adhoc

completed
2026-09-24T01:00:32.122630+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
291 s
total steps
428
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and slender pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the gray plush on the left.
move_to
left_x0.2350left_y-0.0900left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8024, 0.6174, -0.3805, -0.0219, -0.0257, 0.9995, -0.0208, 0.7982, 0.6109, -0.3847, -0.0189, -0.0254, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.181 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.9761, 9.4427, 1.79, -0.0073, 0.0806, -0.0659, -0.294, -1.5795, 9.812, 1.79, -0.0659, 0.0806, -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":0.235,"left_y":-0.09,"left_z":0.13,"left_gripper":1},"note":"I see plush animals and slender pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the gray plush on the left."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe gray plush is left of the open jaws in the wrist view. I’m shifting left and forward while lowering to grasp its soft body.
move_to
left_x0.3050left_y0.0050left_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]: [-0.8429, 0.7322, 0.4427, -0.4599, -0.6582, -0.5407, 0.9995, -0.0208, 0.8024, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.2359 left_y=-0.0969 left_z=0.1333 left_yaw=-0.0307 left_pitch=-0.0037 left_roll=-0.0097 left_gripper=0.9995 right_x=0.2952 right_y=0.0007 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.335, -0.9368, 5.9692, 1.3846, -0.4078, -0.1245, -0.0708, -0.0615, -1.4701, 7.3231, 1.7851, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":0.005,"left_z":0.045},"note":"The gray plush is left of the open jaws in the wrist view. I’m shifting left and forward while lowering to grasp its soft body."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe gray toy is still slightly left of the jaw center. I’m making a small lateral correction and lowering around its body before closing.
move_to
left_y0.0400left_z0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0341, 1.1671, 0.168, 0.4614, 0.0273, 0.0086, 0.9995, -0.0208, 0.8078, 0.6079, -0.3855, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3112 left_y=0.0094 left_z=0.0551 left_yaw=-0.0066 left_pitch=0.0279 left_roll=0.0038 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0134 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.335, -1.5385, 4.506, 1.409, 0.149, 0.0317, -0.0171, 0.0889, -1.6752, 7.1179, 1.7167, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.04,"left_z":0.015},"note":"The gray toy is still slightly left of the jaw center. I’m making a small lateral correction and lowering around its body before closing."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe descent stopped against the soft toy, with the jaws around its near side. I’ll close and check whether the gripper captures it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2127, 1.5112, 0.1314, 0.9737, 0.1654, 0.1238, 0.9995, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.3322 left_y=0.0457 left_z=0.0501 left_yaw=-0.0091 left_pitch=0.1637 left_roll=0.0617 left_gripper=0.9995 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.4991, -2.359, 1.8803, 0.906, 0.2125, -0.2173, -0.0171, -0.1846, -1.2786, 7.2274, 1.6874, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped against the soft toy, with the jaws around its near side. I’ll close and check whether the gripper captures it."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper closed empty, so the gray toy was not between the fingers. I’m lifting back to uncover it and correct the approach rather than repeating the same grasp.
move_to
left_x0.2200left_y-0.0300left_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]: [0.2081, 1.5002, 0.1444, 0.989, 0.1585, 0.1307, 0.0103, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3384 left_y=0.0466 left_z=0.0613 left_yaw=-0.0131 left_pitch=0.2012 left_roll=0.0796 left_gripper=0.0103 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1436, -3.2889, 3.1932, 1.6972, 0.1001, -0.0806, 0.8327, -0.0615, -1.2376, 7.2274, 1.7167, -0.0415, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.03,"left_z":0.18,"left_gripper":1},"note":"The gripper closed empty, so the gray toy was not between the fingers. I’m lifting back to uncover it and correct the approach rather than repeating the same grasp."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteWith the arm backed away, the gray plush’s long body is visible along the left edge. I’m approaching farther forward and slightly inward to center the jaws on its torso.
