nstate[eef_state]: left_x=0.4889 left_y=-0.1087 left_z=0.2183 left_yaw=0.096 left_pitch=-0.107 left_roll=0.0263 left_gripper=0.2229 right_x=0.3636 right_y=0.1604 right_z=0.0146 right_yaw=0.031 right_pitch=0.0107 right_roll=0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.8803, 9.347, 1.707, -0.0415, 0.4518, 0.0659, 0.0068, -4.588, 3.0427, 1.0281, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafa0a441b09b9aa0e9cbc5c2bb954e3e3a8bd957a2e5cff11568748a9a13aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b04fc6eb399ab687a50038cafd5740c5ec1e4b84802e73a6f07cc221a38ca3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41600fb15d2f85b40252a1fb38dacfe0b4c9bc3af8e71f237c4ca5b69836887d",
      "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 · 6.243 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.6356, 0.3809, 0.5735, -0.5602, -0.4267, 0.2207, -0.0208, 0.8211, 0.6132, -0.4099, -0.0109, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3327 left_y=-0.123 left_z=0.023 left_yaw=0.0468 left_pitch=0.0035 left_roll=-0.0096 left_gripper=0.2207 right_x=0.2935 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.0485 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -4.3282, 3.6718, 1.4188, 0.0366, -0.0855, 1.0281, -0.0205, -1.1419, 6.9812, 1.6728, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.1873, 0.8639, -0.4332, -0.5602, -0.4381, 0.2222, 0.6064, 1.7214, 0.5182, 0.4831, 0.4599, 0.3595, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.1179 left_z=0.1851 left_yaw=0.0541 left_pitch=-0.055 left_roll=0.0285 left_gripper=0.2222 right_x=0.3511 right_y=0.1525 right_z=0.0155 right_yaw=0.0325 right_pitch=-0.0629 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.4359, 9.4291, 1.2821, -0.2466, 0.0611, 0.4811, -0.9778, -4.8752, 3.7402, 1.2039, 0.0855, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.7569, 1.5307, -0.5037, -0.3641, -0.2829, 0.2229, 0.606, 1.8061, 0.5121, 0.6605, 0.4625, 0.3599, 0.9998]\nstate[eef_state]: left_x=0.4889 left_y=-0.1087 left_z=0.2183 left_yaw=0.096 left_pitch=-0.107 left_roll=0.0263 left_gripper=0.2229 right_x=0.3636 right_y=0.1604 right_z=0.0146 right_yaw=0.031 right_pitch=0.0107 right_roll=0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.8803, 9.347, 1.707, -0.0415, 0.4518, 0.0659, 0.0068, -4.588, 3.0427, 1.0281, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafa0a441b09b9aa0e9cbc5c2bb954e3e3a8bd957a2e5cff11568748a9a13aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b04fc6eb399ab687a50038cafd5740c5ec1e4b84802e73a6f07cc221a38ca3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41600fb15d2f85b40252a1fb38dacfe0b4c9bc3af8e71f237c4ca5b69836887d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_043031ff92410c15016ab46096c0e887d083c1354475b0e0e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.145,\"right_gripper\":0},\"note\":\"The left hand is above the toy basket; I’ll lower the hanging toy inside. The right fingertips have reached the table, so I’ll close on the black pen without pressing further.\"}",
  "call_id": "call_gg9q4x2BX5YLgpRTG9U70GXH",
  "id": "fc_043031ff92410c15016ab4609a1e3c87d0b7d2b6714eaf531c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gg9q4x2BX5YLgpRTG9U70GXH",
  "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]: [-0.3302, 1.8923, 1.4227, -0.2928, -0.3576, -0.2798, 0.2231, 0.6056, 1.8061, 0.5106, 0.6765, 0.4599, 0.3542, 0.0145]\nstate[eef_state]: left_x=0.5126 left_y=-0.1065 left_z=0.1426 left_yaw=0.1126 left_pitch=-0.1382 left_roll=0.0387 left_gripper=0.2231 right_x=0.3649 right_y=0.1617 right_z=0.0169 right_yaw=0.0357 right_pitch=0.0222 right_roll=0.0479 right_gripper=0.0145\nstate[joint_eff]: [0.1573, -9.853, 6.3521, 1.8193, -0.0464, 0.105, -0.0024, -0.2803, -7.1726, 4.3966, 1.5653, 0.1685, 0.0513, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de609ade374b1dcef4091aefbca4f8b993a35dc516f4e912a7b52e0f38613f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797c642d72555e489aa3cc79bf328eb5dc49bd8036ec5be5474995f3c119d395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f63c66c2deb92d04df4baa07270545af437b3473a5910d7b0a908e23cb0ca71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.298 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.3201, 0.524, 0.0677, -0.5598, -0.4271, 0.2208, 0.622, 1.3914, 0.609, 0.0055, 0.4751, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=-0.1181 left_z=0.0885 left_yaw=0.0471 left_pitch=-0.0334 left_roll=0.0196 left_gripper=0.2208 right_x=0.3303 right_y=0.1418 right_z=0.0825 right_yaw=0.0249 right_pitch=-0.1043 right_roll=-0.0298 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.5726, 8.3624, 1.5165, -0.2271, -0.022, 0.7497, 0.1026, -5.6, 8.335, 1.7265, 0.3883, 0.1441, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.7569, 1.5307, -0.5037, -0.3641, -0.2829, 0.2229, 0.606, 1.8061, 0.5121, 0.6605, 0.4625, 0.3599, 0.9998]\nstate[eef_state]: left_x=0.4889 left_y=-0.1087 left_z=0.2183 left_yaw=0.096 left_pitch=-0.107 left_roll=0.0263 left_gripper=0.2229 right_x=0.3636 right_y=0.1604 right_z=0.0146 right_yaw=0.031 right_pitch=0.0107 right_roll=0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.8803, 9.347, 1.707, -0.0415, 0.4518, 0.0659, 0.0068, -4.588, 3.0427, 1.0281, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3302, 1.8923, 1.4227, -0.2928, -0.3576, -0.2798, 0.2231, 0.6056, 1.8061, 0.5106, 0.6765, 0.4599, 0.3542, 0.0145]\nstate[eef_state]: left_x=0.5126 left_y=-0.1065 left_z=0.1426 left_yaw=0.1126 left_pitch=-0.1382 left_roll=0.0387 left_gripper=0.2231 right_x=0.3649 right_y=0.1617 right_z=0.0169 right_yaw=0.0357 right_pitch=0.0222 right_roll=0.0479 right_gripper=0.0145\nstate[joint_eff]: [0.1573, -9.853, 6.3521, 1.8193, -0.0464, 0.105, -0.0024, -0.2803, -7.1726, 4.3966, 1.5653, 0.1685, 0.0513, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de609ade374b1dcef4091aefbca4f8b993a35dc516f4e912a7b52e0f38613f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797c642d72555e489aa3cc79bf328eb5dc49bd8036ec5be5474995f3c119d395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f63c66c2deb92d04df4baa07270545af437b3473a5910d7b0a908e23cb0ca71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCio21EbgeBWXU6APlc0Sf4OFyO3CwShdySmBKIZ0gF0CFrW9WxJFasXUkaKVW6YsH6Lcq5EbYFh0t9zokeT865V3qaab5yxaYI9o1gS8TBNd_KaQOSVLbonyrJKZWItvGAhoK5fiA3GBe-zZQuMPTohI1glaw-MfTslnmCB3FzbgR5_iX8w1fEsGtwFCKiIIc69kDMIHDwSHh5yvJZtkD4JoskyGw_3kZYODID8q1UMX11ovs2Hh7rXFd0WTr3oaGl7dK5E_c4gu10lRM5yYiLD7H6Nhp8W-ShjBMMbTzYssDsEt-9exgs_mqHG0z5_n2Zeh_momuOIuidLQ1O8dDN2gNJ7vOjQVV7_OSC-6gIPptUGJ_GgdPKZWRxUByevNjje3keRVeKcfS4O_9-eiKdPXKFKjM506it2cJ5qC9SCnL7XJmDcwmbe4lG_yKtQxBbMFhuVXLcr-piborWGZitMPqMpW3bifWljDNTJ9CW0BMoFRUFut8mJC9nvaPkGyrpOUA9vYvXT6evaETySTkfuXe2EZACW1LL0dtQnSYNCIr6D8SCpjZ6GF2M5if9v5Sc7fZPWjoR0sZADZDjA0Ac5skzbv2ZCemnLBS5tQ2t9FIxVG7bebmqqIZD5hZLACWRYWcNJ4hA5VUllzC2N_5Iptdjn2Qma0hB_yehnI3Q_Tk-YyakXTUijT0yTPuH2pwoo8bzDNl1pdTDos3kgG9ddEdSnSlL-XSGGBFwtxLeeS99hz8K0-lGH94akxbPCwpNFPEKajK4uC2rrdW4P5K3AHqCjTpFiehV1FxsaukgcN697MgwdpumMwUhvKTNVaxaaIR8xE8sCXW3B8GxWueg4UkbuovZ71wcrZSrIU-tRXtJ9e1x5Ut9MgsRzB_6XMTMVYUfvaEguMUHQcO_1LCVgdrcklwuyA7wPhOrEypGALfemuoDcqa7EjmVRHgeruXNxqRPrh_7m0Ws0_GoAv7uPOV5-gjQxJj_AOf16eRWoh4HnW5OH0FZXS8ClQkofiO1_Uz6tvHkZPr3-6c74ouTvvURd0NtOVkgfzT5tVyn3WUcQBAR1KR-HUvyHH-SY_vyj-0lKCD1S3Wlxrb2Pv9ixPUeYy4yZGuP8Pxi1ey9qnpOKV_gCUAwx2NFdE3l3bkxVYK7uILOzuVN9lrFYUyprUKY93IIMIkV8SJNuc7mJcNRuLvXjKv5xmL5PjuJP9jS9UmTY5oelWdaF_rsBe5uUIG4_vyMPGRoiQUlQNFNCFtYW3SAOu5QWuKwaiIgpHSRlpDvY3LBEJvOvuaKh0kLh8e40wobQKJDut5JG23TUNi537hdByYNL1Du0mXayySL8ypn29fvmX0IPOvS_rlFBfBxY_WKWU5q_gEsNLer07-KG_i3hifhxE3OjNzF6KWpDYs9FN13uATUb-7ETMEYp8-kQkxRuDVcEEksUAkj_EKbYTfZeSN8p2BkkV4Bhu6lphChm68VP68tBz9-crItfOeNMrJRHhVAfXtYICcbhHdZ7Ok8np3XzLoS-kzs7XtKemfE2G3Kd5u3spKlxmRshzM4a9Wl2dN6rZX-Hf3jkzkBnkAPRJL7Gu8JYIIcXL45QQMAWKd8cgvP70YUW2vn4-w4XDZor-7YbzuYRUZip0cmTJGoyy2zCuvz3NC_AwG4ZU9nc10osKQNvGnMgyGn8LKQjsazSElo6G_zwqdFMdVYvlk5e6vSyFM1CowVHhVByOCdyDJ-gQvyZh41WkeS11QfCEbaMiZAmUi_N0B8xKQ=",
  "id": "rs_043031ff92410c15016ab4609f92b487d08d370e15b2bd6f9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.275,\"right_y\":0.13,\"right_z\":0.07,\"right_gripper\":1},\"note\":\"I’ll release the held toy into the left basket. The black-pen grasp was empty and the right fingers were too far forward, so I’m reopening and moving back toward the pen.\"}",
  "call_id": "call_vKDLUhQyNNPqGpEmqjpYJFBp",
  "id": "fc_043031ff92410c15016ab460a1986087d09182642e658c1dc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vKDLUhQyNNPqGpEmqjpYJFBp",
  "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]: [-0.3294, 1.9057, 1.417, -0.2977, -0.3576, -0.2878, 0.9969, 0.7383, 1.195, 0.2943, 0.2871, 0.5434, 0.4324, 0.9947]\nstate[eef_state]: left_x=0.511 left_y=-0.1056 left_z=0.1327 left_yaw=0.1193 left_pitch=-0.1597 left_roll=0.0431 left_gripper=0.9969 right_x=0.2834 right_y=0.1393 right_z=0.0756 right_yaw=0.0595 right_pitch=0.0525 right_roll=0.0793 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -11.3846, 7.2137, 1.5556, -0.2564, 0.0415, 0.0317, 0.3624, -2.7009, 5.9145, 1.6435, 0.4762, 0.1001, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1489ac4acbc0c831ef2232ba99216ca18009d3f872b04a7ec0981e4887f6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1b92c6f430def8fcd6fdf6383eb123ae168411e2b8c29bcd16d213ba906120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae8bca3255bb54201bdbde08af4b4e3b5cbc2fb0b7847f45f40ce15d5205a91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.086 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6323, 1.1873, 0.8639, -0.4332, -0.5602, -0.4381, 0.2222, 0.6064, 1.7214, 0.5182, 0.4831, 0.4599, 0.3595, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.1179 left_z=0.1851 left_yaw=0.0541 left_pitch=-0.055 left_roll=0.0285 left_gripper=0.2222 right_x=0.3511 right_y=0.1525 right_z=0.0155 right_yaw=0.0325 right_pitch=-0.0629 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.4359, 9.4291, 1.2821, -0.2466, 0.0611, 0.4811, -0.9778, -4.8752, 3.7402, 1.2039, 0.0855, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3302, 1.8923, 1.4227, -0.2928, -0.3576, -0.2798, 0.2231, 0.6056, 1.8061, 0.5106, 0.6765, 0.4599, 0.3542, 0.0145]\nstate[eef_state]: left_x=0.5126 left_y=-0.1065 left_z=0.1426 left_yaw=0.1126 left_pitch=-0.1382 left_roll=0.0387 left_gripper=0.2231 right_x=0.3649 right_y=0.1617 right_z=0.0169 right_yaw=0.0357 right_pitch=0.0222 right_roll=0.0479 right_gripper=0.0145\nstate[joint_eff]: [0.1573, -9.853, 6.3521, 1.8193, -0.0464, 0.105, -0.0024, -0.2803, -7.1726, 4.3966, 1.5653, 0.1685, 0.0513, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3294, 1.9057, 1.417, -0.2977, -0.3576, -0.2878, 0.9969, 0.7383, 1.195, 0.2943, 0.2871, 0.5434, 0.4324, 0.9947]\nstate[eef_state]: left_x=0.511 left_y=-0.1056 left_z=0.1327 left_yaw=0.1193 left_pitch=-0.1597 left_roll=0.0431 left_gripper=0.9969 right_x=0.2834 right_y=0.1393 right_z=0.0756 right_yaw=0.0595 right_pitch=0.0525 right_roll=0.0793 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -11.3846, 7.2137, 1.5556, -0.2564, 0.0415, 0.0317, 0.3624, -2.7009, 5.9145, 1.6435, 0.4762, 0.1001, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1489ac4acbc0c831ef2232ba99216ca18009d3f872b04a7ec0981e4887f6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1b92c6f430def8fcd6fdf6383eb123ae168411e2b8c29bcd16d213ba906120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae8bca3255bb54201bdbde08af4b4e3b5cbc2fb0b7847f45f40ce15d5205a91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCpAq0JjAMO84cwsZgzBIPebHYVA-bjdwEEWs_Q2y_9v9grXxTtF0iHX1BhaHxqTUoGDryAQVaKlYNN6-hbrXqDj5CQsac00AKEz13IAtZSh_gHpNDLbIKsaQwryStxQa4Jz2hwoV1t8cN8nJF2GsUjgllSlfOQVtR1Gf913OShpVjgf4WKOblopsQ5OPjh878_fFhOVw-xWW-J5ZcXENaJCg-qmSMyevn6nCJB5E8oJmYKa5hLC8Tnhg7xSkWRs-Hxotg3QGJtL08dlrsB6IgkR8XvnwyrJQh_YctIHnvjuGUndSP2sM-9o2lE9ti4wXVi7c4sOrEYqjZOh9VBMJNay4fPl_YIU2DIWODgnGH486Z6Tv5fhgGIdqN2Ascztg2z-bJn8OBpD1wUN7nlGpQpHPRwI40-R3ijvu3pEz73oVElydQ2xDso8sKsy3QKH5MbW_Q8Am-iLbiLjfSynUAHhXNz3iTEuuL4j_12oERrLQvdtMh-fHOGa_7Q5D4AXh0hYnRPCMlHDZLfWYpZn7cBbHdDjSixNiZq_Wt_VPQ9NoP9EaXJ0PTfaQIyE743fhPCuChYftOKtOpNVXO6YxIGv3p1BcyRCTRiOICN_TjPvWIxUAEqb6upUFc1_P9OGol7c8lO90DT8wNWOc4CI0-wbCOWShcM94Y6mNGUGJZULpb0L2S7PyeXa73Z6eMMk46J5VdRhVEorf_7_vxvbF_IAGR46vf6lGLxLO1_GJul2XRfgvwM8WNag9_AizE2JPtUGBEA_rQQqTv063WTzFs6kyBhsLHkhHhfZYS8vGixoLHvobHwovzscviDhCZkTxoNd_9Rik_7C74YviwYkeV7a0L-2M0pa2-6Fe0J9YItrpBD0lqkxXUcy8MgafHIPSSOHlYGYDrtQHkQvmBORptPLFR_YD6Gl2s6HTK7un0NJxEkilnuOeXbFZ6aGxz9AMA6EwUx0esRkcP4gP075usHjI30919vBtJ_pArri2aFUVhCSx4F1UpFAOh-qiYMbCZ421yFvbDujBQAhgKldCDsnPXowks0qcl-I6xaVNJ1OuE5CIekJMrf61kRD5pT5WzqxTZ-yWfieRFc4etthd5usdJecVcMs6t178Zpc3836G0MvLGODDuseP6xCwCBX6T7iyNV1EK_RTMcCbtSM9e65CtBNStfrPyRaZVhlin0duJaADXXv2Z-f89F3t0zzxe-D-mI4O8QJ058qQprnHC15Mb2m2LYyLgA-kP6qZbzEQoRGnX6Mwbq2uRchp0XmQ0EHu2N4Q5-e6FHqeqf2BcheB0j6p4SQs3Sjab5bte3vzZBi3MwG8rUY8y9jLlb-ltAegYI75CP9LjFopAGVbOFji5WwKObEj_ttQhsowazgrhWSQ092S013GvCuk3Qf_iTZOT9fiSSU8uq1Vf4uQf3axuxoF08N6nXR03x1jgJ1atwG3o-6n7NFEyAG8EIFMI01VPOl6MZj0LTMZy6C5rHm2AQbLvM78rGcooao8n6iAbrwfZkInCMB9iYQY4WfecXZLw-Mv8pXQsxMrQaoZwqb3uBfmjd3_JMKal13rxX-ZawKGfC9qXBr0pet1pRpBxYf9C0VYX0zruFC6Yjz9dtdazwUeGSgjOBk_N-dTxGqJ6wZs0uSbA6MgC2MRN_p06h8EEbZSCq7RtIC_G2MRWibyk1jQO-BiknvE2noSWNYb4xjqlcwJ9GEfsbWaZfsT8kGva9nXYpQkxxzBVMrhCTjqt60goM6mfabGpkcURjUFvLDGhIOykkpevXtIv1GVJQP3Xddrs49P3ef7aLfsOjyAPhjqssowzEb2laYC5DUKSXLhE9VU86hHHwpTtYFprY_WjMsVpWMZrXYfNuhO1ggfrECmS-h-8-TOjoNUPuuY7rqZQWaH-bWYH-O4t57_zViFLRi3fGA9YW7AKDPqoxZ1ypuhREjKyCldIgfjHDGzCUxXsMS3X8ZXc-tq2Qecc2S4Qf_D3hV21WB4UYyHLz0e_iiy8zrV10ppiIkjqYkFwa9Jtz5wZ5OAttCv_caLypRkLji0E487BogInkZ8MoSBvhKHOFClXr7zmBxdcvYkmSYNPFGvSc2N5_O5v6v5dpB3qAVewsmrEhDz96vmXJB9-Wd92-ik-PVYVmT-o6nRvUKo2RQEfoLtSfcYzmh_0naBBM8qfCedcRo8jYH2xf84soKMdhvOFcTFowdJhSo-wQLL5z4sXIe834WWNb1dZ7oQi4WvWU1xMspMUhYE9qAqEXMfghKXB4t8NdDFlUAy-B7ie46if3wAuHBDeuZEl0e7QA_zClYXe9e3hr1jGoPt6cdwL2XshqPYMxIQlkbU8C5UH3gsem6ie5mY52NFWJDPxwIdFskCJ8TYppAjCyTp61CjyUq9KpSJHheUWwc5uZEvo7WLNDAxgsxWbTloTXx77dMMmA8bYxkjyi9awingEmq8K1-iG7ifS6edXTtro=",
  "id": "rs_043031ff92410c15016ab460a4d96c87d0998574d71891a3d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.22,\"left_z\":0.2,\"right_x\":0.28,\"right_y\":0.13,\"right_z\":0},\"note\":\"A toy is visible inside the left basket after release. I’m bringing the left hand back toward the remaining toys and lowering the right fingers at the corrected pen position.\"}",
  "call_id": "call_Rsv1mc7hPbMaS8kiIVt7QyOR",
  "id": "fc_043031ff92410c15016ab460a8d3c487d0a7ce842b72964324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rsv1mc7hPbMaS8kiIVt7QyOR",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9531, 1.565, 1.2774, -0.8242, -0.7006, -0.836, 0.998, 0.7177, 1.6897, 0.141, 0.9771, 0.5327, 0.4129, 0.9961]\nstate[eef_state]: left_x=0.305 left_y=-0.2265 left_z=0.1803 left_yaw=0.0788 left_pitch=-0.1909 left_roll=0.065 left_gripper=0.998 right_x=0.2855 right_y=0.1349 right_z=0.0104 right_yaw=0.0562 right_pitch=0.0825 right_roll=0.093 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -9.0462, 9.0188, 0.9646, -0.5006, -0.0952, 0.1001, -0.7316, -3.3162, 1.6342, 1.0379, -0.0562, 0.105, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4d07de8a735ead432893123500e9ddc2f33e3e41c99271a8bdac7cb89496e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d87989951c5a94eedf1569da1a39271d87f9d73566548e74070ecf70e183b60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318a01523c928a4edee36f1f1e7312409cbfc56623366c75e54643179087294c",
      "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 · 7.662 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3519, 1.7569, 1.5307, -0.5037, -0.3641, -0.2829, 0.2229, 0.606, 1.8061, 0.5121, 0.6605, 0.4625, 0.3599, 0.9998]\nstate[eef_state]: left_x=0.4889 left_y=-0.1087 left_z=0.2183 left_yaw=0.096 left_pitch=-0.107 left_roll=0.0263 left_gripper=0.2229 right_x=0.3636 right_y=0.1604 right_z=0.0146 right_yaw=0.031 right_pitch=0.0107 right_roll=0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.8803, 9.347, 1.707, -0.0415, 0.4518, 0.0659, 0.0068, -4.588, 3.0427, 1.0281, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3294, 1.9057, 1.417, -0.2977, -0.3576, -0.2878, 0.9969, 0.7383, 1.195, 0.2943, 0.2871, 0.5434, 0.4324, 0.9947]\nstate[eef_state]: left_x=0.511 left_y=-0.1056 left_z=0.1327 left_yaw=0.1193 left_pitch=-0.1597 left_roll=0.0431 left_gripper=0.9969 right_x=0.2834 right_y=0.1393 right_z=0.0756 right_yaw=0.0595 right_pitch=0.0525 right_roll=0.0793 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -11.3846, 7.2137, 1.5556, -0.2564, 0.0415, 0.0317, 0.3624, -2.7009, 5.9145, 1.6435, 0.4762, 0.1001, -0.105]\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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9531, 1.565, 1.2774, -0.8242, -0.7006, -0.836, 0.998, 0.7177, 1.6897, 0.141, 0.9771, 0.5327, 0.4129, 0.9961]\nstate[eef_state]: left_x=0.305 left_y=-0.2265 left_z=0.1803 left_yaw=0.0788 left_pitch=-0.1909 left_roll=0.065 left_gripper=0.998 right_x=0.2855 right_y=0.1349 right_z=0.0104 right_yaw=0.0562 right_pitch=0.0825 right_roll=0.093 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -9.0462, 9.0188, 0.9646, -0.5006, -0.0952, 0.1001, -0.7316, -3.3162, 1.6342, 1.0379, -0.0562, 0.105, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4d07de8a735ead432893123500e9ddc2f33e3e41c99271a8bdac7cb89496e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d87989951c5a94eedf1569da1a39271d87f9d73566548e74070ecf70e183b60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318a01523c928a4edee36f1f1e7312409cbfc56623366c75e54643179087294c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCxtnsG0wymfqq0hxrvAh1sOfaZqAfojfBiNQyn2f_1-XlePPdsQj0gNsciNEBU9M5u27QQ6RqYaL85NfyvfOgRCYfK1QS5upM5dAtlyR39EO3PmdAq0d8rQWl8B0P0CrBM07TfdNNXnXhdzAvatJA5ER25wO_IdEWimBAHM2URsJJTpScYvowitD4z_7-pzN4O4DucG9nDGKZt3n9EulZFvitD0bpjvmgNf8iHGSzuY-i1e2kllfYpM8LF2rXGIj-4tuE9kUMKwkvdiPpR1fXgmrg7BMzCqA-6Tyqw7rtp5MjTxgW8poEhp19tFKnOQpOcKZS7aIiHIofr-By6JgTD8psqo2hiXoBTHd8ntDJMiqnvzTGNARKbPVxza5aXuOOl7s0md2Q2FL-Q7WwfGLU8iXqb2jtLPe4obpfOU65SBQJwfUr9La-G2AmsDpXbOHajM7hGMm8z8fm6i32HL8RmuLFfNit-f1cyn-wrtxdjEkbUBhYJ21kFQovNlAS-WHnWjayhPt9KI18zXOjXbryx7TpLCtYy9JN7qHVx-X1k79QEcFSNzgfgE4oqXexOVRYCDfhSVh2q2N1Lbl2jMVIdeBtkKt_AiLU12YGEKJJiNxE6Cc1Qr_y-SDkWIAlMD3zXWqPNj3kjLUdbJyl2A9Doq3sSLkA9vRcZPTdt6dBPlibHW0hs_QjFM71d56M13ePYchlExNLb1FXstN-cnHgj51Nm3JXmh97FF_kf58ulkMudqTYvPrMlhkqF5nvYeVIeUKZzoDBXIRQyOTHU2WNAs87LPtSrcswhHTQGQ9IBv5F-GaZRTPndkiFMg7HOfexXHGK5gSW3BveB3ftqDoFOjNzXcXtgDpccUU7qNGmA9fTQCyEMG_fxtyWqN3hEwXO9SbOlaXUvI3UVqfyy23GB-WL8en9fMXOD5DAAFf7mvVFyQuK7tIm5J4wR1T8KYqWCqK3EkXZlAMSoCpu4CabWEWulUON0YKiiAMM5lxwN3x__WQMBJVar6h7UDIQI4T4jJBFgkvDsjcNpqmlb3EC04EgtoPwpQvRUfxA5G34ii6gAKF7_fJR-0qNL0RTJ-pyJ-vnbu9pP01uMIbzGu_tOv4aBoMOPeOYZQ_WMxuryK-JMgyZ91dM3hXG83EzxMVWMXz6Oa3JpzYPzP--C6EtLy0bTt-YUrVQtp78jta5PwJHhU_p_2B549oEArGMeE1G6hGcjx4ePUJ22Wt7A3nJ8LzAO8H8PyEsCnF1kGiYxHi3DHIs946WdHboEBemo_5ZApTe6yYVPLUhpvHOOjSG9uLJL57ovZ9gqGHw6dKs5JDmCN-_cBKuEsrEdLULz5fxYiGKEjaFqOhtKjEXiuGnRY2IGByVLvxTmnRIOvsCy7WEz05a1AcFALdvqrfKlZ2uv_jt0i2ObaI1YOmOPbtXRfdqJgSHngEh3FmV2OfihoTnNbZVLf-GygSjsOGqKa34TkhUfR9BJW9JhnmfigHA2iD7od5hwtgYTRWS6kbvXkKSN2gyuIikIwa5MEjQztq3bdRtYKD34S2bY44rm0lnGa9nydSbYO6nCbqMZzLwRoNX_jRh-M9lVJVInmPJ6iMputWzEKW9Rg7Cjex7Em3sEHtKDf_wSdNfaA4e8Uxzs0ci_tLKW956G7ulaLtRg8fKtSmF0V-94TrEjPG_Xuvs5gSwhmMA3RfHjvS4oGLcPLpdP4LvkBFK4J3doB9DWHAc1C4fJAUQryno1DLvAd3pmrem0K4cnfsSuiOF1wUDLVBIcuZTpG3oYGPfKB2CQkeFymDlV46hOqOkkYDpmrfllWGNiyrEomKoBUhCHFY17mIK8f1Wn2SbYHXW97NbsHKj3D6DIb4dsdWfS7XwnJqY0RoqPJjo4ogJMoYmwP6FyeZaQdXF4tIKFdn29njWJ0VNbKbMt66S2exb3R7cX6jEW87IqOW4vSXysBthpt-qRkqECCo058K1dG-KkGIvMy9L56ghDeZlidNtlhoibaQCWtJJc44VY4TJkFHOSZfUEP4lDoJhYG7Nv3Wi4IPxn4leaGC-p49b0Rqomm8CWx2b_Byavrhge93mUOeuVXHl7bKTKhaGIMD__AOvULK2_4QbaFFHqB3L9nUibxi5pagfHLYAFLTTZy3OZ1z80fepqSWwwLN0l1ys5MpNkFUSO-yxuoX5_ESgKv-e4b2Qi8Sedz5X6zFZXVfrrL8KdIAC06-D4n8i6gu4pVenMtg_LF6F_0jf-eyxF0O6TqD4edJ6BYDLOmKzPoyS30MrvOur1s2M-JLbXdQTC6tmlCoHLSQVdOnElXItqscXIp_pnVIKPYdtq2WHKYW9fqzCkX2bv-08=",
  "id": "rs_043031ff92410c15016ab460ace8fc87d08eebea906a6b835c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.235,\"left_z\":0.03,\"left_pitch\":0.1,\"right_gripper\":0},\"note\":\"The basket contains the first brown toy, and three toys remain visible on the table. I’ll lower the left hand onto the nearer face-up toy while testing the corrected black-pen grasp.\"}",
  "call_id": "call_nzlPn1HtWWPjV2etWZyekxfo",
  "id": "fc_043031ff92410c15016ab460b06c2487d0a921247e3d9ccc8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nzlPn1HtWWPjV2etWZyekxfo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1099, 1.7821, 0.7383, 0.0647, -1.0096, -0.8646, 0.9981, 0.7177, 1.6886, 0.1425, 1.0145, 0.5346, 0.4065, 0.0148]\nstate[eef_state]: left_x=0.2893 left_y=-0.2382 left_z=0.0525 left_yaw=0.0937 left_pitch=0.1079 left_roll=0.0402 left_gripper=0.9981 right_x=0.2893 right_y=0.1379 right_z=0.0183 right_yaw=0.0557 right_pitch=0.115 right_roll=0.1111 right_gripper=0.0148\nstate[joint_eff]: [-0.1846, -4.2462, 2.5641, 0.4371, 0.1148, 0.0513, -0.0073, -0.2393, -4.4513, 3.2479, 1.3407, 0.1343, 0.0317, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4848cd96afec5d9bd38a8f7fc96ce3cb7a44d8a53da0c99b7b628e97263eb5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e20a35db3385d175856d69cf2d88a01010d800734d7637a60397137bb1dedeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab08b414fd2ae7262b3329b8a41efd66ba81f87412ffbbd4a7c5905cde4b6e7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.595 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3302, 1.8923, 1.4227, -0.2928, -0.3576, -0.2798, 0.2231, 0.6056, 1.8061, 0.5106, 0.6765, 0.4599, 0.3542, 0.0145]\nstate[eef_state]: left_x=0.5126 left_y=-0.1065 left_z=0.1426 left_yaw=0.1126 left_pitch=-0.1382 left_roll=0.0387 left_gripper=0.2231 right_x=0.3649 right_y=0.1617 right_z=0.0169 right_yaw=0.0357 right_pitch=0.0222 right_roll=0.0479 right_gripper=0.0145\nstate[joint_eff]: [0.1573, -9.853, 6.3521, 1.8193, -0.0464, 0.105, -0.0024, -0.2803, -7.1726, 4.3966, 1.5653, 0.1685, 0.0513, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9531, 1.565, 1.2774, -0.8242, -0.7006, -0.836, 0.998, 0.7177, 1.6897, 0.141, 0.9771, 0.5327, 0.4129, 0.9961]\nstate[eef_state]: left_x=0.305 left_y=-0.2265 left_z=0.1803 left_yaw=0.0788 left_pitch=-0.1909 left_roll=0.065 left_gripper=0.998 right_x=0.2855 right_y=0.1349 right_z=0.0104 right_yaw=0.0562 right_pitch=0.0825 right_roll=0.093 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -9.0462, 9.0188, 0.9646, -0.5006, -0.0952, 0.1001, -0.7316, -3.3162, 1.6342, 1.0379, -0.0562, 0.105, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1099, 1.7821, 0.7383, 0.0647, -1.0096, -0.8646, 0.9981, 0.7177, 1.6886, 0.1425, 1.0145, 0.5346, 0.4065, 0.0148]\nstate[eef_state]: left_x=0.2893 left_y=-0.2382 left_z=0.0525 left_yaw=0.0937 left_pitch=0.1079 left_roll=0.0402 left_gripper=0.9981 right_x=0.2893 right_y=0.1379 right_z=0.0183 right_yaw=0.0557 right_pitch=0.115 right_roll=0.1111 right_gripper=0.0148\nstate[joint_eff]: [-0.1846, -4.2462, 2.5641, 0.4371, 0.1148, 0.0513, -0.0073, -0.2393, -4.4513, 3.2479, 1.3407, 0.1343, 0.0317, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4848cd96afec5d9bd38a8f7fc96ce3cb7a44d8a53da0c99b7b628e97263eb5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e20a35db3385d175856d69cf2d88a01010d800734d7637a60397137bb1dedeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab08b414fd2ae7262b3329b8a41efd66ba81f87412ffbbd4a7c5905cde4b6e7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGC66aXI_d3mqeJ6I2APavW61Ywn2rSShKeEG56YUwArVUQuxsZdbb62UYg9lpnbGibjImNxINmmf2chVn-WN8c8zCY3sR27GaiLiTi5Ff3emgRmVik7W6wvGC88Up6BJ2eXebKBqyOszx-7C079qq1CzO8oSQvNB3tIhNwkAla_4RMsdL00PbxkqorWxHlzPBDFFCxSP9tYusrl7Z0NiDOI-IwXpT5Mg9xqL7E2SyMybvhnm2J51PBpkI57dNhbRQTBFk89DXmHEudFNv9eDE8Ii1JeJRije2S0G7qet_A7UykQuR8W68LdDVOX3b3BZLICr2kVEAyfTK0_rWkWZ2NSRaLYcvj-LE4yEEUtA9WhsE-BxJIzxfssxVyWi9W3DuReEgLDjjDTgjPHFBY3vetMBoNjTqK0HpObC8AlOKlfQhIqKchUKJKVhU75GkZiQkImLts3-IJqOrzovkCR39y9A0zIaMkhCq0q8keBASCbnvC6u2a8UEz7tyO2Gs9mTeSejpBWoGcGC3Gnx9ovgBn7NZd2l3s1Zz-67QfF-uEF1sHeT2_8gTtOu6uJDszPlzHhN6aCI0l1CPTzq87DltZ9_WR3ZWmSaVl8k-m22L95xlNsNE3n7ilvxBY2xHSdXAFMLl50uTN2yHIpXjS1sf_OQeANoWfvCZa2t3xNVyc8i20UGr4CNW30F2vi2DkHlygXqn-Isr4bosLe2JYHb1YqXdNya7ZM3cuu3mXYU4insbyAIn1CC7IC0D5fsNHZAXDLYKjU1e9SRsrgFlYx9a0JO1FpnKHBLkm3zCYgWdj1oWBvj2GHeNA12P40MCa_s_KvC03vXoEyaeSL_inYfutzdDJP52WXY69_oG5hZE6tB4AcbTz8bWKptfMR5jCYilrYzgDJD16f9ilX8oqTSFqpkn6rtt4FIa8mSQfnQm-6lZdNXO_sp8EwhiQ4Ux0Gmt62hCnbmqcgy_rAipXepBfz3T2pQWOZ-F7-BGT92Q50MnvL2-Qn-3MgpR1KzrvE98RU_PiY8mdzUlE6-TY4eg_ZjgOSxgALb9o6xKN5eShciO4KUBbveRyLpWhXKf7wXyVh9cXzTiha2hgaMMVW2_1Lom2mVxV5-RIm6dGBp-wf-AA4dTQt4oSUF3UDFwxV2yLzsRx1pnus92VSl5SL-vFUDoxsRI8Oy2eAVSvVM4fq-ngLouAyOFYEzr5-nYrYzc7_GzHK8Oe2YLWzAhzjmWpvsNF2NLFhkW6bOlI4McVEQp0TeZ1UD5lb_71Pcnl62k_DUP-Qs-IObZ_o1vzEMDFR1xBV2KhHlEYRnj9JiGtlKOtF2J600G3pP2i1GnkcJKZgu5nRSPEe5uWcwBuP80gYrGQ71A_4urFZCLhcW0FAMsdpRHAisoQLKoN1j__LpspgHIF_fwNloJCV2thYFMCTecFW2GSnzPtV_Y7-XYYotIELVvG48_EVvmGdi1rsuokCIBRvLU_CTO3BbX6bccwP4tmKOPSnQvk5Vkeni-e9ErBDyzO5b20CHTGuXVNSOQkNeEeQsQfpaLRS9wKgdzJkg4NGF2N0n7gVeWEvu_pj7d68fxmzm3GzWl5DVq4Fdplgd4j-8SAD01uVm_ArXE1-jIZRC5PTpwQW4FIeCZ1k29HKmyHM4tB3qFSOeMnS_cjGbJoEL7f6KxdoqG-xlrbo0Y1wjhx-YVrF0hOrNGgvKiVLJeVjjM_JkC2SOlAFqdTge9-AkzbDLBXfOWaVOpMTBAKnW4PmPL7fBohPZDSRvhiYY8JJOfs96W6W73ov6DeEJ7RmnRNLn62dAhoQr4NR5GOJopN_Gmbo_T1UxXUehU9QxuVUjeuTyAct7yZdob0fgU5tFXpK9Mh10Ff-zepUuSBmRBzIf4QVpsf5w72ljWHhl419RP0h7m0yEspd173jCqe1WI-VYofVJpMRkWiAxWM1r-8I30SDYOxPQb4WtcrPC292tmwqY64bHBuT_027ppcwRM-OFGiSH5YuBhhjKQCjkEYjb6FpvT9K7GTpyXUw3Y9adSNvJd9D7TnSNgGTTl_d8xHHED7uiwz_4ECzTakQZP1Saka-_nd60BFoXm3-WbHabAI0rtmM102c6Jp8CUt44tmwMul35DXSUq6pfYK7B42nbvq24cQ1Kg-H_Vt-ZuZDEM2X5nzWSioc6QnucfJ9mq-hBjYg99vGBbzCjqLSPPQb9QH8GhjzJ8k7RHBiS9oqeBjZ24GwCX4CcseO62iY8G5NzgmmeMwPaAYHPXyaOhufFAINzVxXraxZ3ilRSvGctUPlG8ulZXswkviWKuWcP1HMBHYd4kcYiAxEG1W9li1mITC7uVFqufJ47K3_PZdORW9Ztyp6lkF5xP-kQ1TCm90c9jcoNCZhdN0pRo1lf0Rqbo_luVVw6ww-00vXG4ZUyTEmze0c2wpgpePNLubuRNO63qJMGaCqoIgj7NkXIrrvyX64aTAOXxyI7ZZjuFKUkl8wKgLwPmMAF2OdB8S9AjUo6JdOQIPo3QD_NDFz09_3bz_9RuwU4watyeVw-apPGuRbBrMpjyfYyPz1TXWS5Y-ExomQdCnEDuUeAwxSAhuW-ABCZVO84ZMkKopzjMK5o1pZDLk_F3CQdV5B2i7xWSMZdxKgsfNfbBDn0vC7j9woh2c7QCe5XXFForuvuOh4y33jzuhh4Dgedj4CVLhxLNwbXZVJlMGcXm8oSg==",
  "id": "rs_043031ff92410c15016ab460b3e06c87d0bdcc4e3921d70b12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.31,\"right_y\":0.21,\"right_z\":0.075,\"right_gripper\":1,\"right_pitch\":-0.08},\"note\":\"The large cream teddy’s body is between the left fingers. The right grasp was empty again; the dark shape appears to be part of the gripper or cable, so I’m switching to the clearly visible blue pen.\"}",
  "call_id": "call_Et9mWWBIIBL4NKvoCRDqMoKn",
  "id": "fc_043031ff92410c15016ab460b8e5a087d0a53c2f6f55d181b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Et9mWWBIIBL4NKvoCRDqMoKn",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1114, 1.7802, 0.7341, 0.115, -1.0283, -0.8726, 0.1128, 0.8257, 1.5017, 0.6014, 0.1543, 0.5377, 0.5751, 0.9948]\nstate[eef_state]: left_x=0.2922 left_y=-0.2413 left_z=0.059 left_yaw=0.1122 left_pitch=0.1391 left_roll=-0.0071 left_gripper=0.1128 right_x=0.3107 right_y=0.2086 right_z=0.0703 right_yaw=0.0744 right_pitch=-0.0566 right_roll=0.1153 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -7.3915, 5.2581, 0.6374, -0.2906, 0.0366, 0.8376, 0.5538, -6.0923, 7.8974, 1.409, 0.2955, 0.1587, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbee93c5d6de983e75dfe870c3fa9ad623811621f33c363fce3237bedca2bb46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc1bb83b4b4f7d0399a13267dfa996514f1a6309b5a8127963dd1596bfaeacf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b0880b98ef47e6088cb487fab11501c7163c294568c3d3668bf57f5c8b42a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.782 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3294, 1.9057, 1.417, -0.2977, -0.3576, -0.2878, 0.9969, 0.7383, 1.195, 0.2943, 0.2871, 0.5434, 0.4324, 0.9947]\nstate[eef_state]: left_x=0.511 left_y=-0.1056 left_z=0.1327 left_yaw=0.1193 left_pitch=-0.1597 left_roll=0.0431 left_gripper=0.9969 right_x=0.2834 right_y=0.1393 right_z=0.0756 right_yaw=0.0595 right_pitch=0.0525 right_roll=0.0793 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -11.3846, 7.2137, 1.5556, -0.2564, 0.0415, 0.0317, 0.3624, -2.7009, 5.9145, 1.6435, 0.4762, 0.1001, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1099, 1.7821, 0.7383, 0.0647, -1.0096, -0.8646, 0.9981, 0.7177, 1.6886, 0.1425, 1.0145, 0.5346, 0.4065, 0.0148]\nstate[eef_state]: left_x=0.2893 left_y=-0.2382 left_z=0.0525 left_yaw=0.0937 left_pitch=0.1079 left_roll=0.0402 left_gripper=0.9981 right_x=0.2893 right_y=0.1379 right_z=0.0183 right_yaw=0.0557 right_pitch=0.115 right_roll=0.1111 right_gripper=0.0148\nstate[joint_eff]: [-0.1846, -4.2462, 2.5641, 0.4371, 0.1148, 0.0513, -0.0073, -0.2393, -4.4513, 3.2479, 1.3407, 0.1343, 0.0317, 0.5592]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1114, 1.7802, 0.7341, 0.115, -1.0283, -0.8726, 0.1128, 0.8257, 1.5017, 0.6014, 0.1543, 0.5377, 0.5751, 0.9948]\nstate[eef_state]: left_x=0.2922 left_y=-0.2413 left_z=0.059 left_yaw=0.1122 left_pitch=0.1391 left_roll=-0.0071 left_gripper=0.1128 right_x=0.3107 right_y=0.2086 right_z=0.0703 right_yaw=0.0744 right_pitch=-0.0566 right_roll=0.1153 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -7.3915, 5.2581, 0.6374, -0.2906, 0.0366, 0.8376, 0.5538, -6.0923, 7.8974, 1.409, 0.2955, 0.1587, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbee93c5d6de983e75dfe870c3fa9ad623811621f33c363fce3237bedca2bb46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc1bb83b4b4f7d0399a13267dfa996514f1a6309b5a8127963dd1596bfaeacf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b0880b98ef47e6088cb487fab11501c7163c294568c3d3668bf57f5c8b42a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDBfHwskyOx9BGGKnHsOq9I36BoUKkiUm9w5CYp41P437yc1r3ejdH3tbb9qIa4_w_IuO5o19eYVa2xB7E44RzPJDbNtMYCAI-FpzsNRCFbrTU0Jlqjrv7qOFfSWF4ga1DWHakIudnwhhUZh59dmlHqWNfiIqKmlnuNnbHOZP5QbolroKi3K2LbbWfEBVDYwl1haO3OEHt36LJ6_YGBnnhu3Dx9fHUnUHRMZz6ogc63XWbwPzSVpp7RmSGQPJaKMfByxv4wMlI-eE2QA9ArdCEIuG9_y9VDPJW1guM1l4R2XpfUfsQkbUMNKBmEtoHiVmKUQq_uau5_7hZDFaccGriEFrVYal1ZL4OdFnAVjrTh6lq56QBL2tTY-RbKuw7MZ_XjJiHmN0rbOAPK84tMgKyAoUYweZkcogCHZM-q9w-3S5CktMwd-rQT6GNZaGyzD-lMK1MjLsQp7YDsRhcddwEkNIhk41qvMPSGjYRuxn5sJAmE-FFmadePJ6AZ82xncUhLi_i5M2voJjQaDbiAHbQ_RYShX3ym_Kr4SRVxYZjCQNSdkBLqGcLqFQpJA5n3qmyLdrcv9fF9JM0v7wbqarJ6HwE04Nlp5OQh86jDEzz3p5uahVIBxNxo_9bG29GU9H1k63GBLUv3E7G8m9LdpHU25Q1HLeFJ97JKRMo3s9pukYU_BzzaA5Do6sjL-jMDXlNX7VPKefg2alaZYvlk2GDJQfKpPpQPgPFuvEyWyKgsgkTtTaIIqH9wtGM-gygUcAxiHrJp9cHiO4v89auPvyCtAoMFKEK9V8k0Lw57e1ZiEi1THtST1GP7HVOx6eBPIB8eQ6xcjE36mKecKwyD0eMezG1NiTv5FYZWflYVQwzdUWVe1GlBDgZUpRTzavtgT7cFzmQPVY_B61KzzqSFk6ZwxI6M15NaLv-7FGGsqnWr60il-aa05DLC3_jZj3ItEAyNYXOxVcKDYClHMEJXHK2xyBVimCQwKgYU8FAuz2nQw7F0o3FwWY87oZqntcqcJvOmjTPdM7sJzjF7kxEmSeED78ut_aVFsJcuGEeke8PItn3IW9J9H8NQJ43qfMmegyxzCE5BVUAQztaigT89h-tZVLc94qA6araUyIKhcBucRvoyiiqtWxuiwadyICglif_HUyCMYFe3eqBmjGr3UPdGaA59BeZZ37sBuJzWNdtujPL691SWo3GlyECLqPFLhENewnQ4J-alJwEVS7VQis7Bb_WtH6Ldoohg54Oi95hvpCeeGVWs-bM-k1DW845imRzERzaT4BBSczRK4Me_z8-n_t9F8NPdScj3KSD-IxLoRHNAuocsKTTs_WeeCx8itHqwDuwvbxArgtjyiWmd-8hhZaZN7yRWjcwhN9V-oy3l81Osw5hC1xK_K7i_1-jVlAJ3bHYiGoX5-u44T4MH5fMwDWX5TS0XoGGkun-9gRt-1Wed4i1I6vr0NOjIFI8-6a9m2bYtoXGN-QBjCyovgW23zWC3LzFtEfFJRQmameyP2aTIvkNcd9J4hgIov4MGjDcpjJKBmQPdOEn4pstYwAGKYgq66Aj3JxSPE8wecX-wwOMvjAK0oe9Rb0cvskGiC4gdFeeG69Yd6ZDlOxzM-fn_gPb9B-RXjVD8ZRbIy-faXF3E-r5fNi8k8zxb_jjTXSD_NzGyiAZEpEbNP_RdzCLyT7U9P5JUHo7nmzcM09K1l7sQBy1UCixxKkHjY1aU6kY3DLAA2ua_dCprVOIIJyDn0oUha9QOU7WJVllBtzt60nPhxqLcpR2DMjecs4ezv0AQO3CNwxke6lYWaytk8ZvC_HHuwyw4ivFhk2J7-QcXmwb3QPHcCRnDX0fGd7uzi6PFEBdC9JJmnXCyCyhNck7DJZ2XiwIhKbS5s-ePvE-7S5ELgo-veNBrLCdRDiUpi2v91aS_BNW28u8X3uAK0mxXUvrCZCbyYgEk_utr5zipCH0FZL6SFXBieFRu7piK2aA4544tVjeQrpfMCrebw0h19BZGz82Ra5Nj3bQT9kS_Q4Ahh3HPMJ9DrHJsXs9I6f_NROJmbTxGFWdss_K9EZzfA54qtODuyQSicNSsmnrH4T9EO1UFjlDaGo9FVruL5IxXHaNLz-LejeDB5pCqYgue7w==",
  "id": "rs_043031ff92410c15016ab460bcfa8087d08aa75acfbf6d6040",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"right_x\":0.31,\"right_y\":0.23,\"right_z\":0,\"right_roll\":-0.1},\"note\":\"The cream toy is held with a nonzero jaw gap. I’ll lift it to confirm, while aligning the blue pen between the right fingers and lowering to the table.\"}",
  "call_id": "call_Qsg8rYMNsJqae0SfRBhRrr9n",
  "id": "fc_043031ff92410c15016ab460c0646c87d0aebae226c435c72c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qsg8rYMNsJqae0SfRBhRrr9n",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.108, 1.6375, 0.8223, -0.152, -1.0218, -0.8799, 0.1142, 0.9173, 1.8114, 0.6449, 0.3424, 0.6796, 0.5564, 0.9961]\nstate[eef_state]: left_x=0.2905 left_y=-0.2366 left_z=0.1048 left_yaw=0.1116 left_pitch=0.1218 left_roll=0.0188 left_gripper=0.1142 right_x=0.3136 right_y=0.2327 right_z=0.0146 right_yaw=0.0695 right_pitch=-0.0387 right_roll=-0.026 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.388, 10.0034, 1.5702, -0.4029, 0.0708, 0.6716, 0.9231, -4.6154, 5.135, 0.3834, 0.0904, -0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e87e1e6306bf562478f70930f6f2c92e8456c3873567c9cc97415057e31b643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d215f7051297b4811df8a61cdd826e29196ce3a804a0b163d990d08dd69dfc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42496aefe95beadb288f65a57f12e7dae34118c5c478fcb90d0406f6c8398235",
      "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 · 3.583 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9531, 1.565, 1.2774, -0.8242, -0.7006, -0.836, 0.998, 0.7177, 1.6897, 0.141, 0.9771, 0.5327, 0.4129, 0.9961]\nstate[eef_state]: left_x=0.305 left_y=-0.2265 left_z=0.1803 left_yaw=0.0788 left_pitch=-0.1909 left_roll=0.065 left_gripper=0.998 right_x=0.2855 right_y=0.1349 right_z=0.0104 right_yaw=0.0562 right_pitch=0.0825 right_roll=0.093 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -9.0462, 9.0188, 0.9646, -0.5006, -0.0952, 0.1001, -0.7316, -3.3162, 1.6342, 1.0379, -0.0562, 0.105, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1114, 1.7802, 0.7341, 0.115, -1.0283, -0.8726, 0.1128, 0.8257, 1.5017, 0.6014, 0.1543, 0.5377, 0.5751, 0.9948]\nstate[eef_state]: left_x=0.2922 left_y=-0.2413 left_z=0.059 left_yaw=0.1122 left_pitch=0.1391 left_roll=-0.0071 left_gripper=0.1128 right_x=0.3107 right_y=0.2086 right_z=0.0703 right_yaw=0.0744 right_pitch=-0.0566 right_roll=0.1153 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -7.3915, 5.2581, 0.6374, -0.2906, 0.0366, 0.8376, 0.5538, -6.0923, 7.8974, 1.409, 0.2955, 0.1587, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.108, 1.6375, 0.8223, -0.152, -1.0218, -0.8799, 0.1142, 0.9173, 1.8114, 0.6449, 0.3424, 0.6796, 0.5564, 0.9961]\nstate[eef_state]: left_x=0.2905 left_y=-0.2366 left_z=0.1048 left_yaw=0.1116 left_pitch=0.1218 left_roll=0.0188 left_gripper=0.1142 right_x=0.3136 right_y=0.2327 right_z=0.0146 right_yaw=0.0695 right_pitch=-0.0387 right_roll=-0.026 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.388, 10.0034, 1.5702, -0.4029, 0.0708, 0.6716, 0.9231, -4.6154, 5.135, 0.3834, 0.0904, -0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e87e1e6306bf562478f70930f6f2c92e8456c3873567c9cc97415057e31b643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d215f7051297b4811df8a61cdd826e29196ce3a804a0b163d990d08dd69dfc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42496aefe95beadb288f65a57f12e7dae34118c5c478fcb90d0406f6c8398235",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDFSgt7sFi64StAHrnGUgFc0ebpcCRyrVCkAqO33pYzAWjyktISzHT4Phw4MQRnGIU1ycQ0h8RvRE1vALiSAOtr_nx9NibphrL3MRdrdTR__E2zItkwyXXf53lS4qf1ggwnKOfBuDBzF6hZqXDbfALHRK7pVuYv2yPmZitt0uanApqU5424b4MKiPDrVoipq_SsHkThjHOihWrmFV8-A-RzN11uddcbU5janvPH1hImXaQRJMMLB8lP6AVeME4mixAHger7bK_-RcGSGB5-WmbBMAI1fl49joZcDz4PQvXpVJjK81s8gnK13TAIkSWZf9zBnTHcTv-b1ZSrtRohgWYQ9shHvZIkNxFxJN2kQjlo6RZfX83pKD2tfUEB_kd395yTViCNsSlmjtCQmU5fEA86zAV1V-VPrA-ad939vH2aWL3MyS1RTBkLslCrYM3ggoVLstHFDsw1M5TTQ5J1BeO_bjejw1DIR5a0yXN4Jpprrhpxzpf2ciBGlIBGMRz38b4P8im-EDDwFnPEjEI2Jur1bQ4p93CFLIJHMrEd6o1ui9yZkLddJXgxyijxiqpxZN74jqb-4_qReUNJie9pK6E4aYbOB0kD4y2O9ARMaF1e5utRgv0G_wdDsmDx-zlI58vWtH6AA58HFJE_JEcX_8MKhBjfSzep4LJ4qWG9bEm50IzQ0BNlK8gHPUlZzCDPy0wfPiUg1m-3dfUntf2zAbAwuAKj3pvYn9DPnn5exNPK2V_LXt78ly0Gfq7L5_DwU62aAKMeWvGdzi_JbdPJzOtdyyFL3ap3StzxErtYZtGTFKst4xR1PA7Um_NTRKwT5qPObSO9p4k6enXVOVqNEdsH2fgCw3qa1D_UbwVGcp-neO6LytOX_XUDVn_BimV4uJoheso18XSf2SoW894jlUHxzII4Qu_MBAtaaHKc2TAEP9sJm1rCDUXbyN7wyVas6C3BozwNou5IV7eZ58C6EoZPFWvEkGr9ao6QEeE6FNF1SZFDwez8wHfgNU8Obw1ONPXvwvujs0Qtz914Hwgj4osPRVyG21CGmk4-Gy6dtwfz6i4W88ctlYFbKdOg_MQxGhD9qg7_DFxMIQFdM6fgKNmCKtccyUqMtpUtV2GUdF-ynF1Y0MIccpYM0OgjvlhehGJQJjtzsWdNz0zJCeuUti91JkWtYE9btk9P2yRF0lgrFJnPHzZyyoFUbxq8Zz712lq7DOcMrqcj_yIcqmuchQy1cu7C-q3i4sBUpNqf-i0-YPsqF9xVERn7ZG3UtyzLF2fgXJ-VRJ-Jh8G7xuOrKq9HofZ_Fd-pwyb6Ly-RNSFX2BHq-lX0GcjkvTWzVz3BWpx2RL7f-9ZtFjkf-aLxAgO0VkpqliwDkLBOzdZSHQr-CZAiNlWzBtzwGpCd2ZGNFAQmrlqxdS5uvhMXd88d_CxA0XMmTAMHVPlBrsjKKL3I8uCIAulJ3ULiAOhjIDVfWGgadOK0OYtwK9zofXLislDGbj-Bfi33xQAYgrTBINrItfPieBK8osZMdxmhRjZxU2jQ",
  "id": "rs_043031ff92410c15016ab460c3a33487d0885e491907f4b244",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"right_gripper\":0},\"note\":\"The cream teddy is rising with the left hand, and the blue pen is centered on the right jaw column. I’ll raise the teddy clear of the basket rim and close on the pen.\"}",
  "call_id": "call_zhPkJMqonxT4cMTcmyqkBvcg",
  "id": "fc_043031ff92410c15016ab460c50b7487d09af1e63db5e8cb0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zhPkJMqonxT4cMTcmyqkBvcg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1053, 1.5204, 1.2205, -0.7197, -1.0027, -0.8879, 0.1157, 0.9226, 1.845, 0.6537, 0.3683, 0.7063, 0.5278, 0.1601]\nstate[eef_state]: left_x=0.2911 left_y=-0.2398 left_z=0.2201 left_yaw=0.1035 left_pitch=0.0888 left_roll=0.0552 left_gripper=0.1157 right_x=0.3162 right_y=0.2335 right_z=0.011 right_yaw=0.0717 right_pitch=-0.0241 right_roll=-0.0617 right_gripper=0.1601\nstate[joint_eff]: [-0.1299, -9.4427, 9.2103, 1.2869, -0.6422, 0.0317, 0.652, 0.4034, -6.2154, 4.5333, 1.0867, 0.2515, -0.022, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c8ed806609da6875a05699083eab502ca818c327416affa5dda96b507ddddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b806e9a0d2eb7796298583d83c04a131b0173441ff0115aab9a2c418dc5ec69f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d55cad5daea2d4bc000076a85d2c1cd23a7b91ca51a93174d088f5605d49ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.749 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1099, 1.7821, 0.7383, 0.0647, -1.0096, -0.8646, 0.9981, 0.7177, 1.6886, 0.1425, 1.0145, 0.5346, 0.4065, 0.0148]\nstate[eef_state]: left_x=0.2893 left_y=-0.2382 left_z=0.0525 left_yaw=0.0937 left_pitch=0.1079 left_roll=0.0402 left_gripper=0.9981 right_x=0.2893 right_y=0.1379 right_z=0.0183 right_yaw=0.0557 right_pitch=0.115 right_roll=0.1111 right_gripper=0.0148\nstate[joint_eff]: [-0.1846, -4.2462, 2.5641, 0.4371, 0.1148, 0.0513, -0.0073, -0.2393, -4.4513, 3.2479, 1.3407, 0.1343, 0.0317, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.108, 1.6375, 0.8223, -0.152, -1.0218, -0.8799, 0.1142, 0.9173, 1.8114, 0.6449, 0.3424, 0.6796, 0.5564, 0.9961]\nstate[eef_state]: left_x=0.2905 left_y=-0.2366 left_z=0.1048 left_yaw=0.1116 left_pitch=0.1218 left_roll=0.0188 left_gripper=0.1142 right_x=0.3136 right_y=0.2327 right_z=0.0146 right_yaw=0.0695 right_pitch=-0.0387 right_roll=-0.026 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.388, 10.0034, 1.5702, -0.4029, 0.0708, 0.6716, 0.9231, -4.6154, 5.135, 0.3834, 0.0904, -0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1053, 1.5204, 1.2205, -0.7197, -1.0027, -0.8879, 0.1157, 0.9226, 1.845, 0.6537, 0.3683, 0.7063, 0.5278, 0.1601]\nstate[eef_state]: left_x=0.2911 left_y=-0.2398 left_z=0.2201 left_yaw=0.1035 left_pitch=0.0888 left_roll=0.0552 left_gripper=0.1157 right_x=0.3162 right_y=0.2335 right_z=0.011 right_yaw=0.0717 right_pitch=-0.0241 right_roll=-0.0617 right_gripper=0.1601\nstate[joint_eff]: [-0.1299, -9.4427, 9.2103, 1.2869, -0.6422, 0.0317, 0.652, 0.4034, -6.2154, 4.5333, 1.0867, 0.2515, -0.022, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c8ed806609da6875a05699083eab502ca818c327416affa5dda96b507ddddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b806e9a0d2eb7796298583d83c04a131b0173441ff0115aab9a2c418dc5ec69f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d55cad5daea2d4bc000076a85d2c1cd23a7b91ca51a93174d088f5605d49ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDK9SPr7VNVYLfjsD8qjgT_trJz5eCbZ6KX1GTmx4TSRfPuuhg_yyefNENYzFyzteerE6In47GMjL8tVqJfi4zaXVcCN-fNIbxqeGwcOKubNb3VlBveqzVPgFaJVR_gYRUqEexjlgqvhQYFtioC7SPQbLDKMQcKyFf5hZZLkM5L9Bl_RY2Isn-y68CmnXN-fgB7XkqywYIPdOa6VFcQx3IOYW2ApeMPEG6mddVp_AiN1rFSYmnsoQz2gxW7Zr603MCU01PzjokqtyXSPDB4_RqeYdv8oOLqHkoeG9GPiYEmoASnUUJP1kLyy8qoH5U8GvDigLpNAUm5JDXFLNhM6nUZqqcKzVrU4aqW0AgPXQXybYDdHJ0mxwaH1MsbMr3qTnX5B4eNp9UjwG7YSAqYo_jk_x93xocGaVFn70caiZCnIMFS5o4AfWcQEmLmuoo3Fgc2De5HHCvLZADVaps46vCBYbeXbyRsb-5EPRcd6nY5FsQbBjmSm5q_50hqXPGOo1wVAd2X8f-tNU08hTKUfD0uTOq4hC7_bGlhd2I1avvG2DkqOIcC2pXEJQBvJbd_7LOSG0m5l7aykuQ3Cm7rGHDK78j6nq1r43DIJVz_ad1xwlKWJ4Kw1jEuyPI6oV8HQJWQaQICMWljgTy8N6T3_vIFQTFZ9hAFUQ1GdtzgDPTLAzsVJsMD1U9j39U05RHIY4Ep_09IXOvxILC43e-Mti6i7Wea1eJ6tCUn8Om-Zp-Hpk19DzFoG5VvAlSKKLo6cBFHwr2kCxeyTd7LziSZ-XyyMpNW5IDwhXaWutWMHKTHtan1qN3pHnntvE5-dnBbWHk0RsSCnO6SN4FnP95OqQ7seQL_f7w3jU88uWUAnRq3UVhVN4cfTgtg2WMDoFpZYWrqIZbKN8UJTyOoCh1SABJmLx6X-D8aR6EVyH-7zvIhyXiKjtr53Ks8UhnPh2MCKFLDzUsYEjmV5_UvZGRTXTt-wmE6NX6D41T3s4Hx4z0cSm95jqY27GzlCEnNS1brqfQZyliJs5asB9JuEVle7d-ebe3PZNINxMP9e9JzQiI8lIfvGcT5umHz3Sm4pgSfbDsjpsOPGuo8o9gYr8ST4tCWEExNlS_pdeq-E5hBzL8mphsGctwAvdAdt09G24uODJtIvdvPjRpVJ5zD2WNdkkw0RYBJZFbnDuT8nF4VPVNvl8dfX6djl8LZydB5OnN6qhRFveLlF_8cEPNUlPL1H0ADZM7pMVYCTXZFcGfITj9Ds9GQyjAC1gN2P8ZHOAXspVq5EvOdAfunuwBzHwX5D_Fy0O9B_KsG8Bi0hl8fsTG9_tHdyKzg7LrByLy8y0NonTEHIYZcVZTB73NSUO6j8sGoSIJGrbaZ33dXs1uVWdNPw4U=",
  "id": "rs_043031ff92410c15016ab460c82c8487d094f0b4661ad2fcc2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.115,\"left_z\":0.29,\"right_z\":0.085},\"note\":\"Both grasps have a clear jaw gap. I’ll carry the teddy above the left basket and make a short test lift of the blue pen before moving it to the right basket.\"}",
  "call_id": "call_Z1Sd0zNnvrNoJO3tps9CG7CV",
  "id": "fc_043031ff92410c15016ab460c90fc487d0b91ec691025bf8e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z1Sd0zNnvrNoJO3tps9CG7CV",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.7733, 1.6295, -0.458, -0.4892, -0.2455, 0.1156, 0.9218, 1.6375, 0.7364, 0.0334, 0.6949, 0.527, 0.167]\nstate[eef_state]: left_x=0.5058 left_y=-0.1112 left_z=0.2671 left_yaw=0.1425 left_pitch=0.0412 left_roll=0.0655 left_gripper=0.1156 right_x=0.3108 right_y=0.2285 right_z=0.0638 right_yaw=0.0778 right_pitch=-0.0601 right_roll=-0.0901 right_gripper=0.167\nstate[joint_eff]: [0.1573, -10.1402, 9.7983, 1.7167, 0.0171, 0.1685, 0.5885, 0.0068, -9.2786, 8.6496, 1.2381, 0.3639, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450e7d8f3378121abbce835de04b91abc68f02b05eab367724974da12fe1cd87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ee6cd9322ba67e3d4cc44e08e8ce7a110bb1dfb23763831edf71431021d800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fd8957939c5a4297ecbc784b241287dbebf5173b79cb42d9ceb228706fcd3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.534 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1114, 1.7802, 0.7341, 0.115, -1.0283, -0.8726, 0.1128, 0.8257, 1.5017, 0.6014, 0.1543, 0.5377, 0.5751, 0.9948]\nstate[eef_state]: left_x=0.2922 left_y=-0.2413 left_z=0.059 left_yaw=0.1122 left_pitch=0.1391 left_roll=-0.0071 left_gripper=0.1128 right_x=0.3107 right_y=0.2086 right_z=0.0703 right_yaw=0.0744 right_pitch=-0.0566 right_roll=0.1153 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -7.3915, 5.2581, 0.6374, -0.2906, 0.0366, 0.8376, 0.5538, -6.0923, 7.8974, 1.409, 0.2955, 0.1587, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1053, 1.5204, 1.2205, -0.7197, -1.0027, -0.8879, 0.1157, 0.9226, 1.845, 0.6537, 0.3683, 0.7063, 0.5278, 0.1601]\nstate[eef_state]: left_x=0.2911 left_y=-0.2398 left_z=0.2201 left_yaw=0.1035 left_pitch=0.0888 left_roll=0.0552 left_gripper=0.1157 right_x=0.3162 right_y=0.2335 right_z=0.011 right_yaw=0.0717 right_pitch=-0.0241 right_roll=-0.0617 right_gripper=0.1601\nstate[joint_eff]: [-0.1299, -9.4427, 9.2103, 1.2869, -0.6422, 0.0317, 0.652, 0.4034, -6.2154, 4.5333, 1.0867, 0.2515, -0.022, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.7733, 1.6295, -0.458, -0.4892, -0.2455, 0.1156, 0.9218, 1.6375, 0.7364, 0.0334, 0.6949, 0.527, 0.167]\nstate[eef_state]: left_x=0.5058 left_y=-0.1112 left_z=0.2671 left_yaw=0.1425 left_pitch=0.0412 left_roll=0.0655 left_gripper=0.1156 right_x=0.3108 right_y=0.2285 right_z=0.0638 right_yaw=0.0778 right_pitch=-0.0601 right_roll=-0.0901 right_gripper=0.167\nstate[joint_eff]: [0.1573, -10.1402, 9.7983, 1.7167, 0.0171, 0.1685, 0.5885, 0.0068, -9.2786, 8.6496, 1.2381, 0.3639, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450e7d8f3378121abbce835de04b91abc68f02b05eab367724974da12fe1cd87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ee6cd9322ba67e3d4cc44e08e8ce7a110bb1dfb23763831edf71431021d800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fd8957939c5a4297ecbc784b241287dbebf5173b79cb42d9ceb228706fcd3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDRYkFOmEYfuXKDDNDPvkBkw01HqMroE6U4epF0rQBFQiXPbjwP1g10jRumGbNaZk0-aStGeDp8zyuD1T2Vj849003QBIvket847uJY5KiuSVxUYeqSs3x_fZxU_sSQcGoxo59KZe_6Sd4ZmaqS_GUx-4YVZzQgc3PxXKA-Z0tLl29U_a0L1Z9ZtsfBnMDTFMXGhfS-eI4Q11jgzImoEAJbgh1Rdr6_9jRQjSyeWCDjyggxaPmA7WSzEJXE6GPbZyH27Kl2hv94ytb0rWMXVuS4Hs8M7r3k3DI7miO9V7LDh6G5T9T5jMCpOrbq7GZvHSL8MAfQ6ExnyG2xFEy3AbK3vt5w1LvLyNtqHgQe5aeLzlLcJnlwd3hf8y-TBkFYXf20uwlhdEN5nCExvw1e9_npLmPm7mCp8de7R3rn9K9gPgQ2XJEBiLd38-HgB8yIdYr29yLAS3NaNhVReGlXC7e-ksUW75ZDntGflFW9_cMgBV3AKZjvWJC6sZ87uSKrS1tg59dRoeTa_Ozxoi0alDfgLU4vIigWPHATHHOSaVngBvmGC-o0i6rpnJzwc46DFk5ZHIZahoSa18BdfeqvOOZd7GT4LeEwoKI5KY03Vx3aWwunmZN5qa5kB5H-GgBY2fzvgnf_F3M1CuzJILRKRqbnjVF0oQAgJ60aR0x-CfNZ8XtXQJXw8mGOjsDWB4tHorYhiQ87gkZRwTGGhXpgb6e6FI8R7OlS1cnM9ePjrKDVZon2lBEGqJqB9vsTEwC3f6q2orv8lSHcy5dZ9bonemhl9FdTx84sE-UoW22GdsMQJCoFAWfgbKzgHUKh0lfbUqbFX1-0o5oRWo5i3-nM2r1bCXgJYI2iDxpqKI6l4Xeb0kA6DJUtN5JoAgXepBCZLL7Vz4T4db9z59QALQkimH76R9VLV-No8gjuB6lpqqxn_cpHb5TS1IRfvbizaCFKKg14ZiWY-FmUuegqh3GocCx1yZzzhFd5UbOwLlgKfDCXYXyFqn1c0211L2pUztgTS5aF3W1wuLMw894nIUJzPjupE_-ck_L0TO8AafVTSzgKAlesBdEbcX9quKsqNyKHBAvzgmb0lavajnsVZyrw7CX6nfd82vf3FuQ7NQ8eSubh2C09PD_urNgIvnW9j5UGeT0hXaspVLWdhsP4FWoD5AJo-HmL73i910JZldmsdIPhwP_GDF6DroDPW6n-TL8b8HEeSUAakb8ATUZLsmiV1NUUlbfFeqCwsWdz0H1wqnERg812Or-MJW2ch0kgPb2STLIsesj202nwcRhqSgJepaYrlauj6J0TiRcjoA5OshhbKKP0tpsrlAFLyyWgnZVNIriUHzNr2UKVw7iyLWsKtj7ZluhPJiXpemfY70Hdwze1s8sSpulrMzKd-DkFkNZWw1McJVYMtcQssZ95DmJqMOS8qFivbwGeiJSCIVp8F1ed_vDwOAY92hwok0fM2CYoJQm2mjT-Gkpqh5iwjB95N6mh2o_uY5ViHfOotji2OzvDQGCS24zydj8lwJJw2Z1xsSSlx1BObl-hBTLJFnYWDPUsdXw2OEwGwpayvK4xHmaEPaIMF8WdBh6OWtLkepTwVaxqlPKnuj9EYjLgfXVLPXEwjeOALMLX9PxaUJpGe3IBJsCx9k9T-H41PkCMHhSiirwl8lXGDrsgYRauSpMAesjMBgUUKEXTE-KHXvRxdLyn4-nO7ZAqMIhOcpa8hzM0XHnUeTmQqjZqaJBN1LWiYgikacXDg6kL4_PdbxCflYmjeXbQWO0-AhsYPqslC6baHZdEU8IIK8ndyyD2PBLO8Heq32ajEwBMOvKyNrgdGgMPRqZ3zkIDR5M-1ESbmE95V7CAsKRalNRxIuM07r0rgcGck_415dPUbQtNF46oxAYvLETkQYWksk1QCeD1T1MgvxfjEpHf0HMhAv1qppunp5U0LRkDmAHRsXtYZGqdwVWNz75_qmJNhSCZ4TE5p1R0fu_B9YRsqiv64HMMmI8VpWNcLSpeoQVa9eKZSFVL3NHLgleP6PueBvAgXyQdJmluY2D22c_KZ8tbvC6Jabb6ARqJxg==",
  "id": "rs_043031ff92410c15016ab460ce1f2c87d0b31d568b34f1946b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.185,\"right_x\":0.5,\"right_y\":0.2,\"right_z\":0.22},\"note\":\"The blue pen has lifted with the right hand. I’ll carry it over the right basket while lowering the cream teddy into the left basket beside the first toy.\"}",
  "call_id": "call_FYo4cS2XaNT2Bo2nQiyqDiYg",
  "id": "fc_043031ff92410c15016ab460d0fbc887d0ba8663e94a188d12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FYo4cS2XaNT2Bo2nQiyqDiYg",
  "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]: [-0.3828, 1.792, 1.3396, -0.1684, -0.4896, -0.2436, 0.1186, 0.5117, 1.874, 1.6032, -0.4232, 0.3977, 0.1909, 0.1711]\nstate[eef_state]: left_x=0.504 left_y=-0.1095 left_z=0.1851 left_yaw=0.143 left_pitch=0.0247 left_roll=0.077 left_gripper=0.1186 right_x=0.4939 right_y=0.2031 right_z=0.2074 right_yaw=0.0791 right_pitch=-0.0648 right_roll=-0.0906 right_gripper=0.1711\nstate[joint_eff]: [-0.3487, -9.4291, 6.188, 1.8974, -0.1441, -0.0562, 0.2955, -0.5812, -10.1538, 9.0598, 1.3114, 0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b800c036abfb524a370e1ce66993185ef8ffc8669c049d224ccd113c9fd1c412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb7874970bc8ea2b6df2f121e6179c689f6851ba0d6f5ea9824c38a5f6faea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b395807f996b39b489d3a86adaadb8840f515fbe15b8cb307de02fa99be80a75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.335 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.108, 1.6375, 0.8223, -0.152, -1.0218, -0.8799, 0.1142, 0.9173, 1.8114, 0.6449, 0.3424, 0.6796, 0.5564, 0.9961]\nstate[eef_state]: left_x=0.2905 left_y=-0.2366 left_z=0.1048 left_yaw=0.1116 left_pitch=0.1218 left_roll=0.0188 left_gripper=0.1142 right_x=0.3136 right_y=0.2327 right_z=0.0146 right_yaw=0.0695 right_pitch=-0.0387 right_roll=-0.026 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.388, 10.0034, 1.5702, -0.4029, 0.0708, 0.6716, 0.9231, -4.6154, 5.135, 0.3834, 0.0904, -0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.7733, 1.6295, -0.458, -0.4892, -0.2455, 0.1156, 0.9218, 1.6375, 0.7364, 0.0334, 0.6949, 0.527, 0.167]\nstate[eef_state]: left_x=0.5058 left_y=-0.1112 left_z=0.2671 left_yaw=0.1425 left_pitch=0.0412 left_roll=0.0655 left_gripper=0.1156 right_x=0.3108 right_y=0.2285 right_z=0.0638 right_yaw=0.0778 right_pitch=-0.0601 right_roll=-0.0901 right_gripper=0.167\nstate[joint_eff]: [0.1573, -10.1402, 9.7983, 1.7167, 0.0171, 0.1685, 0.5885, 0.0068, -9.2786, 8.6496, 1.2381, 0.3639, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.792, 1.3396, -0.1684, -0.4896, -0.2436, 0.1186, 0.5117, 1.874, 1.6032, -0.4232, 0.3977, 0.1909, 0.1711]\nstate[eef_state]: left_x=0.504 left_y=-0.1095 left_z=0.1851 left_yaw=0.143 left_pitch=0.0247 left_roll=0.077 left_gripper=0.1186 right_x=0.4939 right_y=0.2031 right_z=0.2074 right_yaw=0.0791 right_pitch=-0.0648 right_roll=-0.0906 right_gripper=0.1711\nstate[joint_eff]: [-0.3487, -9.4291, 6.188, 1.8974, -0.1441, -0.0562, 0.2955, -0.5812, -10.1538, 9.0598, 1.3114, 0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b800c036abfb524a370e1ce66993185ef8ffc8669c049d224ccd113c9fd1c412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb7874970bc8ea2b6df2f121e6179c689f6851ba0d6f5ea9824c38a5f6faea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b395807f996b39b489d3a86adaadb8840f515fbe15b8cb307de02fa99be80a75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDYQfKz4yMGBexTXxWZGVWHeCVWGGUyLZ9PqOP7ab1hPWttKxcF2PMW_mZ8Z9Un_eH23pJmFbtT3Iqy1ButX982UT4gPi-NIWmfyWfJfPLHDcoW8NVZZRN2Xbd_Dm57Z_R3zU9cERWp-yGTKrOnrawOuwAHWps9_3N_BGgAaiksrMh6mKEYjTyRL_9yD0gQR0CEGbZK5beTWAi5QQSfveg3TwTSCEINfM2E5Th90dZ6VsPZab79LMVtotjfdqbmNyifVbxN7tGqx2H54wtxxkNwFjJd3Cgd2B16MCTttFReif-6VaMnyBcVuFUkjne3VhssVCqZK4tVTifipbTCJ7BCGfRqLEhiE1IVhenEfXKFMDxij5Uc-c8e6JLxdRh6Zn_S9ozx5j4QqtHMPMdidGJ-1pUMfANVShw4LXZwR-YDO49g3g4oAPod6MTuLp_4ZpaVZSTcd3jQfQdPP-fiXeF6Byazxd5i0iL7wZbltm-PunWw0K_OkXJAowt-G55GY74mUE7r45esOCsNhg758ZhMhlYtgn_KpbsfnAVL41YlPUvzSE7Ks1U2GlQkfpszvpZ2icOLGekhBGeqgYohIcgYm2Y87QAXhsFpUQ90r1SuSIFkrhOERnKsKGMmbntrq6o_hv7muatz-G_xj55dctuRz1uYtJk0Cn5dDKjaNVtsf6s-1CEAx62L4ToKewjdCMCecD9qpMANTeAE8GKppgJJ0UdUOHuBnGvZiPXwDGx2dvRxiNMRrdqXSJkF14ScyQBs2RPSaCB1xEWfOGxuIziCyoCC_v3Z_YkqGe2mUROkwln-i1hvjzz8ARbvqeKvjnU5WGWoKe9THIm07l_dltdflFSQkdv-k1qr8YOtWdO4E3zzffXt_dU50bFbEhB1TyLfmx0S8_b9ZyF4MflZDrw_79equW4ojQ5aV2jlyqiPzArIlsQXZGlBahFItTTUMvVJc0Dpfn88ml8JI62mpive4NedCf_1NwmYVh3OWRFZw3ML6t-M_DTV75E7SJNDPLkA4OYOhGLbQhsxoDsgR_EED5ZUSomK07InRfkxZt1TU8pstKSI3d_J-LmRjzfNgnUVIKhKs9p5Fj8YS7DbFxPKOf8ssmS10jDGJsQF5usi2KxvW0iWKUdaZgcGtO6SHj_eh89FxgjBPcyJ5FEPJIuZrE5JqSfJYXd57WhFYbMlBY3kcFkgW70O3L_3ecsjRef8-WxJ-2tzYpdGBKRa30HgpCjYF3ksdlqukXGFdcTNi1QGJ3aqlmEAHbkse-vBEZYqZ-hQ2-af74yxLOHz8Eewyx878tZWi2A5IvfZEtrzZtj5nCjJr2N2g__cyMmGWDurJjjOjESrLn4iWAFHAET2Jtn6iuI2l2IB3ASTmzVPxsaRMilgcvJ8qPh4ZnqPnEYby_4L3GJmoSIwC9UXbTd-Xkmdp2mPv07-Gavy0HY74HrWBZBnHe6s-GzCMAMPeV86kl9n0WLksCDYOt0mgI99jD9EpPefgb0rh2mjP-jOyLh-WK2YdNQNnDdCq0-xCSzXSrIRSHZID4HFFpyhs1ZAMNnEKWJWn3Zg0ApYwvaZxxzP6No-JW4rJGTXosZZ_AK0ii40B92NCsEFi3CwqpcZKHEflQMo3YsxGAUQnN4t8jNnGsmYLFNUkvHzwh16aQCRAVgibzlx91qQZvolyDNxuwDAE1x3YNOxQ5d8hP0_RqZwueaSmgwDEBxes6CvHNI6UEHe8bEFSwW6o0avfd5mcf4_dIQYRhQNHWm9VAAqKM5C90K6DemUoOFi9RhAMVHbErzRn5QXvBXe0_1bPaPMGrUzl_sJoZTxBR_2g2qJlOnlXCLc9VJiUFIsR150v_ZOOpgTHheLxk0NzZBzw1lM9zzIyYwCwJx4nIHQU1ebGt6eAkNyAjFJht5zA85CADiA_Q43YwSg33X0ucCdu6ZUFpDDMUm0rS5IV7vaxF03L4Op7RW0BkUMhiWFk5Jck8akVbRBr5OJ2yw5QH_MhcbzriczA2kEeQ2ucN2HU4nuU97yp5BOZkgM5QQ55BSkY7f_6_zXp1kLNUusA4V0buiOnCfUk9378j-WNQ2TAVlDLRsPnU4a43UQlUKL9TKhtR53aDaLBaAyVbJZCrqdVQWM1hrIYSFxIS43PXzKNT-sCAJ9M38s8kmEzGgsjVIHAoUbpYADeM9gBBX6tkeTylh-4g==",
  "id": "rs_043031ff92410c15016ab460d4b81087d0a126b3e09b6578f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.515,\"right_z\":0.115},\"note\":\"The cream teddy is seated in the left basket, so I’ll release it. I’m lowering the blue pen inside the right basket before opening that gripper.\"}",
  "call_id": "call_gZCSZj36vaJRY80kvDKNVTFv",
  "id": "fc_043031ff92410c15016ab460d7b8c887d0b5c91c512125b389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gZCSZj36vaJRY80kvDKNVTFv",
  "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]: [-0.382, 1.7924, 1.3327, -0.1703, -0.4927, -0.2478, 0.9954, 0.495, 1.9984, 1.4231, -0.1455, 0.3794, 0.1783, 0.1711]\nstate[eef_state]: left_x=0.5027 left_y=-0.1081 left_z=0.1818 left_yaw=0.1483 left_pitch=0.0179 left_roll=0.0795 left_gripper=0.9954 right_x=0.5078 right_y=0.2038 right_z=0.1149 right_yaw=0.083 right_pitch=-0.0948 right_roll=-0.1008 right_gripper=0.1711\nstate[joint_eff]: [-0.253, -9.5932, 7.5966, 1.6239, -0.149, -0.0171, -0.2125, -0.4855, -10.5368, 6.8581, 1.7216, 0.1538, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0d34ade48fe891e59510305ccfefbec395b1590b48b521391fb589952537b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1363091758a3ffd4b3bae4c5408fe444fdd55cdfc369cfcd84779a228f599251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7edd02f942e696a1242fa7b41e2189666dcc74aec6432f75725d32d3f7e73b50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 7.516 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1053, 1.5204, 1.2205, -0.7197, -1.0027, -0.8879, 0.1157, 0.9226, 1.845, 0.6537, 0.3683, 0.7063, 0.5278, 0.1601]\nstate[eef_state]: left_x=0.2911 left_y=-0.2398 left_z=0.2201 left_yaw=0.1035 left_pitch=0.0888 left_roll=0.0552 left_gripper=0.1157 right_x=0.3162 right_y=0.2335 right_z=0.011 right_yaw=0.0717 right_pitch=-0.0241 right_roll=-0.0617 right_gripper=0.1601\nstate[joint_eff]: [-0.1299, -9.4427, 9.2103, 1.2869, -0.6422, 0.0317, 0.652, 0.4034, -6.2154, 4.5333, 1.0867, 0.2515, -0.022, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.792, 1.3396, -0.1684, -0.4896, -0.2436, 0.1186, 0.5117, 1.874, 1.6032, -0.4232, 0.3977, 0.1909, 0.1711]\nstate[eef_state]: left_x=0.504 left_y=-0.1095 left_z=0.1851 left_yaw=0.143 left_pitch=0.0247 left_roll=0.077 left_gripper=0.1186 right_x=0.4939 right_y=0.2031 right_z=0.2074 right_yaw=0.0791 right_pitch=-0.0648 right_roll=-0.0906 right_gripper=0.1711\nstate[joint_eff]: [-0.3487, -9.4291, 6.188, 1.8974, -0.1441, -0.0562, 0.2955, -0.5812, -10.1538, 9.0598, 1.3114, 0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7924, 1.3327, -0.1703, -0.4927, -0.2478, 0.9954, 0.495, 1.9984, 1.4231, -0.1455, 0.3794, 0.1783, 0.1711]\nstate[eef_state]: left_x=0.5027 left_y=-0.1081 left_z=0.1818 left_yaw=0.1483 left_pitch=0.0179 left_roll=0.0795 left_gripper=0.9954 right_x=0.5078 right_y=0.2038 right_z=0.1149 right_yaw=0.083 right_pitch=-0.0948 right_roll=-0.1008 right_gripper=0.1711\nstate[joint_eff]: [-0.253, -9.5932, 7.5966, 1.6239, -0.149, -0.0171, -0.2125, -0.4855, -10.5368, 6.8581, 1.7216, 0.1538, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0d34ade48fe891e59510305ccfefbec395b1590b48b521391fb589952537b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1363091758a3ffd4b3bae4c5408fe444fdd55cdfc369cfcd84779a228f599251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7edd02f942e696a1242fa7b41e2189666dcc74aec6432f75725d32d3f7e73b50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDeVYlUoLAWuYHpoQTx8_vhME3-abgjwVXIkm7wxF2YynM-f7WcaOPaB1WDzBpazsWEJ6WTNiSU8xSH-N77PIMYFzXr3oSrFlq7Gy133QuvewYWU27XLkzvtofkXnlCJO6hIrOx8zP8qY5CgF7wsB63Wx3Wd6ZOIuvFioICz7iDlH58bcxPv0-KEJskergubZmlY1QPdyIVFc_Ly5rvORigwzhPtJ1uBplegU8RHLlmn3av90DJm1Kv6VoJyX09Llzel37T4208wZYjOWCDH4uOsSBO4VkN499WkpvdUTVTK7KNDZqAUlOAOyMXC5vsK_R4lG513TzXNuQmnsJ4qivnXDD51YdhAkYnHcFxJ0s8dD25ffECJZnTHwCKL-kk-lzhVMxreMHoneI8Ps1jyeraWdgVQLOajfThc7iAskO-9d-WWozQkwMqOVEf4JIqXlZ5klMAQ5YjHk1DeoJzroi6dRA74BW7g0ql3SFucf03p0Ymh9886-Du7culkzzZa2H2yODE9JVpO0t8krcUOTTejystItkR_fqPnf45Vu87wL9LscnTyxpldvrnvczA70E3YEih8B-juSYfGMYWfgyJ2lxhnC3TjZm7yzuoUai2MeGQz1zJAOFak-yS7ntpeNJQ64ES5P37vReZHkGozco3-AGaFcXus4HSqmo6vGd9h00-UB8ko6o5_oIHRo2x5EsK3Xl3BG3NW1Gj3BaekJHv0ITFFkE9bMLKwzUdOjNi9e8FZlhHHm3sGM2xV6xtmUyMD8stulxgTiReVFhGnb4SF7cONV5S_IUro-Y5qZ4vQJ8VHjtL1PAM1HnRrXCQiiy47OHXPdJ_hTkC6hJp2JPoARZks4FeBbw8lTdynFeTpHyZpErl1xbYHMw-5T8Zy8a7ZHNZTWKB3Jht-EkUeHeMGpzz086vNWawawep5y0QoY_A96c7yAd2QMY4NXmNIuj1_PTZ_cS10JyzuyJvj-M2cQDzb401RFQ_42zXGAsbXUklHTxdFP-7jzwnrbv9RVvwNRjrFRMi5rJFPFLU1azTVbkWODqeFeFl-F3gEDmh7O83a1EZHdZBc3myz3ZH97ZEXlMjdv4VSJeiCXGb-Yc9vqhXKlWZNtvE79LZ6pMbwnqcCHlYu0qAFKKMZWLilBly849Jk85wp_NjVPf80OabzBzm9czfvj77onRmwjhIIpWImtQztR5V2JxqivB9F6PCnlfc_Ibk1X2c01RhsWPoooPu-c9vX5N40HH33Y88hggk0zF96GQAb3I4d0L8CoXkz4jTMuijlPpmMBB5fpHWrFO5Ow0msPerSjIwshZ-n0D4OkKlH6PfBYmEXO4ydKDgndPGCiFSbbwG7DquBgvh1hzK9wdcEou-xiTPre-G7sBsvsyoxg7j_cOpLY377NFngPPTHGgQNnRJipQbhKCPRAaSZzSfQGUsFf-iIWJDEKP4OwfxAZb-MzRJY9kvHinTnZkb50pX-0x3EOyiJVkkVPFUXRQblDnT8VtI2EhvGXs=",
  "id": "rs_043031ff92410c15016ab460db323887d0ac3c1710399e2996",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":0.05,\"left_z\":0.14,\"left_pitch\":0,\"right_gripper\":1},\"note\":\"The teddy remains in the left basket after release. I’ll release the blue pen in the right basket and approach the gray toy’s forward end, which is nearer the reachable edge.\"}",
  "call_id": "call_ImDCrhcVkpulPQj6eK1mGaYs",
  "id": "fc_043031ff92410c15016ab460dc25e087d08a0cece8466ff041",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImDCrhcVkpulPQj6eK1mGaYs",
  "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]: [0.0494, 1.38, 0.7292, 0.0612, -0.1707, -0.0277, 0.9966, 0.4957, 2.0125, 1.4155, -0.1444, 0.379, 0.1726, 0.9971]\nstate[eef_state]: left_x=0.4021 left_y=0.0535 left_z=0.1349 left_yaw=0.1972 left_pitch=-0.0162 left_roll=0.0786 left_gripper=0.9966 right_x=0.5061 right_y=0.2035 right_z=0.1045 right_yaw=0.0863 right_pitch=-0.1142 right_roll=-0.1133 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.0906, 6.4205, 1.79, 0.2076, 0.105, 0.1197, -0.3487, -12.4239, 7.6103, 1.5653, 0.0513, 0.0073, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f0777ef025b64053e3629eb2382b4068caab7fcc9439249f3da64f8b39b0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39331ea760f62da1ad8658b48ccf601d48bb99250509bf10c5658d0cc074cbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446f7eb13e209f68a48564218c9c4bf550377e9af280ad0f349be55dcfaee5a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 8.333 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.7733, 1.6295, -0.458, -0.4892, -0.2455, 0.1156, 0.9218, 1.6375, 0.7364, 0.0334, 0.6949, 0.527, 0.167]\nstate[eef_state]: left_x=0.5058 left_y=-0.1112 left_z=0.2671 left_yaw=0.1425 left_pitch=0.0412 left_roll=0.0655 left_gripper=0.1156 right_x=0.3108 right_y=0.2285 right_z=0.0638 right_yaw=0.0778 right_pitch=-0.0601 right_roll=-0.0901 right_gripper=0.167\nstate[joint_eff]: [0.1573, -10.1402, 9.7983, 1.7167, 0.0171, 0.1685, 0.5885, 0.0068, -9.2786, 8.6496, 1.2381, 0.3639, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7924, 1.3327, -0.1703, -0.4927, -0.2478, 0.9954, 0.495, 1.9984, 1.4231, -0.1455, 0.3794, 0.1783, 0.1711]\nstate[eef_state]: left_x=0.5027 left_y=-0.1081 left_z=0.1818 left_yaw=0.1483 left_pitch=0.0179 left_roll=0.0795 left_gripper=0.9954 right_x=0.5078 right_y=0.2038 right_z=0.1149 right_yaw=0.083 right_pitch=-0.0948 right_roll=-0.1008 right_gripper=0.1711\nstate[joint_eff]: [-0.253, -9.5932, 7.5966, 1.6239, -0.149, -0.0171, -0.2125, -0.4855, -10.5368, 6.8581, 1.7216, 0.1538, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0494, 1.38, 0.7292, 0.0612, -0.1707, -0.0277, 0.9966, 0.4957, 2.0125, 1.4155, -0.1444, 0.379, 0.1726, 0.9971]\nstate[eef_state]: left_x=0.4021 left_y=0.0535 left_z=0.1349 left_yaw=0.1972 left_pitch=-0.0162 left_roll=0.0786 left_gripper=0.9966 right_x=0.5061 right_y=0.2035 right_z=0.1045 right_yaw=0.0863 right_pitch=-0.1142 right_roll=-0.1133 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.0906, 6.4205, 1.79, 0.2076, 0.105, 0.1197, -0.3487, -12.4239, 7.6103, 1.5653, 0.0513, 0.0073, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f0777ef025b64053e3629eb2382b4068caab7fcc9439249f3da64f8b39b0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39331ea760f62da1ad8658b48ccf601d48bb99250509bf10c5658d0cc074cbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446f7eb13e209f68a48564218c9c4bf550377e9af280ad0f349be55dcfaee5a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDnGPani_hJXqZ2BEYi1GEgVKYKMxzC0g-ITqloh3PjfjeP37rZ81tWVULQaZVI2C-pV2JYOHu0hdViu5thjMVUKstRv_tD31ZqdXFy6XvuLUS6NbfW7-czf4t9dQpasLYm5S8XBA3xjFfrdKLy8ooFPuXzwMQzui0CIdnRsZIzk35Gqu0t_X1pi-PwX-7LTsdhbWKgHyB9QJSVGwKahXzK63mj1Wce_qLS7W5Dm1mRl-pNCW-irHPf9obnojwi-N3VMjjcf1hEtsqD-okCqAx7DO2Iy12kY2I8Nd_f-m2r4xHPs0j6k8esaejd9qtbA1bnjv5PekOdwxrvjoNh2piEdJzjsIryoodaw_NuyUxqRpfSO1wJAkiTfezAvPuMCxICu6k4NARIPMTGmoELR0FosBp2_bMfuyzy2ZMikE8qWGcKRznyKFWvJRm88rLjLCaUOgeVNOk6F5eF9QiZfo5LOegmzHJNFkp70u4cTai5da3fHo2llrXswDyZ7z1ISn_WjvGaS9SOmGst_Mx0KhqhtA6jXSVAh_Qx7hYCFrKdgXRTFnvZdyiWO2eRygP2Tm6zRGKpeYP4wRuOdCKhxHMuvUO-8SAlA3RWd19NTZPzymmik_K1HgJyj67fiRo2Te_KatTJlJnS2c-YMmwqC5e-7JYJfLNZTp4Almwg3pC8R744HmiONha99LHnN9hLLUBND75CvAmBe6v4uwmK-PLn3So5ryQw0hNGuFrol9LTwaYHhE4vW8gXgEM7AxI_5eE8dhAKCjXunqlHs4a2Ttvz4czHsZGIH2VYHMccbG1rbVf9D_VQGP3gi5HgURMR7agNKVSl-nFFPmgXnrVmfs3oevJHZwRiC5hfPQetyedsbPLD1KBxad-_TdspijVGCo-l-G-2vXzL1Rw4k6eV2EwgritlfksyGyzf2Ww8yyN9dd3RjASY4oMWKtAMBLfKhBYg8Xf9b-4l6nZLYSdNHbCbOoMZpk0Q1vonxQ2JwIZlikNuzEb7twxVTAdVxJ_Nt2tiL2T1bse6a7XIYL0kEeCUjzyovLeEwLj3k7vmsJjEl0tc7kbXGOrJg9POfHynm0HXdxLI2aNPVLfgr3sCsqNHKZQ9UQcrddhcDjRLkh05WdROGARtv_9Cna-Xxf1oDncCe7qONo9GaA6b8dOWmQm2SSPIH0nZnrY5WZ0RQuQP39bv27wblpOquNvloKe-mp8HksfSCV8KPEOAJR-nmV3KlxIV8jIxdzKaS47HE3Yxn7s69lbArYJzvnXmkg1oYt45P5VcjyofMmudsgQUd2USi0LnQCjE17cIPdKCzXz2DqlLk6Zjvq30gfCZAR5AYsy2fnoG3O2E_xjIJQaEi6QBwkhi0lYQHsJKlGNlTyhVnc3T6GBPF-ImUkkGlcPl8QqmrEHyGweEtZKAZe3Trrdf9FJGNWdlSnef0pcrvGd29ZkXS7wZj5moz4P6Xe8cDp-v1_7p06mUHipOcLEfu7nNgNGd6VYuEJlh6OZ6e6bwZRsFhV8C4R-AUSxTUzTrP_0_sP7y0HXMfWO2k1nr1CZciaAC9g8C6U_a8RSxWs_Ur1ysuSPUGvQe6RjCaufVQ8_kwEcPN-MGaURFgdhdyn5NLB0Of0t47qjTTwYMNPEECdetJcjYkY3p7PVJB8xNY5MszS9sIcQh9fV2iUeeIRC5LGxMrf7szQbwZoYC14UopMMD-gvRZX6UMEeTBCALKQF362q-3X6Dgbr1UKYfsN7rWhbmk5rm1NCBokm-W0b4TCpLJEUsSwA0Dl4E-jVuC9bB9vocuhANWw5CH5MIEPq635W7ibksIz0mZocj5OfUFQ3ugiE7GcdUBH0P1WU8j9ndW1Ggu0ZbVhxbJCWYRpWh9Bt5OGnZd5NsO4iPWi9RGlPjX2NqbfASMq7iBQi8SYgqVQ3sdDcTblriHPFkEC0Kk8weANdcA0DcWxojy9notCnvoERKbdFUvb7BU_ta3t9y9-U1UXIDvy8hisQsAC-4gmFcE6EqVLwbcjzSp9zqysQZiqszxz6NxKJ204jA93kMDOMlR50W_XUZ1Ehvjn-YVzh-pDLtlgcPFiF3Ng-BDqaMdoxK6M1ojveER73oeYSeJMFIh1dGpXxWM4IvqOMWMgM91CfDQDaUnerIpTB8Ghs5sxb40DYbHV1F-OnEU07y_mtywl79xigQStgl1h4YhYZeOLD_fLekjPIib9GT8c__6hJephToDhuidhUR4tZdWCAeSepu2n6Uc62M4GACOeRR9wQsO6QgiD1dk5EqVGq72NGw_bqU2lZXoFVGqalv9rvrmcFwQWrD-ceHxmx-bQ==",
  "id": "rs_043031ff92410c15016ab460e17ac087d08569afe82537c44f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":0.045,\"left_z\":0.065,\"right_x\":0.225,\"right_y\":0.13,\"right_z\":0.17},\"note\":\"The blue pen is visibly inside its basket. With the arms clear, I can see the gray toy is actually farther back near the left edge, and a silver-and-black pen remains near the front right; I’ll approach both.\"}",
  "call_id": "call_d33AIHgoRk3nhKGrCcTdR6iF",
  "id": "fc_043031ff92410c15016ab460e5ae8087d08a40bc4e818dc1ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d33AIHgoRk3nhKGrCcTdR6iF",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0406, 0.5858, 0.1356, -0.0551, -0.173, -0.0448, 0.9968, 0.9344, 0.9573, 0.746, -0.672, 0.6418, 0.5087, 0.9977]\nstate[eef_state]: left_x=0.2589 left_y=0.0445 left_z=0.0874 left_yaw=0.1999 left_pitch=0.068 left_roll=0.0522 left_gripper=0.9968 right_x=0.2334 right_y=0.1439 right_z=0.1718 right_yaw=0.1356 right_pitch=-0.1015 right_roll=-0.0884 right_gripper=0.9977\nstate[joint_eff]: [0.0342, 0.9641, 5.8872, 1.4481, -0.1294, 0.0904, 0.0024, 0.1709, -2.2496, 6.8991, 1.16, 0.4908, 0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c4568415ee9de7aa75cee36a6f7d540fa276576cbdf692a74c9df35b870b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29ccaf7984e037e10038ae945dfcd667b500cb9ce859aec442b15653121a625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e1717086a4d7a25f2ebce0426e5718fcec08772787963bf9947d19e6e27fc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 7.144 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.792, 1.3396, -0.1684, -0.4896, -0.2436, 0.1186, 0.5117, 1.874, 1.6032, -0.4232, 0.3977, 0.1909, 0.1711]\nstate[eef_state]: left_x=0.504 left_y=-0.1095 left_z=0.1851 left_yaw=0.143 left_pitch=0.0247 left_roll=0.077 left_gripper=0.1186 right_x=0.4939 right_y=0.2031 right_z=0.2074 right_yaw=0.0791 right_pitch=-0.0648 right_roll=-0.0906 right_gripper=0.1711\nstate[joint_eff]: [-0.3487, -9.4291, 6.188, 1.8974, -0.1441, -0.0562, 0.2955, -0.5812, -10.1538, 9.0598, 1.3114, 0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0494, 1.38, 0.7292, 0.0612, -0.1707, -0.0277, 0.9966, 0.4957, 2.0125, 1.4155, -0.1444, 0.379, 0.1726, 0.9971]\nstate[eef_state]: left_x=0.4021 left_y=0.0535 left_z=0.1349 left_yaw=0.1972 left_pitch=-0.0162 left_roll=0.0786 left_gripper=0.9966 right_x=0.5061 right_y=0.2035 right_z=0.1045 right_yaw=0.0863 right_pitch=-0.1142 right_roll=-0.1133 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.0906, 6.4205, 1.79, 0.2076, 0.105, 0.1197, -0.3487, -12.4239, 7.6103, 1.5653, 0.0513, 0.0073, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0406, 0.5858, 0.1356, -0.0551, -0.173, -0.0448, 0.9968, 0.9344, 0.9573, 0.746, -0.672, 0.6418, 0.5087, 0.9977]\nstate[eef_state]: left_x=0.2589 left_y=0.0445 left_z=0.0874 left_yaw=0.1999 left_pitch=0.068 left_roll=0.0522 left_gripper=0.9968 right_x=0.2334 right_y=0.1439 right_z=0.1718 right_yaw=0.1356 right_pitch=-0.1015 right_roll=-0.0884 right_gripper=0.9977\nstate[joint_eff]: [0.0342, 0.9641, 5.8872, 1.4481, -0.1294, 0.0904, 0.0024, 0.1709, -2.2496, 6.8991, 1.16, 0.4908, 0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c4568415ee9de7aa75cee36a6f7d540fa276576cbdf692a74c9df35b870b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29ccaf7984e037e10038ae945dfcd667b500cb9ce859aec442b15653121a625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e1717086a4d7a25f2ebce0426e5718fcec08772787963bf9947d19e6e27fc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDxDRVtdq13gDbm06oNnhvstYd2lzDtemf7Au7HHIGtkBARV5Wvqp3_G51-Ix2V-N9RLCENiSuxEJ7qpqovJMER71EyVO1xD3i-axRUmeCtvXfiXOuwpb3ys1dG5ADaD4J9GfL2ApplXgfOLyt8QXOzx5KTIduR1119CR4_uklch5l-EI2A4cQcB9YkKsphXTqSZSE1JG-Slt-JkFN4W-KYXubtLcFMKD4ZxtKteB0oNfeGf6vyCp32XUKI_gcw96vTg1fBfTRTbpbHeI_5dqV6e5y3jzVuH4qPEVqAxhKVvAJH87PL66qSVTeV1u0Xi6Zk3McQNFeu1yPCgFay-h9cgu5sAKQWWGPQK5frWpVj_sNTmTSC-JcQrTbgoo3YWKWtyqywRdJaFolEj864CoYjQEf7tTQH5nioc6FM7PsNLK4ysgnQLXw-tFlzRuYfv_OW5wFI9onJ5596zd_D5bvzU-3D5dP2mYPhFLx6XHyzNDivTtLW63vqpnaLLWDOmrufa-uXrVjC527-HTxiyOknj-9tRjCd3y9p_GqjntUvg7vTv2jmTdHNukt_vVz20V-bEPtPDhFDwr38H9mHP0MpraF2E5udR3QDAqnVHRuXfuV2mVb2i48mZ7szyjsRGFF4BN1cJlkiXuDR6T-gPCiAotDpPAmAgV5jRlaAabOCtPTPyjnIpMotCOHvjGAneew4Q3lr3tEJTOxkqzjWtGSdG6SVZEB-JgTQ4DUODHzoZ6L842phtCvCwLjWeVy6wmVZrJPdJzYUU7nzQRjGGJreeFnN3oMECd2631q07_Mmb9-UKgoH4cBX26jREHL4SPFyKWCduwVl5FgEGfC5yC-aIyeyxbN9lYhZIYYJbEE1MNJaaZsceBktL81OIemE66jpf8B1ONkrlTXGAHG0SYEHFgNKOzLVPOcWuEOpAZtRTzekakaF5m4t-o_C8QuROpFNqX-Bc_qZFXbcOvt78G-xa1HuEowOYeLesE7IfdInoKyTCTZ_l2p4iNAe6cZsJ3-ZSOltdZHzUp7jFCs5IQdb9rAIEm8f31DYarXiC_lGODZAuvbbbckCHAGf0KPdg__FtFLI45AJgUrhK7TzL09Eb4xLD8JRQuy6c39S0veGZmq1Mf6CKBvqKkuzTqzdMfyqhh06zrndO0_suNZZlAMQCygOHyzF5AOSVo0kODHEJuL27CtC6GYON4mhR0xQrZaXNBtOrWGIK9e7VNbh55Nq7gNnqjHX07EuRaocqjKDnHmCD_kV3FkweUT9hvOAbkF1KMkycvyBxB9OVNjfoyYomTpb0KA1zZONO0wu5Vl8eIIUmcEETyfUVjqU8QCGf1nC0NMvj0zotYSqxVlqqNVc9bcYH9XmZsa7CgnueaxeHmffNYb5GqZc1FyEFSOQ1R1qEixf1TAFvqg25sqMBihFZ0KV1nP-lAJ0OW_ukJX4Dqe4IGu_959AZ_vbI5AMLwukRKkakvFHJcjxHuZW4Ud0XRpxVPoeupB4r38vc60NEaLs2XYtDhJNRdiCePTGUqF-3XXjEJNfwA1yn4vvmN4WN3jMoBpp14KOckk9IY3OG1YQxOQ8OlZMAnnAk1M8PtdtvgGHC3u7HWEGbqwm2wColcFWAEbQ7EJfFXlpj43WmVr5H8nUI6Djku1SWhqZGEoMddIpCYAOzGkYPC1FzAq8OuzKcXPua9XcjmaK1LRJ-C47F63y-b0YBq-5lL6WlfNhYnhbDytpSBTNjNU541FAsiUXV6v7vKacy35cV6OSjPMnLuO8uCeg__J2oop0EeYpHWmLbxfWS08F6EzvDtVhzcRW0jbaq9pEX_AqEG3Kj8o070D8PTq2ShneMkH33VMcA5cW7n8TvxWwXNYf0tDyJmldAbqOn-INNXOe-HWhQxWNQ9wMq31PUGDbTp3Yeb-9hQgBUDEPt50QNbDkioeiGjvUK-1-3SB8xC-J4v2pIwN4GKBOcLJNkzFCa3X-8XKQtPbcbkREO5pcKslcr4JUjDkwh5aCp4XdXIR9CAGDfEpveIbkmxxaYVg9sZ8yu8z08D0iPHe1wx-aIFwUuoKGHZWYEvpjbmnYkrGK0Z1jHC3emQpIRacYoSqG9_FbiM4yz2NXjEqNPsR68mc2CXPjk6yv9xXzV9eJ5elB4qDWYGRiqOqhfRSHJLlHRDUrsN_irFTVZ0HHbnjr_-q50m9-y35UA0-skW1pH-K2QbPfOt56wjHo3xOsMpXtyZ6HaDOGmppacCiGJYiE_dHtLXF8BEkcAX5jlivxpbQEeBBtWKnq5fno--5pHFH9fCmFeMPIr0Vo0fZcIBsZgzQVTBPy-H-j7odzXf_afgb9cORAVY0rssfRljbkm5YU7aQ4vJyAcvNaKY9foQ98RLq--7fV69tvwEU6dTwLFGhERalLZtpHoxRDvdfW0TdM0AnUBsX-2Q0oSsISF90QAkOQdSKYWoFvRNSsTsKyX3HtKcIODuBjHEm_sKj15pZlMpu55a_F5VPwrXHn984ECB8lP3FZ4gQvi3KtmcOeL6QuDOPUBvXuUEx2jK26OWx5YvRK1ngaQUvdhqgjgonYSUv1jzniyVnaLHm0KUFRI96ztV4avsw48kc_u2GABIDRzuxXodE9i0GflurB3whaD9_cOxMTrxo6LN_REhceTv-iF4q6Lo0tSmahGHaWeYrHDAs8pK7Q3alaN9HXUAUff2MwY_t0Zbz2_LTdT3jwgj_WPq8Cc8h1EZy5CSv4bN3FtoXPbCuq6lF66SgfEiodmGyTF8HVaD3VDN-lj0ok7anf0ix4G9YvyiuUmXKjyaq3r2NTXBAvCJXHvEr_lbfzBqctNrDG3brXJdvbXvZKfFRvnTEVMBt7Tij0DNaQCFWA3zEwWTgr76feklGXaUQ6Rug2BbQgCzLGhEjH0eKjfwo7dITXSm8eBVY8s4otQpGya0SVWvPZvpm5oXYr_2My6XnkQ5R3_vGlOwz1OcsQwGP_ARm6uiU=",
  "id": "rs_043031ff92410c15016ab460eabe1487d095c886d30f06e81c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":0.03,\"left_z\":0.17,\"right_x\":0.225,\"right_y\":0.13,\"right_z\":0.008},\"note\":\"The left approach contacted the crowded toy-and-basket area and shifted the basket, so I’m backing upward rather than pressing. The silver pen is aligned in the right wrist view; I’ll lower onto it.\"}",
  "call_id": "call_5AINteobtVEb8Un2Z1SbMeIt",
  "id": "fc_043031ff92410c15016ab460f04ccc87d09c867a5098938ce0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5AINteobtVEb8Un2Z1SbMeIt",
  "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]: [-0.1024, 0.4927, 0.4206, -0.4603, -0.2867, -0.1127, 0.9968, 0.9272, 1.2236, 0.189, 0.1295, 0.6456, 0.5102, 0.9978]\nstate[eef_state]: left_x=0.2468 left_y=0.0285 left_z=0.1577 left_yaw=0.1882 left_pitch=0.0565 left_roll=0.0537 left_gripper=0.9968 right_x=0.2246 right_y=0.1283 right_z=0.0143 right_yaw=0.1232 right_pitch=-0.1144 right_roll=-0.105 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, 0.8274, 9.5385, 1.5604, -0.2271, 0.0269, -0.0122, -0.3214, -1.388, 2.947, 0.4176, -0.0952, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919ff45c96a7bcc6441a5a0cf2398a4214aaf0f2f9e03a6a4bbab894aa29419b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec5ca2d3936450e1b59fbdb81e1bab268e28537485dc9fd0f706de2f97ec0f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a14436e4779b50a5f274ec9ad459915ddff7081dd9f2e49fb51432b90231134",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7924, 1.3327, -0.1703, -0.4927, -0.2478, 0.9954, 0.495, 1.9984, 1.4231, -0.1455, 0.3794, 0.1783, 0.1711]\nstate[eef_state]: left_x=0.5027 left_y=-0.1081 left_z=0.1818 left_yaw=0.1483 left_pitch=0.0179 left_roll=0.0795 left_gripper=0.9954 right_x=0.5078 right_y=0.2038 right_z=0.1149 right_yaw=0.083 right_pitch=-0.0948 right_roll=-0.1008 right_gripper=0.1711\nstate[joint_eff]: [-0.253, -9.5932, 7.5966, 1.6239, -0.149, -0.0171, -0.2125, -0.4855, -10.5368, 6.8581, 1.7216, 0.1538, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0406, 0.5858, 0.1356, -0.0551, -0.173, -0.0448, 0.9968, 0.9344, 0.9573, 0.746, -0.672, 0.6418, 0.5087, 0.9977]\nstate[eef_state]: left_x=0.2589 left_y=0.0445 left_z=0.0874 left_yaw=0.1999 left_pitch=0.068 left_roll=0.0522 left_gripper=0.9968 right_x=0.2334 right_y=0.1439 right_z=0.1718 right_yaw=0.1356 right_pitch=-0.1015 right_roll=-0.0884 right_gripper=0.9977\nstate[joint_eff]: [0.0342, 0.9641, 5.8872, 1.4481, -0.1294, 0.0904, 0.0024, 0.1709, -2.2496, 6.8991, 1.16, 0.4908, 0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1024, 0.4927, 0.4206, -0.4603, -0.2867, -0.1127, 0.9968, 0.9272, 1.2236, 0.189, 0.1295, 0.6456, 0.5102, 0.9978]\nstate[eef_state]: left_x=0.2468 left_y=0.0285 left_z=0.1577 left_yaw=0.1882 left_pitch=0.0565 left_roll=0.0537 left_gripper=0.9968 right_x=0.2246 right_y=0.1283 right_z=0.0143 right_yaw=0.1232 right_pitch=-0.1144 right_roll=-0.105 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, 0.8274, 9.5385, 1.5604, -0.2271, 0.0269, -0.0122, -0.3214, -1.388, 2.947, 0.4176, -0.0952, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919ff45c96a7bcc6441a5a0cf2398a4214aaf0f2f9e03a6a4bbab894aa29419b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec5ca2d3936450e1b59fbdb81e1bab268e28537485dc9fd0f706de2f97ec0f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a14436e4779b50a5f274ec9ad459915ddff7081dd9f2e49fb51432b90231134",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGD5M7QiQeZ6TM1V1aachMsMIRoOvQFXku1e6LHKYW8wgYVZfemgGDD-HdXGXZQuWab1humwqIG8gdW7HU5RNQ_fu6mUv6U3d6aNf5AE2gsVpov5mZRwVol2RdVE6lP-GH5XsRoYXei0EMqNfACCvqish4K5vjO56HVqI7N_yX2kpk9K8qOohSgNj6UOtMJjvBuj7rnqGJ9ksxBF5dKl4IPm3LoWLouMhZSprpXqg9ErBhDWqx865DTaTK6B1OJR5CAT-70In1ecwuubwIUlgLH5jlhbUNBQSwyrGPAcNDOpJOdy_5QzfV_pQ_G91NcTrMHOyaLbAhgh45dUZglrO_GkPS0FHmXgnfT2vMAjjscHU-OqU2YKkQ83r7w5f959xN3FuktPgGRyuW_Jv8svYBvBAcLXX3ZQmnAWFOHr9ZnhWoEq_ppw6RBTENckWz-PATNdssHcOhEtYCKHlb0T63p192HajNubnVT-t49tEnhqqStBAzvMko87yYCCA1w-WaO53IHmCvq3OKQZpuLzEnmOe-uMaJpLf86gKUdOKf-8QHx7H5UuymevC5pxGaX7ggpnNB6XDaFqnkVWYVBLcdhntWX_8tVbNdclrNh2kw7uMePAYKM4nE2jOlyiDZYqHFcHy4mQClFP1hKYVwL1qUGa2Bs7qyTHL1ojk-cB7EeHBbvrBirFMNLUpUvJ0h7rYUOPlpNCvh8Wnfs5CrbS1gQSzAA0FMytgEQznPiCE6pkLWAngSaU_7PSk7wRf6TkxXKKq_BnGOEMM5wwUooz7SczvyPT-a-3jyeZ3JpkBuCtLLVm17fefKgLLUOXTwkcqZNZ3On_Bnrtv3PCw50UMrPuzyDtrVqVyJolcrUjAhSzNWPf19zAE_Ojj50l7nXgDzeX7cHpfK76vWgzZkJ24PeL6JrFTIIdr3NKBJVJ2dxfF4_lCso5ExdsdR4gK5X9nir8Zw5K1bVFRqpVb-ClmnD73AykI1b61h0WmW-Fzx7rNHn-hBWZzAg3oLY0YeOy2byefMh1XO_xv_fWuo2jHV1giR0IsVLW-nYdfy5VqjdmBKy180jzczBK-Xvi69II4A6UD1AfhIZmwv5_GyZxVyoB1c04qDEQdhIfJ84CuQB0YuXlaJ4GzRVHzSzn0n2mFw6W4J0rZPxpKJeOZUGk06KYgoXvHyyxwFv3V00cfAN4Miduqu759-v6tfeIHaHds-R66Ayw1si6joA7qfixcqAV62svrnzqMI_-KxZjjUvXWXfMV0zXShtSd6LLW67sKGkGgGtQKn6kIwakmeoW05YfBn5xlN5PCPut2WsmH7UXPnvBRsIcMrhr6EFTGGeOPmZI1TuyO9ylCn3c6IgqmYGsA4-aVfkvAmhk-S2wEU0dF0z7Kew4YdaUCIPo3hQqMhmNT3QNGW6pIQTSN9f8BaHv2gDhOvmuo6A_XgUevyt1yYG4rEdyU71ISvAUl0lidRUunFJG7jPAElx-V-xGc2AcgJU-2tYyhm_NoDuHMxkQnOuTKwhQ9vnhpPV_Pc-VHn6ePWp1i8odG5HfiejAxoM9PHofY0HmRTjBqEK-Hc-veajWdNdyBh2yllOtDEA8m3xz41eOOU7r3wMpzBsvT7h8nvMUnmCqFQrPSGGEyjekI7kPRn6laDyKiPK6bLzgbeLBLKXn4llDNqR9ptU5Lr6FKCrZTSYXkA1jOJY1VZAx7vOUR_Ga73ROSUfkPDTjbNmPUibH0LE5kp4JfMNY0pMvTzcZaj1ykTYviMQaFhwZrsHUNjLp_MreR-7E5CKQ0DYBVSxT1oKDsRJzzIu7A5O01IEN0oFIsHx5kdvF7QK-GmTDJXYT6jZFHAdWd20irA_RJhZFaP-l1-J7i65dm1mpbb1mniSRH6Q-uUVtdBqiJGtp23OL_al39Dlh9Coe_Ytw1uRFaIO24-c_nIWg5h_LGXNNVs5mcSET1bHceFA6z0-Aysp5MgC1n81-rKQZdc_NLRq-EoP8bMEAeXE_Qx8ANhAFSPaY238glMSI81Jnzz0F_QEf_2hXq_XEHctC4_8snmeA5uxX-Dp3Q0RciSAP0_t2LKILAxns5HrVWsGQaeFCoheTkUUuZc6Rek0lA31NTX2_Dhjd2_OOFXcjhqqpZhDbxwbuTuuuPzo2wDSnTK2COEv7vfOEw3RO6pbLL5PxUuyX-AUpC8DomqrLdM4ema0y7nggBDaot2aDQC8NwJJeB0q3HduYNuNUBZMLXGxZyUBsUzFRxTNyqHDouluC6SdAknvXqmAIhAXVxgtXqlvz1F1WCPh8CZVdeLz9XBjwcBeMfQUYVQzhqLZzqumhTdb6Zpfter-J72LVymFyId02EpIHP96-KAFjzy5MNBMo_MBBa_VcBkWc9hr0AdlV9dNtuYlP6wetkOnx-i_qjh7etZ05k1XlxinC8uTmsSjINi75EYZu4KQe8W2uP2_9zA==",
  "id": "rs_043031ff92410c15016ab460f3d62c87d0b7b78cf29657acad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.05,\"left_z\":0.025,\"left_yaw\":0.3,\"right_gripper\":0},\"note\":\"The gray toy’s head is the nearest reachable part; I’ll angle the left fingers around its right side without pressing into the basket. I’ll also close the right fingers on the silver pen.\"}",
  "call_id": "call_umOTIbN93jKmLLRNluwZDlh5",
  "id": "fc_043031ff92410c15016ab460f7ce2087d0a207174766e9c9a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_umOTIbN93jKmLLRNluwZDlh5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0334, 1.3647, 0.1791, 0.8806, -0.3401, -0.1364, 0.9968, 0.9276, 1.2228, 0.1783, 0.1394, 0.6357, 0.5056, 0.1456]\nstate[eef_state]: left_x=0.3415 left_y=0.0511 left_z=0.0951 left_yaw=0.3282 left_pitch=0.2791 left_roll=-0.0213 left_gripper=0.9968 right_x=0.2226 right_y=0.1281 right_z=0.0117 right_yaw=0.1328 right_pitch=-0.1203 right_roll=-0.1031 right_gripper=0.1456\nstate[joint_eff]: [0.1162, 0.7726, -0.2803, -1.2039, 0.1538, 0.0073, -0.0122, -0.1299, -2.4274, 5.9145, 1.3455, 0.3736, 0.0171, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999a635b58d38791014a2fdf4a14b36277f75306746cbd4db8296fe30f26c7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1818bc25bc03297663eb7adf40346c049d2717357474142f74f92f0a6e29020b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c01600b5f64f29b6ba86cb69b9a867704ca8bf2e67fd7094c7b3fe9ce13c8b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.196 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0494, 1.38, 0.7292, 0.0612, -0.1707, -0.0277, 0.9966, 0.4957, 2.0125, 1.4155, -0.1444, 0.379, 0.1726, 0.9971]\nstate[eef_state]: left_x=0.4021 left_y=0.0535 left_z=0.1349 left_yaw=0.1972 left_pitch=-0.0162 left_roll=0.0786 left_gripper=0.9966 right_x=0.5061 right_y=0.2035 right_z=0.1045 right_yaw=0.0863 right_pitch=-0.1142 right_roll=-0.1133 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.0906, 6.4205, 1.79, 0.2076, 0.105, 0.1197, -0.3487, -12.4239, 7.6103, 1.5653, 0.0513, 0.0073, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1024, 0.4927, 0.4206, -0.4603, -0.2867, -0.1127, 0.9968, 0.9272, 1.2236, 0.189, 0.1295, 0.6456, 0.5102, 0.9978]\nstate[eef_state]: left_x=0.2468 left_y=0.0285 left_z=0.1577 left_yaw=0.1882 left_pitch=0.0565 left_roll=0.0537 left_gripper=0.9968 right_x=0.2246 right_y=0.1283 right_z=0.0143 right_yaw=0.1232 right_pitch=-0.1144 right_roll=-0.105 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, 0.8274, 9.5385, 1.5604, -0.2271, 0.0269, -0.0122, -0.3214, -1.388, 2.947, 0.4176, -0.0952, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0334, 1.3647, 0.1791, 0.8806, -0.3401, -0.1364, 0.9968, 0.9276, 1.2228, 0.1783, 0.1394, 0.6357, 0.5056, 0.1456]\nstate[eef_state]: left_x=0.3415 left_y=0.0511 left_z=0.0951 left_yaw=0.3282 left_pitch=0.2791 left_roll=-0.0213 left_gripper=0.9968 right_x=0.2226 right_y=0.1281 right_z=0.0117 right_yaw=0.1328 right_pitch=-0.1203 right_roll=-0.1031 right_gripper=0.1456\nstate[joint_eff]: [0.1162, 0.7726, -0.2803, -1.2039, 0.1538, 0.0073, -0.0122, -0.1299, -2.4274, 5.9145, 1.3455, 0.3736, 0.0171, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999a635b58d38791014a2fdf4a14b36277f75306746cbd4db8296fe30f26c7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1818bc25bc03297663eb7adf40346c049d2717357474142f74f92f0a6e29020b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c01600b5f64f29b6ba86cb69b9a867704ca8bf2e67fd7094c7b3fe9ce13c8b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGD-JUvF7PXB9UJlA7GJo3ByLHPLHhP8QXTZeQWXJ5wmOimDLeAmUzqblu_QUn8KrwnDdp6kcyCvdu4GUC7PtKhhrDgPQavFbDI9InoNyq-5nCJ1wTUawJs-NsvVTrODJzf5G9HK8BUgv7YJ-EGdUWsWe4NTItK9MvgRd40mwzmGz1JE3KhgYK1wn7FBnQvt5buDj08jdDUYiybh6TsxTNINR8j1G7BTXazn-Ryd5x6371Ic542MC7N75ITYxKApqTNTAfqjg-j8ttD5Q6ZF0r0gDs-qIut5zAkfniA0YPzrjI9HYmchI5yM-MAVEAwz0Oh6lIzhorBlyMtsEPkq-zgwi33w2eweSA8tUQHTudKeLaoMMHlfuhmRL9fXm0SBSeJvMXQv-cgLpTQWiXXnDl_w98qXDmCrSSVcDXFRfN4Y2WNC6XncULkz_Fhpg0D3jxzFWOqhamV2mAi9j2li7VK4RA2Lee0LLmyE2F2SX1mKdW-hwms73hTl-it8ytHtmJaV93cRVuVXX8vUcUkw0Cjjtp9HDMnXybofZKO2c9K04oPLKh6gzGc3iy3fl5GxMpKKz2DDVCn53hwo7VDP3ccoac8mF1en12rPG1tIEvmNaSgEjtP0jmC33Dw94qnQaKGTgzTLnrihLeO9PNqkF6CK8uowAAGnqc4GYlSQtRdHL2ZeFZ2GvY4ImcDRxefH0bcJUzkRYuKlw-sAZ5_cUN9ZgqyYessnVGn3b1R8ipQ5-e_RuXaoyPjCSEZGvImSsUQGsnxyHzB7ZoKjHBLNw3IT79pkBCSPq9mfX6ZIzt_-c7Vhhuc08GVLZ7p_f1cYAYgAWUhCZZT-4HD97dCyrANoInewk7jVieQwarn_p9ltECa1chfX4FRPseoj9PBWuqMylREXwVv5rvVw9yfIudkwl_XSOY4gPBOPM3NnNuFOd9x_xSamfuSYHUUj6C7v039ENh2N3fayMyeQgJuqwEQ5wiWxX1FrVViOzsDzAzmNPxmvJ3Fn3gkvUh5js1m3K4fMIKWvk55Q1nQ4Jjy_2jR8sY-pLe7v_gEcHPFPNvsUud2_5y12VNIOB2WqgtDZ4wlAWxlkPEghufUqUIWVwza5PDhojmEWtV__Obc7vFTdcE0EuZ6tuVrVEmZKO9PDZ6PE2hZg2dsNUuSzHjaSYwnKS0Kgo0wOSr2YMvkYPv3dHwaowtftAavndK7ecQT5bpgjGDkwwe_2J9atbts6sfax3WAnVlfcRK6k7Y_ox5KI3SI-Eg188FrWQWc5v8AC1CdDEIhUqZD_BmbM5vZ0GxJjLZ51qvaxpcnp6IFKcWir8UPBQ9iPFUh4UQS6rJKnTsYV8lGgfqp9JouqcmY82C5PARBg7kpkB0fl_xVefyGnWINVh0sFzj08SjrjRTOiyPcG2Kj1y5oTSeyCvOCw8oFFzZ9DEQTztS103Usojo09pJNPFBQ3jWy0i8hRmveqfn07rPTy0neOIaODGLwRHbJVvXVXG6zQ1RnShqlpVEZxuVaG1n1S7OiuYj9mrylA6SHwdM3LIyzXyQwb-KWgbY75cQFFUybpvzlydO56FgV6FCJB653ZcW7U_al9MID2xhxX3uZmxl_a_xkNyT18QYglTvmq9xWCcUm68RxHQUDkjNnrRa4fj0UlMfGeMYVTrcyJCBVK-pYZSSNzRdE4mT1DWZz7sCWu_aVsApi5JchUKx4bXIk3x2WM_taPIEq7YImB2NLGZ1duOcHDaugauMrFItWmW-an64B7ohE1qjWWeZTzPXiOo4cq-nHGQZxskhhAqA4joBDtpscWRUTpvfQnZsfYI8mQecBfYIH5UswDIjw=",
  "id": "rs_043031ff92410c15016ab460fbe52887d0b7e9da53f7e82b84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.21,\"left_y\":-0.075,\"left_z\":0.18,\"right_z\":0.08},\"note\":\"The left hand is blocked before reaching the gray toy, so I’m backing out and switching to the exposed yellow pen. The silver pen has a solid jaw gap; I’ll verify it with a short lift.\"}",
  "call_id": "call_3JbEjYZJhAlnseibsW3jFE02",
  "id": "fc_043031ff92410c15016ab460fdb45887d09681319037e773f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3JbEjYZJhAlnseibsW3jFE02",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2409, 0.9985, 0.1867, 0.4076, -0.5243, -0.2363, 0.9969, 0.9279, 0.9569, 0.3519, -0.3023, 0.6239, 0.5014, 0.1507]\nstate[eef_state]: left_x=0.3079 left_y=0.0191 left_z=0.11 left_yaw=0.3234 left_pitch=0.2188 left_roll=-0.0147 left_gripper=0.9969 right_x=0.2206 right_y=0.1284 right_z=0.0698 right_yaw=0.1434 right_pitch=-0.1288 right_roll=-0.1014 right_gripper=0.1507\nstate[joint_eff]: [-0.1026, -2.5504, 6.8855, 1.7802, -0.2466, 0.0171, -0.0073, -0.1846, -2.2085, 9.0872, 1.1453, 0.3443, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70151790e8032f05c7a375d82002cb3217bda328b32c64c53e478037a1eca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9d6c629432e7a8f91c3e86a77ab8918b990430873a1298d66f766be9208e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0af23530cd94ce2056a58730cb54c48be8f50bce0ad2b467d1cfc9a4eddc1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.138 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0406, 0.5858, 0.1356, -0.0551, -0.173, -0.0448, 0.9968, 0.9344, 0.9573, 0.746, -0.672, 0.6418, 0.5087, 0.9977]\nstate[eef_state]: left_x=0.2589 left_y=0.0445 left_z=0.0874 left_yaw=0.1999 left_pitch=0.068 left_roll=0.0522 left_gripper=0.9968 right_x=0.2334 right_y=0.1439 right_z=0.1718 right_yaw=0.1356 right_pitch=-0.1015 right_roll=-0.0884 right_gripper=0.9977\nstate[joint_eff]: [0.0342, 0.9641, 5.8872, 1.4481, -0.1294, 0.0904, 0.0024, 0.1709, -2.2496, 6.8991, 1.16, 0.4908, 0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0334, 1.3647, 0.1791, 0.8806, -0.3401, -0.1364, 0.9968, 0.9276, 1.2228, 0.1783, 0.1394, 0.6357, 0.5056, 0.1456]\nstate[eef_state]: left_x=0.3415 left_y=0.0511 left_z=0.0951 left_yaw=0.3282 left_pitch=0.2791 left_roll=-0.0213 left_gripper=0.9968 right_x=0.2226 right_y=0.1281 right_z=0.0117 right_yaw=0.1328 right_pitch=-0.1203 right_roll=-0.1031 right_gripper=0.1456\nstate[joint_eff]: [0.1162, 0.7726, -0.2803, -1.2039, 0.1538, 0.0073, -0.0122, -0.1299, -2.4274, 5.9145, 1.3455, 0.3736, 0.0171, 1.0085]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2409, 0.9985, 0.1867, 0.4076, -0.5243, -0.2363, 0.9969, 0.9279, 0.9569, 0.3519, -0.3023, 0.6239, 0.5014, 0.1507]\nstate[eef_state]: left_x=0.3079 left_y=0.0191 left_z=0.11 left_yaw=0.3234 left_pitch=0.2188 left_roll=-0.0147 left_gripper=0.9969 right_x=0.2206 right_y=0.1284 right_z=0.0698 right_yaw=0.1434 right_pitch=-0.1288 right_roll=-0.1014 right_gripper=0.1507\nstate[joint_eff]: [-0.1026, -2.5504, 6.8855, 1.7802, -0.2466, 0.0171, -0.0073, -0.1846, -2.2085, 9.0872, 1.1453, 0.3443, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70151790e8032f05c7a375d82002cb3217bda328b32c64c53e478037a1eca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9d6c629432e7a8f91c3e86a77ab8918b990430873a1298d66f766be9208e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0af23530cd94ce2056a58730cb54c48be8f50bce0ad2b467d1cfc9a4eddc1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEE6H0kE-5VsnfzmOO8HjiG-uWvfdZLKP3voGPx9sdCzoq1Lzj9uBnuSeyqEwETCe99178x7OH9fFEuBa80F7ocqIhiKrhme4sYH0Mpx0_OuUxms_r5IMjDV3bOuHCvT7p4mejyso6qvlAzDkH4bpYo2PdBiBi6MgCLyIv3hgtO7Wj_xaLMu01DsYjTqITp_6dpKCPFcridN28kE7woKPzQ8Tf9YYxWMVhVR5AZuD5WmC0F8Mjf1dgqiFXrYCPkXSycdNZP8DP-3h2HmV2-hYB7YqZ2I-8p6VgMx0AR6-ZFZkHHxLWOce7fVI-kUyDPmBO82Lkgx-j3XAvwZb_K_mH-xiY6A7LGF1xSfxVLamsSU_-Xxb8kvdmXUQSrum_Iyd-cIHSJ715mjR75E0-yoGn1-4SmFgwVxs_48LLLq0cT5hl3yozhWSQJd2Nj2MJxKBn1LTMNVUVDOKVcCmSRdAgpM9ailf7sh09ptpSrHlNylEtnj416YJYsvajzgDOK5Vksv89na1wkYL1GAK16Vg7UoOAXk_VarnSAjUDw4jaW5bcUov6vqAK06gEIpwbUKQSQTrv0A5lIBC91kSxR9cU68yCR3iwpcdSQl3YRvHD0HmM9onlfPhHaHClYC3-bjj-K_EBBAsX_483myM7Cu3tBkJYSj16qvss5PYq0bcUSxxeMxsdtSCfjLlh-zltsSoX4fAxhxVY8jScdrmiF9Lx3oRhaShaHL3GFFel79gqIzG3mEx84W9sIyDfWSvEekeSfurgTz4_EbPJKB8FiA9C5pDEzpYWnzEtDAgzI-E1767_VCaUnCHZBONPleAcd16CLaan89RMQn77o0O2nkSVAUis5Wo0Wy71-OfMgKxodI9k1MQomb9klzRKoyvIS7Zta4lyFeg75t_BnHdMHUjynzEV2zyvzrfm_qsspLiOX787UQyqHg3u4hIVv97ghvnRpKAR2kwtUV3T5polmbN9u-wa9xnQd3lfArSBQUdMjoHPFid-E6Ttajj8wGxWv0KeyixnnD8yTHhK9nhXyUU_yOqeXH8kLMpFVVaE1Oz6D_E42I4re63r8Jjq9g70JQewBfcXpzu_kXHw7vrD-obA4AByasVUTlnaJmswrBVuhNjzue5iIMURTB3sCUEj6kKptEOSVQMAdak7UZcqTsbEYpvjOe7GmYtidJnqRR_RvKFO2gfyoojCRUOrTjbQ7gfpsw2-2vQulng8r-08eMDhjwjAOIAniv_eJMn-rYJSeN700RGfzdjWnuuVGo3l7SS6_Dg5-PB2TPqxfELK7F2pUcQfwe1S18TErC70-1od6r2vuClfEBdkXxZYbjjlftqQPLlj-elfjv5JNi_6CI06agzUe5ansmmQZB52mgQwNWfKR37lyNapsW3Y7deJbC3MpcvgSH3pzLcnB6LJ4h-7usII_7xp_gi1AXbJpD9ov4aXJZjUIyn7Ml-8iyILdaK2egWssV992_QQzzOOnJd8o79HXg-YfD9JRKytmpz5qATdAoYeRmwpZ1o410v0L6XsaVO_qF3r2WwgBqxFI5Yujjg==",
  "id": "rs_043031ff92410c15016ab461018fbc87d093d3ab65e3344413",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.02,\"left_z\":0.28,\"left_yaw\":0,\"left_pitch\":-0.1,\"right_x\":0.51,\"right_y\":0.2,\"right_z\":0.22},\"note\":\"The left arm did not track the retreat fully, so I’ll first lift straight clear of the crowded basket. The silver pen moved with the right hand, and I’m carrying it to the pen basket.\"}",
  "call_id": "call_THjdXjdwHAHUV1SOLb5DbOLp",
  "id": "fc_043031ff92410c15016ab46102c57087d0ae203738b58c3d19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_THjdXjdwHAHUV1SOLb5DbOLp",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.0241, 1.1259, -0.7784, 0.0463, -0.0036, 0.9969, 0.4736, 1.9308, 1.7309, -0.5423, 0.3012, 0.1223, 0.1548]\nstate[eef_state]: left_x=0.3117 left_y=0.0251 left_z=0.2679 left_yaw=0.0468 left_pitch=-0.1096 left_roll=-0.026 left_gripper=0.9969 right_x=0.5038 right_y=0.2034 right_z=0.208 right_yaw=0.1549 right_pitch=-0.1368 right_roll=-0.1031 right_gripper=0.1548\nstate[joint_eff]: [0.0479, -2.2085, 8.8274, 1.6923, 0.1294, 0.2222, -0.0122, -0.9915, -10.8239, 9.1282, 1.16, 0.1294, -0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2973fc690483b9df29d8b94d5e91795db83f77f001b3df082cbc7c7fc5412539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a8d6dd0857bfc732f2203e45b82e92fae418d9174624dd0b5caf994b8b465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8675b606cf7a3b16b2ff37f749f6c81250438b61e00e44fffba47f0cd7247a2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.866 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1024, 0.4927, 0.4206, -0.4603, -0.2867, -0.1127, 0.9968, 0.9272, 1.2236, 0.189, 0.1295, 0.6456, 0.5102, 0.9978]\nstate[eef_state]: left_x=0.2468 left_y=0.0285 left_z=0.1577 left_yaw=0.1882 left_pitch=0.0565 left_roll=0.0537 left_gripper=0.9968 right_x=0.2246 right_y=0.1283 right_z=0.0143 right_yaw=0.1232 right_pitch=-0.1144 right_roll=-0.105 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, 0.8274, 9.5385, 1.5604, -0.2271, 0.0269, -0.0122, -0.3214, -1.388, 2.947, 0.4176, -0.0952, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2409, 0.9985, 0.1867, 0.4076, -0.5243, -0.2363, 0.9969, 0.9279, 0.9569, 0.3519, -0.3023, 0.6239, 0.5014, 0.1507]\nstate[eef_state]: left_x=0.3079 left_y=0.0191 left_z=0.11 left_yaw=0.3234 left_pitch=0.2188 left_roll=-0.0147 left_gripper=0.9969 right_x=0.2206 right_y=0.1284 right_z=0.0698 right_yaw=0.1434 right_pitch=-0.1288 right_roll=-0.1014 right_gripper=0.1507\nstate[joint_eff]: [-0.1026, -2.5504, 6.8855, 1.7802, -0.2466, 0.0171, -0.0073, -0.1846, -2.2085, 9.0872, 1.1453, 0.3443, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.0241, 1.1259, -0.7784, 0.0463, -0.0036, 0.9969, 0.4736, 1.9308, 1.7309, -0.5423, 0.3012, 0.1223, 0.1548]\nstate[eef_state]: left_x=0.3117 left_y=0.0251 left_z=0.2679 left_yaw=0.0468 left_pitch=-0.1096 left_roll=-0.026 left_gripper=0.9969 right_x=0.5038 right_y=0.2034 right_z=0.208 right_yaw=0.1549 right_pitch=-0.1368 right_roll=-0.1031 right_gripper=0.1548\nstate[joint_eff]: [0.0479, -2.2085, 8.8274, 1.6923, 0.1294, 0.2222, -0.0122, -0.9915, -10.8239, 9.1282, 1.16, 0.1294, -0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2973fc690483b9df29d8b94d5e91795db83f77f001b3df082cbc7c7fc5412539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a8d6dd0857bfc732f2203e45b82e92fae418d9174624dd0b5caf994b8b465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8675b606cf7a3b16b2ff37f749f6c81250438b61e00e44fffba47f0cd7247a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEJPCwijGNyzH9sqsdRkoOxd7Him40rgYODJgIVJpQfiRuxzSXzM0GmZ4DfkeL6QbK5Q5d1038sd79_SK9auMMYLaCfZkW26hK-UsIiZvK8tqCRi0xkS4IwXvmv6Azb5wi9boOktzggkto3hnX0JNnc51maGor95z8Ivzy8vWed1a9sy-PuuOuYKe8s1GrMS15DUn5diC2n8cCu3CdJ7Hv_qfn2OuE0nefvKmznmCPKZsX8ce8skXumClzx5I9-HpHH7cd3147moI3EepE8zDeCS2sRVi1VGYUoVXadUmLP6Zxkbf5-e8Jnoht3ix_0Pmop2N18Qv4VX4Q_q9OoXY9ukZ4Cninylw0HwIIObSC5RJOrf_6K89xOqgq2tED7hTM6BqWtikrGGZfv07X7W2R8YHOz94A3rN_NS6xUHzkJcgWV4X8jKAKMuVg7kewmST79E6sNf6VrOc_ok4ZVrVPMBp48IipgCCTKb5FBQRLV1Bh-dhpxKOu8nwJLFUi1p2NR9HLdcUrbqCe7k0-BmgDz9Twr56b0eg9OB68mbs4Cm6C74Dxv234aw-3rzTLZwKDmkkoj04fAS6-aSpvVrYaXZGTTFrzA-XLfYfi_DnbVQ5OfFsQ2e6DgbSbpso-nTXJ8hkvtkEHYsBr_NBEDvPRbDEnN4EtgB6aOetS7KblOYJaezd_r4UKiBbAYoQoCsCyc_DzQzIIxmqJpkuAFVYue-xfLXoThipNx8B9kXQGD0p0-uiqmy3ke-CRsZrSiUjfEqfO1-FjnB7MOiIJ-SwjmS3RIcFiFmbay6ldRiaUaOd7pvCU3b9u9Des2iNgtEw_NgkEyZTZ74-ay9PtRvEOTyPUNdBqiaADwLrQqf3d2REGi-3Uyq1rpZQYpwcc461YWG5V4HWXlucH9ZGvWsTzZVuVkGxwMDe7B5ukwvs463i9CiKs4BC2zRpPQTlibMGXm1IE8NpTbVCxIN7rhj1Xaw1gJKOjul7tkwONppRi1PkHCBl89f6ThWc07ll6GsQjgCryfM1jk3KtW8oSOdKb1igWiina0OQDrZMc92FJNkSnMzjS7zONJDsZUEVySfjJDLOXX8Dzl_H9uxpBEfWFzOWgwZx8Sm4Yh_qzf6tAiksTKuo9lGT2NV3Nk_-273bsvai9wD0z4imCv3R8CCC4ZoZh2ygItDl-vPvql7FqEJHX1LqxdgrM7LXDXr31Gk9QdLcx4WBh_sqt-T5YGbmvm653pprgeNxtTW6QwlN1aBRQLFvWUFCdTkInhAiIjRzl5PQxOq1yWNAh0DRL-c7l-6jZ7Wa6LBssgFYku1z6qrp-ZyhV2DfNiWfeQ7OKQpaSGudYGaIIH_G43oHXWdUGBxjbiijDubUnt6XF5UE9RuFetjrlpz0MJVY-ZvcOIVmBrRKIuv_e2EN7dtHxSVFlUyg==",
  "id": "rs_043031ff92410c15016ab46107ecf087d098ab731bae823b9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":-0.07,\"left_z\":0.09,\"right_z\":0.12},\"note\":\"The left hand is clear now, and the yellow pen is unobstructed in front of the shifted toy basket. I’ll approach that pen while lowering the silver pen into the right basket.\"}",
  "call_id": "call_p8ClLMHnv2naU6ctbwddwFXZ",
  "id": "fc_043031ff92410c15016ab46108a55887d0a7198ebecdb9ec1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p8ClLMHnv2naU6ctbwddwFXZ",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7677, 0.6548, 0.3595, -0.5747, -0.5266, -0.5484, 0.9969, 0.4709, 1.9652, 1.4475, -0.2478, 0.3008, 0.1192, 0.1548]\nstate[eef_state]: left_x=0.2125 left_y=-0.0767 left_z=0.0887 left_yaw=-0.039 left_pitch=-0.1556 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5 right_y=0.1999 right_z=0.1213 right_yaw=0.1531 right_pitch=-0.1592 right_roll=-0.1125 right_gripper=0.1548\nstate[joint_eff]: [0.4718, 0.4308, 7.1316, 1.536, -0.7057, -0.0855, -0.0171, 0.0068, -10.4137, 6.5299, 1.8486, 0.0757, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae6067a4bd0f88a24f75bc74ce0c7ef59642c8760d4db7fc1f8650b944cc85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a54b0e557f44218c1840dc9ee1eecca5d52ab185434529ba604aa9a7bb93e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f66857af6edcf3583579048adb752695f60d9fec841f0ff7db2eeff938976c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.514 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0334, 1.3647, 0.1791, 0.8806, -0.3401, -0.1364, 0.9968, 0.9276, 1.2228, 0.1783, 0.1394, 0.6357, 0.5056, 0.1456]\nstate[eef_state]: left_x=0.3415 left_y=0.0511 left_z=0.0951 left_yaw=0.3282 left_pitch=0.2791 left_roll=-0.0213 left_gripper=0.9968 right_x=0.2226 right_y=0.1281 right_z=0.0117 right_yaw=0.1328 right_pitch=-0.1203 right_roll=-0.1031 right_gripper=0.1456\nstate[joint_eff]: [0.1162, 0.7726, -0.2803, -1.2039, 0.1538, 0.0073, -0.0122, -0.1299, -2.4274, 5.9145, 1.3455, 0.3736, 0.0171, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.0241, 1.1259, -0.7784, 0.0463, -0.0036, 0.9969, 0.4736, 1.9308, 1.7309, -0.5423, 0.3012, 0.1223, 0.1548]\nstate[eef_state]: left_x=0.3117 left_y=0.0251 left_z=0.2679 left_yaw=0.0468 left_pitch=-0.1096 left_roll=-0.026 left_gripper=0.9969 right_x=0.5038 right_y=0.2034 right_z=0.208 right_yaw=0.1549 right_pitch=-0.1368 right_roll=-0.1031 right_gripper=0.1548\nstate[joint_eff]: [0.0479, -2.2085, 8.8274, 1.6923, 0.1294, 0.2222, -0.0122, -0.9915, -10.8239, 9.1282, 1.16, 0.1294, -0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7677, 0.6548, 0.3595, -0.5747, -0.5266, -0.5484, 0.9969, 0.4709, 1.9652, 1.4475, -0.2478, 0.3008, 0.1192, 0.1548]\nstate[eef_state]: left_x=0.2125 left_y=-0.0767 left_z=0.0887 left_yaw=-0.039 left_pitch=-0.1556 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5 right_y=0.1999 right_z=0.1213 right_yaw=0.1531 right_pitch=-0.1592 right_roll=-0.1125 right_gripper=0.1548\nstate[joint_eff]: [0.4718, 0.4308, 7.1316, 1.536, -0.7057, -0.0855, -0.0171, 0.0068, -10.4137, 6.5299, 1.8486, 0.0757, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae6067a4bd0f88a24f75bc74ce0c7ef59642c8760d4db7fc1f8650b944cc85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a54b0e557f44218c1840dc9ee1eecca5d52ab185434529ba604aa9a7bb93e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f66857af6edcf3583579048adb752695f60d9fec841f0ff7db2eeff938976c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEOawUroZ0okNmp4WBOVmT9igJpqP5-x9iH4p3Lo1oTq62Rd0GaWt-lFz6rYoMNrEejZIe0YBMxkIyKaq0Wm3M20bk2neOtqbTxFBiS-tyIl0joVCJYLM3W4bDfzKr0m-91waJqM1Tg4UNOZQ6pKpkdixsTMQbpRJwakccMAJqqTU_Qd2irkdyMKpis2Xw1SN71MdNYeVTfDW8KLfqaJ7v-XV4AqdzUifanJff4OBr5T1pXBv1z5VgV2HEu2lPtXmyc6uKU8alWgUZzftmN_1dSzFugCYL5pgx0hoZo_qgFisAWCWyeBxrPkruzklljKNB2asTnQ_taipwsGWmNtuGkBqBOzRMIVtnjpAtA6uuQkDEUS_XiupovEO57jQ-oxSr_vo_1tbeeRxSwdb-21b7LREqSe0Guf3simBW8HyI0KbCTF47L2512dyekbZzxST9lmYFiDDARqDAZNbvxECMuBKCcSRzAnAGVApu6YJBEbLZqkeaH1zTOKfumzaLX901z_BTI6qDvUd4WOJZ3Sq4tAuMgxYk0MGpw2L-h67J9hW5B6fJXYzCwVIygb8SJFX-bewZ6CWweYxXsH6mAWb25Txkh2WDnCEXzqwTTigEGRoxMHx8M4egJaFpNWD9JdOvrdRFpMZFeHmnuqgVZHatm5OGqJHRmGzf2zbh5psvhp5_YtNbwhBDcdcuHD0D_zNihptkQ72tD8gbxEroWUXhX0x8fTXbWB13JlR2acwf65Hr41eMHcvmzRExMNkiJ2Hw-JoAX1mpp4PWVAWctCxt_-Ivdh4VeC5OrbwS4ezZ9DT_Y9zJV-IEvNlh_WUaXXnZOaKsYLkfqzq9OuxZuyeB_E_g5xfuyv9BlZFa129LqBoxLV6WwnwKui3Z8aGPo5UfCRuzkyjEneb6VC-7b6S0HQIcmJduzvzSpNDpjAHdGSWKqxbZPuwdGNFUx_ONppA9Jnl-Uq_rwdqTcwQGoHR1B5keVQwCdS5OLn-EF66vLMMl_BkzIvMosaF9CtO4ZUlZqNKswHbeMLXofXnrIh-2QlcB6wc9iQN66AqI4MUmITIvENLklZMpNpuLYMFW20qFyzFk1mofyp1RxIoHSSzPOpO65wC6BjdVuK1r9Jp8MYLXDpOpPKKTFr9JKHRfIlcMcvd8Gemw8atcZYPYwNkajSB1I_9YmZSzt07zVCduXWI3vnhG2zNRTfDU1FBPVWFjdFue2fapkZH9Xaf6qAehnGqJJmWuBGhEFF6ZsihGiw59o6sU14xyWoRSrWEdSJfHmWX8fY-sl_efhdA-uneLZ_LHHWp0y040ZxndcSWIQJA5ZqeQALLHhyeVmvehRBmIxEJzi5xWCVGJ5XKZW2Gy60eeAoYr-ydbU5JH4KlrZqXu2IRBzQ4MctN5N3PzAVordr0hbgJMIZ0mvpr-vi9tkLCIEWh-lp_RMNAtXZt0nrP5H8vy7bBqhzxeGuU4y-R_j",
  "id": "rs_043031ff92410c15016ab4610c771c87d095306be0c11baf7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_pitch\":0,\"right_gripper\":1},\"note\":\"The yellow pen lies on the left jaw column near the bottom of the wrist view. I’ll lower around its shaft and release the silver pen in the right basket.\"}",
  "call_id": "call_FgZSggOmSyibF7ydm9AKHhiP",
  "id": "fc_043031ff92410c15016ab4610d87f487d0aec74e75e561c564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FgZSggOmSyibF7ydm9AKHhiP",
  "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]: [-0.9607, 1.0187, 0.0055, 0.1055, -0.7052, -0.6212, 0.9968, 0.4709, 1.9743, 1.4376, -0.2386, 0.3012, 0.1123, 0.9953]\nstate[eef_state]: left_x=0.2045 left_y=-0.0865 left_z=-0.0005 left_yaw=-0.0654 left_pitch=-0.0793 left_roll=0.0637 left_gripper=0.9968 right_x=0.4994 right_y=0.1995 right_z=0.1141 right_yaw=0.156 right_pitch=-0.169 right_roll=-0.1211 right_gripper=0.9953\nstate[joint_eff]: [0.335, -2.8376, 4.7111, 0.7302, 0.0317, 0.0513, -0.0171, -0.212, -11.6581, 7.6513, 1.4188, 0.0171, -0.022, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d05d5aa3fa015f677f4ec4420997e3fb91cbd883e2e18a3a48f2016541f247",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9374b05623c84c1d3ec875ae7869f6475f1b4e8ca47ce4ff0395b7cc8bb1a56c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4a985224de078c78c7a1f815fd23146919d2e273d09534816c0dac9790b340",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.897 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2409, 0.9985, 0.1867, 0.4076, -0.5243, -0.2363, 0.9969, 0.9279, 0.9569, 0.3519, -0.3023, 0.6239, 0.5014, 0.1507]\nstate[eef_state]: left_x=0.3079 left_y=0.0191 left_z=0.11 left_yaw=0.3234 left_pitch=0.2188 left_roll=-0.0147 left_gripper=0.9969 right_x=0.2206 right_y=0.1284 right_z=0.0698 right_yaw=0.1434 right_pitch=-0.1288 right_roll=-0.1014 right_gripper=0.1507\nstate[joint_eff]: [-0.1026, -2.5504, 6.8855, 1.7802, -0.2466, 0.0171, -0.0073, -0.1846, -2.2085, 9.0872, 1.1453, 0.3443, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7677, 0.6548, 0.3595, -0.5747, -0.5266, -0.5484, 0.9969, 0.4709, 1.9652, 1.4475, -0.2478, 0.3008, 0.1192, 0.1548]\nstate[eef_state]: left_x=0.2125 left_y=-0.0767 left_z=0.0887 left_yaw=-0.039 left_pitch=-0.1556 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5 right_y=0.1999 right_z=0.1213 right_yaw=0.1531 right_pitch=-0.1592 right_roll=-0.1125 right_gripper=0.1548\nstate[joint_eff]: [0.4718, 0.4308, 7.1316, 1.536, -0.7057, -0.0855, -0.0171, 0.0068, -10.4137, 6.5299, 1.8486, 0.0757, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9607, 1.0187, 0.0055, 0.1055, -0.7052, -0.6212, 0.9968, 0.4709, 1.9743, 1.4376, -0.2386, 0.3012, 0.1123, 0.9953]\nstate[eef_state]: left_x=0.2045 left_y=-0.0865 left_z=-0.0005 left_yaw=-0.0654 left_pitch=-0.0793 left_roll=0.0637 left_gripper=0.9968 right_x=0.4994 right_y=0.1995 right_z=0.1141 right_yaw=0.156 right_pitch=-0.169 right_roll=-0.1211 right_gripper=0.9953\nstate[joint_eff]: [0.335, -2.8376, 4.7111, 0.7302, 0.0317, 0.0513, -0.0171, -0.212, -11.6581, 7.6513, 1.4188, 0.0171, -0.022, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d05d5aa3fa015f677f4ec4420997e3fb91cbd883e2e18a3a48f2016541f247",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9374b05623c84c1d3ec875ae7869f6475f1b4e8ca47ce4ff0395b7cc8bb1a56c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4a985224de078c78c7a1f815fd23146919d2e273d09534816c0dac9790b340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEVV-2fljtbUVn8v-zvKVnSBkFhaP2Inavr3Kr9FKEyIdSKANmEHH94hZnZh5--WVYiboFY94PZ3RGXlUKiQi9Qo9Vf6Ck8gez-oKWcVZrJelkb9hQbZ78ZKnQ1NTja4toj704iFgVFBvS5xG_GVjhxTxWM8_pekuqzULB233GdBYWvwyEHPQyHolbqZINbniqbYv0QpnpaLXunEgp6i3t4xPRRnv860UoPl0zODXxCBRcR8KrFjKihAS8h-YFG3EIpmdPDjkat4c1AWoXU70JYKw3mvVj-7dmzAGBhFxmSB8bA02S16goGo4q-fpaI1s08udUv9lJSAsqw5fgV_dWKvpmcQoYMSP8N8O1T5Nk-bvxd9qLvGqozkAxIiNd_1hyc3H3WF7OE2oN5jx2gMcG8K5ytik03xi5zpCAt242tOW-Sm_9wzFAYdpbxOfBIIQsdjKZaG2Gm2MqHob0SIAlunhZ6a9JBeQJruYj0iwVmCRK6kOFDrhzlUn2TP9dR9DTRBVrBHvp_FlMFHMTkUSUoZEUkXkyJLqcgIOqZ0L6KecF7tHaGymCoF1XAyK-QqbiSCOJ3PShW3B0y_YyUJQopdtu8qQb7be8u9UQ8sLDJOwU3UN99UdEz04lm4UnRkgKmXgd9dh3cdAA55u5zDQAqBl5xROvF5HD8v17zJv8VLwlN0f6QnYO3OAckEEZARKQq-fyrUpyHh_hNz2L-s4EYFXrdeePRjzMoz2T2M5PvHGSayCrlZgMBAsjMANp1PwrmAoXtXG9fJYlulnU2v4eB0_IvyOAV8IpmfSa9a6hh1ZIQ6kbZosYw61Ru837yxiGA4yFOzLIY5VgvPuU_ERUkHLaIDVpwCuZZL3veT5u85Fwk61fypGXUvilAvGF_ItTKKwtXn7XePmjTOG4JpkNLuZKr2JsmE1R4x55yw8eb2QTx0wBQgLdKRZSuOYKItM_uUJRXDlyVmaVOul7VbL-QqmU2ICWY52dP-Go1U5qL8FLBHJPIgmmitfNjB5K58mBKPNRs-1x71p58lh4ZguPdAW40mmC67SOSrhHQUCS6-y-TVluXZ9QaTRJNOpIzBXJkvrcktySnbj4jcOUV0TLEuh4eMmYB5LVt42GpnveNRiId2uD2IVB7ozOMEEaQyexTNei-g7juXNtb00RlQOn_oXw_tItkTnqq-SRvqFe5iiCHpu-yRtkmAQNWJSX2zs_4Z5dkc5_yDawf-HEhvYdisBJBAJVoaNg5xOcwcYlK7ihuNTwGinWCDmV1mM-kaPQJ_Q-GOML0V3loDKEA3IUobBpD4nYSR9WrGIPZE3nXXpveJcII1DQncAIr_J0LgY3L9qInWE9GyEOBTwT4sjCYKAKdC52AvqF9aoSsrK3z867WnQHEOGbnn1blaCWuUhhLwQbb7R4IoaX9ejpLt-OxX1Tr1ByYrKrqx-OH28QBWDvtvKdHDOuHuzq9h3zMNtwWYfnipdBosHxOFGcbHAo5Eccf24vzIvUgSLjIDgfOdqEl_Z9fzlNczb32anEBQHP-4bhmMu1LVtCWn62Pk7D9mc2TmmYRvK1pe3Nk9pywqPz2tlT220iz8vMvaUxMqaq3kA9-7U3ykfudEOgCnd802K1f_d9AkIUi9ZHoWkyku15zEzWCeCmHii8qn_dsrCSwjup7WfPervH6xGDoLJVMJfOwMzaPfGcPd_tG5b4mnPV5KBznxD4R6SxCb_eXoOlKFd0tfGVVR84hyful7X3VA6bUnl2tZYVLyBKc_-otmxS9B7hCPvqZKAlKtFQ6q87aNd0hmdb85SdSRhc04md29XpmaoRumRQ9dvdpbfLYuGnInDlwKIv7H3ktxKMym-dLU2Sr-hPRXWKWWaaY1vFzvcyjN7nB6Nsu3bOmtR9-BzweDM3wGmmPOuJWbkzC0mXkCwpzbrxcBPpwSeB61CZGdhz1_KrLEMJ-QuZ2S6QnUGyxJ3rfh-kXb3h_0mP45yn23RBJTVzZv5D4UaB4s5f0BjoWbQqWnKJwjCRqH5X0IdyRyFOSMR9N6gDN2W6_tmHVX1c8eEjMZn4MkmwUrwqBUJGj9EnTnvS6MLcsp3P5S2-vbFU05yN-s-t6wQotQaCFz0RUL_bAbh-Vp8-Whq5l9YmI_mvu2ZKlHY3In9FJtc9Mj0WdeYet6Du2j9npENxkHAVnXWfC17XrTRXcR53-TMSiod3e4HjpALEYRpnxYMp2nKGigJaxhGD-GrxMIw_wcemr74l2iu8crH9WB-7rBL3vaRJVXFofsPT6yJPhiZ9oj5XsKlL0bZMrLUgUD_2Slt-ooLt4CaibDELsB9-bKhJsxFekUp2lXcwqQvoZlSNLFydg-XWOJbMCuOmakFSFuj37FbxfHOIDjIKptM1gScKam44LOFgH-1XsWE_tBlAPBCLARpjqL0Mmnj2AHUDdG-XXNjbb2m50NnJ8TSk4sD_EmOAzQ0RdPrpVB0qzmcMnP5-JgDqLKkH4_fdd4DnfkeDz9R-Nsb3s011CbTHF4HhR2YCOYl6aMA1gKG2k1S4UHZyA4JGTYWB9YJwAKQwJZO7esEYCy1bBaax5kYQzxw==",
  "id": "rs_043031ff92410c15016ab46110acf487d08d2ee56c78f39f08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.05,\"left_z\":0},\"note\":\"The yellow shaft is slightly left of the finger center after descent. I’ll shift the grasp point a couple of centimeters toward it rather than close off-center.\"}",
  "call_id": "call_5ZtkCMIeESBHfcO5PIqeNIni",
  "id": "fc_043031ff92410c15016ab46114c0fc87d084cfe3883490dabd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZtkCMIeESBHfcO5PIqeNIni",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6235, 0.8505, 0.0055, 0.1284, -0.5346, -0.4053, 0.9969, 0.4709, 1.9743, 1.4368, -0.2417, 0.3004, 0.1112, 0.9964]\nstate[eef_state]: left_x=0.234 left_y=-0.053 left_z=0.0213 left_yaw=0.0246 left_pitch=-0.0347 left_roll=0.0171 left_gripper=0.9969 right_x=0.4987 right_y=0.1993 right_z=0.1132 right_yaw=0.1571 right_pitch=-0.1729 right_roll=-0.1226 right_gripper=0.9964\nstate[joint_eff]: [-0.7179, -0.6359, 5.5863, 1.4774, -0.0122, 0.1538, -0.0073, -0.335, -10.9744, 6.9538, 1.5409, 0.1001, -0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a60294bc3c3d4649cd5d08e0060790cfe8092766fa70de56485237ee1fe556c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa25193b8af492a5e2c098a5941acaa981bda4a3ae8d1b81277b08ff61c1e308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361d59f8c92d52758dcfcd4754da3c82e4f56b008a1b9c4add446d8d74e26718",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 8.947 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.0241, 1.1259, -0.7784, 0.0463, -0.0036, 0.9969, 0.4736, 1.9308, 1.7309, -0.5423, 0.3012, 0.1223, 0.1548]\nstate[eef_state]: left_x=0.3117 left_y=0.0251 left_z=0.2679 left_yaw=0.0468 left_pitch=-0.1096 left_roll=-0.026 left_gripper=0.9969 right_x=0.5038 right_y=0.2034 right_z=0.208 right_yaw=0.1549 right_pitch=-0.1368 right_roll=-0.1031 right_gripper=0.1548\nstate[joint_eff]: [0.0479, -2.2085, 8.8274, 1.6923, 0.1294, 0.2222, -0.0122, -0.9915, -10.8239, 9.1282, 1.16, 0.1294, -0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9607, 1.0187, 0.0055, 0.1055, -0.7052, -0.6212, 0.9968, 0.4709, 1.9743, 1.4376, -0.2386, 0.3012, 0.1123, 0.9953]\nstate[eef_state]: left_x=0.2045 left_y=-0.0865 left_z=-0.0005 left_yaw=-0.0654 left_pitch=-0.0793 left_roll=0.0637 left_gripper=0.9968 right_x=0.4994 right_y=0.1995 right_z=0.1141 right_yaw=0.156 right_pitch=-0.169 right_roll=-0.1211 right_gripper=0.9953\nstate[joint_eff]: [0.335, -2.8376, 4.7111, 0.7302, 0.0317, 0.0513, -0.0171, -0.212, -11.6581, 7.6513, 1.4188, 0.0171, -0.022, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6235, 0.8505, 0.0055, 0.1284, -0.5346, -0.4053, 0.9969, 0.4709, 1.9743, 1.4368, -0.2417, 0.3004, 0.1112, 0.9964]\nstate[eef_state]: left_x=0.234 left_y=-0.053 left_z=0.0213 left_yaw=0.0246 left_pitch=-0.0347 left_roll=0.0171 left_gripper=0.9969 right_x=0.4987 right_y=0.1993 right_z=0.1132 right_yaw=0.1571 right_pitch=-0.1729 right_roll=-0.1226 right_gripper=0.9964\nstate[joint_eff]: [-0.7179, -0.6359, 5.5863, 1.4774, -0.0122, 0.1538, -0.0073, -0.335, -10.9744, 6.9538, 1.5409, 0.1001, -0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a60294bc3c3d4649cd5d08e0060790cfe8092766fa70de56485237ee1fe556c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa25193b8af492a5e2c098a5941acaa981bda4a3ae8d1b81277b08ff61c1e308",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361d59f8c92d52758dcfcd4754da3c82e4f56b008a1b9c4add446d8d74e26718",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
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{
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  "id": "rs_043031ff92410c15016ab4611793f887d097b68a621110d09c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2},\"note\":\"The yellow pen is now beneath the left fingertips. I’ll close on it and park the empty right arm clear of both baskets.\"}",
  "call_id": "call_PHeq33Lb3fcUvBKLQbvXng0M",
  "id": "fc_043031ff92410c15016ab461181fdc87d081d21ab25cced478",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PHeq33Lb3fcUvBKLQbvXng0M",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6239, 0.8501, 0.0055, 0.12, -0.5236, -0.4046, 0.0122, -0.0467, 0.9409, 0.8532, -0.6109, -0.0402, -0.2119, 0.9965]\nstate[eef_state]: left_x=0.2326 left_y=-0.0542 left_z=0.0193 left_yaw=0.0155 left_pitch=-0.0455 left_roll=0.0167 left_gripper=0.0122 right_x=0.3029 right_y=-0.0035 right_z=0.2052 right_yaw=0.1047 right_pitch=-0.1356 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.0068, 6.1744, 1.6435, -0.3785, -0.022, 0.5885, -0.1846, -2.1675, 6.8171, 1.6337, -0.2027, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e123c7a8c938ac4a51134e3d41e96f12ae6e09799dd7e98284066d3b376b2ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c182bfbe16911aab0910e71b935ae0a59f9e34e0106ebbcc5fe60d90f82f8c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270db2a50a20aff1aea18e63893ca3ee2cd44d5ce07ab9b7d268796b7a672633",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 7.202 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7677, 0.6548, 0.3595, -0.5747, -0.5266, -0.5484, 0.9969, 0.4709, 1.9652, 1.4475, -0.2478, 0.3008, 0.1192, 0.1548]\nstate[eef_state]: left_x=0.2125 left_y=-0.0767 left_z=0.0887 left_yaw=-0.039 left_pitch=-0.1556 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5 right_y=0.1999 right_z=0.1213 right_yaw=0.1531 right_pitch=-0.1592 right_roll=-0.1125 right_gripper=0.1548\nstate[joint_eff]: [0.4718, 0.4308, 7.1316, 1.536, -0.7057, -0.0855, -0.0171, 0.0068, -10.4137, 6.5299, 1.8486, 0.0757, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6235, 0.8505, 0.0055, 0.1284, -0.5346, -0.4053, 0.9969, 0.4709, 1.9743, 1.4368, -0.2417, 0.3004, 0.1112, 0.9964]\nstate[eef_state]: left_x=0.234 left_y=-0.053 left_z=0.0213 left_yaw=0.0246 left_pitch=-0.0347 left_roll=0.0171 left_gripper=0.9969 right_x=0.4987 right_y=0.1993 right_z=0.1132 right_yaw=0.1571 right_pitch=-0.1729 right_roll=-0.1226 right_gripper=0.9964\nstate[joint_eff]: [-0.7179, -0.6359, 5.5863, 1.4774, -0.0122, 0.1538, -0.0073, -0.335, -10.9744, 6.9538, 1.5409, 0.1001, -0.0171, 0.0952]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6239, 0.8501, 0.0055, 0.12, -0.5236, -0.4046, 0.0122, -0.0467, 0.9409, 0.8532, -0.6109, -0.0402, -0.2119, 0.9965]\nstate[eef_state]: left_x=0.2326 left_y=-0.0542 left_z=0.0193 left_yaw=0.0155 left_pitch=-0.0455 left_roll=0.0167 left_gripper=0.0122 right_x=0.3029 right_y=-0.0035 right_z=0.2052 right_yaw=0.1047 right_pitch=-0.1356 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.0068, 6.1744, 1.6435, -0.3785, -0.022, 0.5885, -0.1846, -2.1675, 6.8171, 1.6337, -0.2027, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e123c7a8c938ac4a51134e3d41e96f12ae6e09799dd7e98284066d3b376b2ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c182bfbe16911aab0910e71b935ae0a59f9e34e0106ebbcc5fe60d90f82f8c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270db2a50a20aff1aea18e63893ca3ee2cd44d5ce07ab9b7d268796b7a672633",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGEjRy65Gq0KcMrH-I5mFgexkomCkROPDfXfj3BV1mLgBIyeuzJrR0DV41crhmHLf67dYLCjAtjHtcezkc2uyl3eMix60DMJKsXIHutoj_vcMafq66NSXNeJJ1hWqnKNH0wA1c4SRkAoz7RKDm8dZNm3g73egk0VdPjIRzrfFlJ_W_3cPFIFNd3sIkGKEiEarMe6E86yklLWtXoDICmnAKHqR4cL-P0C6De7nxnvdMXNXcbNf8UoU4bOFTzqmxeZ-JwLiejFEcvqYCIdYAOU8cO2pH9ZOVgu0A7ID_82UClXlecUPAVQ6_ebjD8KAY0wQZgEKVlrdhtgCo2By3OLErm8r8stpu00TEXOAa15zDrJf78mbh1wkRkdLOHNHtUDvWlChr-gPII5yWMlFMCLnj_hVOXR-DfRCZef-GfcPEw45wt6BnY_Y45nH-rcQ0mlqHHpP-8COzebT65SOVmWUCwvvuuaa-i-SPGjTSmH1jKE2Odp_O-Sts0gNpCUu63f0FEkbrtHkH3X7xZqbUlSLGkW7AbQgeaq0knIEdDNXC7vLgPmcQN7MSrxdBUGNSJvqZjguGzCulx3S51Lubirwn8-Pa1tGPoYZRSuynLFt8lxWAu5mIaT9lk5mRwPIV76ELKfdtRbfwoPU24SCLgQ9OuBON8FMvkjAERTHHcTKQ7rvugv_jewU4qe1Ag2Y7F7Wlbv-mf64N6M05gxt4RpHelbp4LsxnRJUqVxJciVm_0BkgQlTFgQYkf7aoWrzaxfrDWVRLHkM4aGO9iNq_juYPezFYj-gPEACzem6-mPt97EZR0gXBL577s8m7XC243SpUm14zDbL--lsrP5ZU8Kza5NlVsTm2PFXeCF-a_xGguFmcokITay-I8PEsPqOXDA5-f4v2s3wBaErop2sLdja5LZZfDJo--dmvXP1SAAUDy4Buox-tVEkrQ5m2JM-7LbP3zooc1OI1_RDi-gaCh-RDzpSndvBl9R4agW-Q015fTgbjJZ3l3KyTPUCqMjVha6AP6s25jQi5J75Iv9pgAuRBvssRTTPEuU3n1SkIXkVxDXgQA5G1OVCnPehzPi-0iFA4HHcP1btCwlSryt9JSzxeZUXNFT6thJ-ILszZdPbasibFAW2B-EE9FGGNhl6PMcLYL0wKlITFz1sNJ1X2Ez-XzzcO9IN6yw8qZ0ywcmOC-rfaS5nN-NvkWJ8gb4ZqM-GbdqGLd7Nw5cCg4bmXK-yy9J6w1a92mAofNSqkPXhT7hdCq8t0ZknBRpPBKJ3wYzc5bzB-NJe-35cJH8k8YsJUd1VUSfZbxh5MRKRRoJGYT0z_41RRWUsNP40cL9adjNaT1mUZ8uhAy8h2Elwnvb72WZfRtERf2DH9bPpVKwTrwrtmViL5PCVOMYQRAaES5YsZRgcHZ5yvjsPcERNb84qrfjrQvz6nxYASMECssQY_q11z2nWCEuKrXCZPqwOzjDGE4OMURhU9VAjF3QN7-aPhp3hB-n8J-0ElAkDEwcqsInB-_dreWdGF1AlvwZapH4h-TcBllRw4qqybNh-mljV1Ke1uy9093MHmZeFNCqMNtP8WwOJGwuwKiTSYwT_MG_b_jFJjoBi1TL9sO7yBCavqmTyHThhrsYq_8bRzVGKEAU40Q6Manad33epKl-tbPgoCPNBzEfst9VHvIh7yU1MwG2HMlWFqDjnKTwnCNohLl0X7w8tZvcxhvivzDzpqAXKrm2Uojz_jxRk9xZejo_pxQBuknoSVbrNpiZDqUrduMOxI3HTffiwSBaoA4hv1bmT0Oppg4UCDDjZRNyP0rsqSvwmJ1j3Tv56iLA53T6tH7fygLru-cTtkWk6fub0NjfNAoU_UXYqS6RCFUltvPIPoBrF649khO0Iiq50u-Jjvu3yqu9SVFiBUb8HcbuPLW5RKSmq23IiULKqGqE7n02Ik42B1mfSBmo7dy0K2C7JbFFKcKGhMug_eWtV6lGEa4zFJtNN1Uv-7uno0Jh3zlM4uExHBp0spPnuw6SZ17kxrUDf2wUdskgWtXvo3g0eANC-IByXtyfGrzlE2PwEpEhjIJNgmRif9TiCXPupsKVKWNazPb0lLN2QyNyV_nXDkOAOsAQZaDsRdAHa3VQl3wHWIeEFeoMaWJnNcRopPp7LRzaWM4spMlSFNwA9WigDqrL9abTSLTYnjzgXpAkvlyeTx9ieHOd-HYWYvpNnuF9UfRWNFNF_j5Ytn3rKG6cvZpf79_bxPIFJcRwIKPchAlR3hm7JO3ODHl6iJ0sHKtZxmG9vFDCY3yr5yMLVmjqeASTkRNekr6LdFIa_VwArq-9zFiu8CQM3KFvit7HhNqHAW0sOfboLTY72jl-i6rNMz7vjh1jOJ32jhdT4FnTnU2FZCz8saBkd6A_oMcRYPTXPu9D22Wkb5pMHf0XQLLHnWryaRivWVmCj45UY0VhHZQ3Df3YOpumFKxCCOkAmM5zpgCbfMNV0ztaf6CLZwCgAvCApboSi_wbmois14BZES69A7qQ2xx8F-LkD2r94zDzxChJ0KXAqTYaA21Szhagp3yOgvSgdwnxLH30gOdw-Sda3mkf7iAwWSd2D1a9oMFt7TfXAQZc9v4MT8GIMxTHHkfkgyf_2giQdL4pGwm-J6hTAHetC-f5cEyVkIK0zaydKL-Sbhnh0WO1K8KVScGN2O2gX40QDRfg5fHWl9y69CZv8tmUZAgf0VFHSkCkK7Cq-PnrlJuWrpBOAzJJSsJm39eLOleaskjPcYbtICp1UvyWAcTVMrwNtLSV_6i4mDjFwPEFIGZ8-s9lx7TwXscoYxjZDPMdetUq5J-LfiIMtCLLEP7sm3MDUR17uYJNvd3HbucQ00_i_w22pjwibaQQocvd8NaHOZjIBjSozCEpas62jbrO4XJaFl2-KsNUTGaGT9rughnvbFgVLqvbjiR44rS8tLcSwojiTF23yToSVyQ_5e8_0UL_nlDgneKQ2uNc6jdLSoht1aJl2A-_EmAaIYWe78tsPqVj_f7aEj8ROHpeWBd2MwHQKRmLuMnyuE9GRltKeTBr9Q9BuW5Tth5nT8dRFtKFh1-YXbndIftbkBMtqrV4HYaSCQDy3uQezJh4xHT9iXoRy4J0daoRzN2VrhsKDBtiSCRgOh_rXlt2nY-_dQSMa4HXEIBn60sIWTxns7o2CaQ59048Nh7QsqHTAY2Di6vI-5yBy4s523BmloccySfeXiOumCqPgUIjrC_ewqvsq_pYajPSs61jG7T8HlLvwnTGy-1UxCTFcMlsgNv_yPTwWKE-5adFaaNhSCoaNqj1HORJkdnnT7mD5tyFcqBAdBDVN8tXfTUN7myXwSzzBXlpPXtY26-gYkEdjmeMaZKtULLwy9_NsvK0GNLi7C__enjB6AYBGlQvD0dBa3kiIxS9OF49EtdxTmFnnGZKhv0YdRfO-aiaxY44WOUGKm0TeWGtl7r4HXf3jyGd66WIY4_EnH7NAYZJjSX6k0D9zP00sQA=",
  "id": "rs_043031ff92410c15016ab4611c315487d0b2eddd5625dcbb40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.05,\"left_z\":0.16,\"left_yaw\":1.25,\"left_gripper\":1},\"note\":\"The yellow-pen grasp was empty; it may be partly covered by the shifted basket. I’ll make one final gray-toy approach with the jaws turned lengthwise, reducing their sideways clearance near the basket.\"}",
  "call_id": "call_SSMOKylefsxHWr9nIeKdu22l",
  "id": "fc_043031ff92410c15016ab46122870c87d0a69f60cdad7ac8e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SSMOKylefsxHWr9nIeKdu22l",
  "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]: [-0.3466, 1.607, 1.1576, -0.9874, -0.9291, -1.4528, 0.9957, -0.0486, 0.9463, 0.8494, -0.6304, -0.0528, -0.2279, 0.9965]\nstate[eef_state]: left_x=0.3311 left_y=0.0347 left_z=0.1494 left_yaw=1.14 left_pitch=-0.069 left_roll=-0.0328 left_gripper=0.9957 right_x=0.2998 right_y=-0.0017 right_z=0.1985 right_yaw=0.1229 right_pitch=-0.1637 right_roll=-0.1295 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.9521, 5.3402, -0.4225, -0.569, 0.0073, -0.188, 0.1573, -2.4137, 7.2137, 1.7998, 0.1001, 0.1343, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36363606f6b87d528fda2358d698842205acf2e1998d4b0ac0721f75eb01ff5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070a9a5cfde1df83559d0bd311190dcc8c0fb84033722bf64f0251c7b61b448e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8c93e32eac30c2a160f9b0bea1879e535497db29c99264af575dcd5e9bf4b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 10.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9607, 1.0187, 0.0055, 0.1055, -0.7052, -0.6212, 0.9968, 0.4709, 1.9743, 1.4376, -0.2386, 0.3012, 0.1123, 0.9953]\nstate[eef_state]: left_x=0.2045 left_y=-0.0865 left_z=-0.0005 left_yaw=-0.0654 left_pitch=-0.0793 left_roll=0.0637 left_gripper=0.9968 right_x=0.4994 right_y=0.1995 right_z=0.1141 right_yaw=0.156 right_pitch=-0.169 right_roll=-0.1211 right_gripper=0.9953\nstate[joint_eff]: [0.335, -2.8376, 4.7111, 0.7302, 0.0317, 0.0513, -0.0171, -0.212, -11.6581, 7.6513, 1.4188, 0.0171, -0.022, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6239, 0.8501, 0.0055, 0.12, -0.5236, -0.4046, 0.0122, -0.0467, 0.9409, 0.8532, -0.6109, -0.0402, -0.2119, 0.9965]\nstate[eef_state]: left_x=0.2326 left_y=-0.0542 left_z=0.0193 left_yaw=0.0155 left_pitch=-0.0455 left_roll=0.0167 left_gripper=0.0122 right_x=0.3029 right_y=-0.0035 right_z=0.2052 right_yaw=0.1047 right_pitch=-0.1356 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.0068, 6.1744, 1.6435, -0.3785, -0.022, 0.5885, -0.1846, -2.1675, 6.8171, 1.6337, -0.2027, -0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3466, 1.607, 1.1576, -0.9874, -0.9291, -1.4528, 0.9957, -0.0486, 0.9463, 0.8494, -0.6304, -0.0528, -0.2279, 0.9965]\nstate[eef_state]: left_x=0.3311 left_y=0.0347 left_z=0.1494 left_yaw=1.14 left_pitch=-0.069 left_roll=-0.0328 left_gripper=0.9957 right_x=0.2998 right_y=-0.0017 right_z=0.1985 right_yaw=0.1229 right_pitch=-0.1637 right_roll=-0.1295 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.9521, 5.3402, -0.4225, -0.569, 0.0073, -0.188, 0.1573, -2.4137, 7.2137, 1.7998, 0.1001, 0.1343, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36363606f6b87d528fda2358d698842205acf2e1998d4b0ac0721f75eb01ff5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070a9a5cfde1df83559d0bd311190dcc8c0fb84033722bf64f0251c7b61b448e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8c93e32eac30c2a160f9b0bea1879e535497db29c99264af575dcd5e9bf4b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEroql3w3teHqEG5gRhYMO_j8DUm2K4ERBfqC5axcpzOebXNbGRGUA2vPupY1U3XNAd1AvhGhai2PaYUbdRhqi_kBzmX-kX9FiGRLv3fVw0FKHTYqC9QGKF0He2c6YumZOHt7aCFENZpL9Sg_AOovb_zw5-uuhYLIIvGL6ELidQinGcRVPwNAgVJIC2a2PTdlyycJCChxK9a8V3Vcz4i8y7xehIrdXvN0VjyDSl9DpOPtw8lnuUun4RkgnTDgrOkTwIWwuWWbT5bP7HuMfZ5poEqoIuNZvyVQw7RPPsrxAbkdA4vgecLIONeBS8TbLwDKY9EUsBFqiMkiKvGl8L06e8JejipImAzwvZjVI2r4FEVSvp6SvweI-BpTRJauZrAYPMfNunq6wqF4sabDsnQd9mOpCLeq6McdORgvvu052uBz__egRoscNWBoiYhuqNPXvuclrOZKrx2zXtXVY4pUyjAF0l38nVaBL8GzGaCqaDEFeyxAMtBnIMCLFlpAO3cETryfabTAktbSltXREEGjQFkOQTAun3phvfwR6T24cre_lqssUdI6nV_k-lKMwMTWy7YnBQxlQJH0nYLEMTM6oXcehr2Hgh3h3SyLJG3koZXU9TXQqygGD-7KDbypycf0R9RdYYEkqTOMKQLBJ39ryzDSSaaCfbLoN3uaR58doXK8QHyGtEDuDUtvXoXilz1MXBCzcfTogBsAEZf4lGUaXy17ostrlgIrdaM1jASARDTevxybJ1oPwOXvjBDIkEOehN1bD4IZ7mm2utnl1XEH813rNqUSdgyD9n4zuRB7KMGHVjRNll-XiawADhscQMEvCWK3xIRe2gIkHr6ukyO3dWwluw8dvp-Fb8e2l54NhHpRcj3MW52OFEDHR-DcjUEt4z80hQqq9bFpyuTuuHNfMXCLmPXqNO8_HY393PYKKxKDLZUyTk9xbqNizPzRenDp-ftI2zJTlb4M9DGnshxBcTT3d0k5CkrvHZR5GybKDtWnyJeGPdi4OsMoN4S5eSCFmzm09-1-NmssD6llFYbeNdO-dBWWWFEVJYed7YqQN8uW3U6OR3kE0ggIb3XDT_B9TsF87EnXxvKcZd2R5jWZWhMo5Fx8IawjnfKsWCmqNywSglrlSIr1fZyOsu_BpGmptTuEcqXYNxEbWjGjX-IhuvBa7CKhUxYGAbE48WgAn5cW6wWp1DrDCdQgVU79JiZQ1HIDKJP0_gv-37SaBStNWWp6WiTZxOTePVpLwu7fdAxSrb2d19lmLBcHJ7Bi6ZomqzE77qRlV3SOJXgm827-zXOyPI1IPeV874hsTaL9VE7hWz5ljJzMWlrjvVizPWf_Q6qSVtUCFRQWR5gaw6Uem9Xo3kkWOtsjK05yILXNrSHRLCIdHJV9SNrhasZqo8N5RAv4nz47HLF1Iq5ZYFTjMcC3_Kx8keanRQaVgg3Wqi_PyhdeRavlqPChHMa1TBa7MF5Ai03dId83YnY5HdzStDzsU754Ui7lmXh8YylMLKfw5VICtaETXkzpwACZmUc5dxnoLZu4AM6kGgKcjrMmBveKprNMs4y3K-GnELBqj4BebkwF4vlUtWyhLT0SvkkDORzijiwUgaot02QBpsz__DpAgBU0Mh9wQk2yoC2aGAihf5n2hZkWaTvqa_PGhUF4UEIPEaRbU5Vn1m4uVxKSibt2_VsaESaLtP82TdB2LlJSZKXs9q99Su1vJ-XagsejI3BsRmYQ8KPmNiziCpTakDQ5p42pnNM1GI4-oZ81f_SljnOiIkTvuhNourlgD4mrzMu_yG2NnBryhXTv-qa0rSmVNSEM70soeFbzkayuKGf1UX1Ro7Wt1B8bJA7rsYFNzDYcUBuNmxrmtcopcOFbVU8G1k5BxcY97nVc-v9_82603LQLNRRbOjZk9FpFgdYGwoKwv2sFWJuIgxaX05zHKcA4g5ac7Ae2lpOhgWuRj4aSdaKSulS2quJ1lcL3SA8J5FR51KolIK9YdOmN00xeW68eroHyTArjQJZppcKW0kecMjRh3u3c7JPN0bP6Bnw0a4X6BuGOxJwlWubZtMjziIDv3m1KjTP_-bAi2hTPixWuo6W1SgHYwtKWp_Uk4ziqcAxAnA924rKsHUPvmGltihLcgPOOtdVQ0w1hMEL-f0EGeYod2Ur1gWYiiiTCjA3ue3lrZiKNfnDTz_jko4ZNhPo_IyB88ppYJnFfyK4hJj5YfKutqrjQJPvP8ixbIxWuhtmr9nAGaEPxnAkeRCc0XYBkcBPfRdpGW1vDQH_l8Hh2fhgJVeB8B-YGT1qP9LZY-h6QjlRCMoz9L4hDm7TVTkXqdn04Uc9KB0oUEnMbLOjSnpOEWnxZvA1WUWSRbVD601ZhX9hkUVa1yfenNt_REabg==",
  "id": "rs_043031ff92410c15016ab46126a73c87d0a4e3901e7a976cf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":0.05,\"left_z\":0.04},\"note\":\"Turning the jaws opened a clearer route beside the basket, and the gray toy’s side is visible in the wrist view. I’ll lower onto that reachable edge rather than its wider center.\"}",
  "call_id": "call_Yw3phz5Tn5pjdcjXkg3ofnFZ",
  "id": "fc_043031ff92410c15016ab4612aa1a087d08dc0b954846f6e23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yw3phz5Tn5pjdcjXkg3ofnFZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3687, 1.5539, 0.7212, -0.5411, -0.9783, -1.5227, 0.9967, -0.0486, 0.9482, 0.849, -0.6346, -0.0536, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0472 left_z=0.0698 left_yaw=1.1607 left_pitch=-0.0197 left_roll=-0.1499 left_gripper=0.9967 right_x=0.2992 right_y=-0.0015 right_z=0.197 right_yaw=0.1242 right_pitch=-0.1701 right_roll=-0.1284 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.853, 1.7436, -0.2076, 0.2173, 0.4957, 0.0952, -0.0615, -2.1538, 6.8581, 1.619, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827071b099065a3b5710f756184fde966675eaebb0619990d8061028c5b171e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be954dd65d58f917d9f46b5183ef9edd0757e2e6e7289b0f026cf523ebde67a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9e3a7d2d705ba3e46cb0d5c801ad18fd950bd6eb10de5c238b195578886b1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.967 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6235, 0.8505, 0.0055, 0.1284, -0.5346, -0.4053, 0.9969, 0.4709, 1.9743, 1.4368, -0.2417, 0.3004, 0.1112, 0.9964]\nstate[eef_state]: left_x=0.234 left_y=-0.053 left_z=0.0213 left_yaw=0.0246 left_pitch=-0.0347 left_roll=0.0171 left_gripper=0.9969 right_x=0.4987 right_y=0.1993 right_z=0.1132 right_yaw=0.1571 right_pitch=-0.1729 right_roll=-0.1226 right_gripper=0.9964\nstate[joint_eff]: [-0.7179, -0.6359, 5.5863, 1.4774, -0.0122, 0.1538, -0.0073, -0.335, -10.9744, 6.9538, 1.5409, 0.1001, -0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3466, 1.607, 1.1576, -0.9874, -0.9291, -1.4528, 0.9957, -0.0486, 0.9463, 0.8494, -0.6304, -0.0528, -0.2279, 0.9965]\nstate[eef_state]: left_x=0.3311 left_y=0.0347 left_z=0.1494 left_yaw=1.14 left_pitch=-0.069 left_roll=-0.0328 left_gripper=0.9957 right_x=0.2998 right_y=-0.0017 right_z=0.1985 right_yaw=0.1229 right_pitch=-0.1637 right_roll=-0.1295 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -7.9521, 5.3402, -0.4225, -0.569, 0.0073, -0.188, 0.1573, -2.4137, 7.2137, 1.7998, 0.1001, 0.1343, -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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3687, 1.5539, 0.7212, -0.5411, -0.9783, -1.5227, 0.9967, -0.0486, 0.9482, 0.849, -0.6346, -0.0536, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0472 left_z=0.0698 left_yaw=1.1607 left_pitch=-0.0197 left_roll=-0.1499 left_gripper=0.9967 right_x=0.2992 right_y=-0.0015 right_z=0.197 right_yaw=0.1242 right_pitch=-0.1701 right_roll=-0.1284 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.853, 1.7436, -0.2076, 0.2173, 0.4957, 0.0952, -0.0615, -2.1538, 6.8581, 1.619, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827071b099065a3b5710f756184fde966675eaebb0619990d8061028c5b171e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be954dd65d58f917d9f46b5183ef9edd0757e2e6e7289b0f026cf523ebde67a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9e3a7d2d705ba3e46cb0d5c801ad18fd950bd6eb10de5c238b195578886b1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_043031ff92410c15016ab4612e2a1487d082b53bf136f3ec77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gray toy’s graspable center remains beyond the left-side limit, and the basket makes further edge grasps unreliable. I’m parking both arms safely; the gray toy and yellow pen remain unsorted.\"}",
  "call_id": "call_VIykLW3o5b8lb6fyXatOZxo3",
  "id": "fc_043031ff92410c15016ab461353e2087d093f6267ad0de1711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VIykLW3o5b8lb6fyXatOZxo3",
  "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]: [0.0391, 0.8249, 0.7574, -0.5014, -0.0513, -0.2386, 0.9988, -0.0254, 0.8234, 0.733, -0.5259, -0.0269, -0.049, 0.9965]\nstate[eef_state]: left_x=0.2964 left_y=0.0243 left_z=0.2166 left_yaw=0.1991 left_pitch=-0.0097 left_roll=-0.166 left_gripper=0.9988 right_x=0.2915 right_y=0.0009 right_z=0.2009 right_yaw=0.0261 right_pitch=-0.0469 right_roll=-0.0174 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2376, 8.7453, 1.6581, 0.0904, 0.1685, -0.149, 0.4718, -1.9624, 6.8718, 1.9219, 0.1148, 0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5a033b7200a4a6c702f02974c64b7e9a9e32eaa6a96a132723113590e3cc6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fbefacb6f2faf8e9689495a439ada18caca5c3249e1dbae1e61867c11ba60c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25728652c2e39f31493ae2d454f372a2c1f3356367f4a31adb7b92dffa8c9c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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