move_to
left_x0.3900left_y0.0050left_z0.0700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6399, 0.2859, 0.3759, -0.5522, -0.5983, -0.197, 0.9988, -0.0208, 0.8181, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.2211 left_y=-0.0361 left_z=0.1721 left_yaw=-0.044 left_pitch=0.1855 left_roll=0.0848 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0342, 1.0735, 8.335, 1.7656, -0.1978, -0.0952, -0.149, -0.1709, -1.8803, 7.0769, 1.8242, -0.022, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.005,"left_z":0.07,"left_pitch":0,"left_roll":0},"note":"With the arm backed away, the gray plush’s long body is visible along the left edge. I’m approaching farther forward and slightly inward to center the jaws on its torso."})
tool
executing move_to over 13 steps (1.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe gray plush remains just to the left and behind the fingers. I’m making one corrected approach within the left arm’s workspace.
move_to
left_x0.3550left_y0.0450left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0296, 1.4975, 0.4698, 0.3908, 0.0349, 0.0048, 0.9983, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.377 left_y=0.0086 left_z=0.05 left_yaw=-0.0156 left_pitch=-0.071 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4034, -6.1197, 7.2957, 2.1123, 0.1929, 0.1197, -0.0611, -0.335, -1.5385, 7.0085, 1.7021, -0.0171, -0.0366, -0.0171] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":0.045,"left_z":0.025},"note":"The gray plush remains just to the left and behind the fingers. I’m making one corrected approach within the left arm’s workspace."})
tool
executing move_to over 4 steps (0.4s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe two clearly visible plush toys are the small brown animal and the larger tan one in the middle. I’m moving above the small brown toy for an unobstructed grasp.
move_to
left_x0.2850left_y-0.1600left_z0.1400left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1829, 1.533, 0.3824, 0.5137, 0.1432, 0.0834, 0.9982, -0.0208, 0.8211, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3597 left_y=0.0445 left_z=0.0311 left_yaw=0.0041 left_pitch=-0.0639 left_roll=-0.0085 left_gripper=0.9982 right_x=0.2951 right_y=0.0007 right_z=0.1712 right_yaw=0.0003 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.5538, -4.1231, 4.2188, 1.5409, 0.0952, 0.0659, -0.0269, -0.3624, -1.3197, 7.241, 1.7216, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.16,"left_z":0.14,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The two clearly visible plush toys are the small brown animal and the larger tan one in the middle. I’m moving above the small brown toy for an unobstructed grasp."})
tool
executing move_to over 19 steps (1.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe small brown plush is centered beneath the jaw column. I’ll lower around its body without disturbing the neighboring tan toy.
move_to
left_x0.2900left_y-0.1700left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8906, 1.1828, 0.6296, -0.2459, -0.6926, -0.593, 0.9988, -0.0208, 0.8249, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.2816 left_y=-0.163 left_z=0.1312 left_yaw=-0.0252 left_pitch=-0.0188 left_roll=-0.0005 left_gripper=0.9988 right_x=0.2953 right_y=0.0007 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.253, -3.3026, 8.6632, 1.3016, -0.5153, 0.0122, -0.1538, -0.2803, -1.7162, 7.2547, 1.707, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.17,"left_z":0.025},"note":"The small brown plush is centered beneath the jaw column. I’ll lower around its body without disturbing the neighboring tan toy."})
tool
executing move_to over 7 steps (0.7s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe open fingers now straddle the small brown plush. I’m closing around it before a short test lift.
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]: [-0.881, 1.573, 0.4088, 0.3584, -0.6964, -0.5919, 0.9983, -0.0208, 0.8295, 0.6067, -0.3923, -0.0185, -0.0269, 0.9997] state[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0265 left_yaw=-0.0135 left_pitch=-0.0212 left_roll=0.0074 left_gripper=0.9983 right_x=0.2956 right_y=0.0007 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9997 state[joint_eff]: [-0.1709, -4.5333, 4.0, 1.5311, -0.2173, 0.0415, -0.0659, -0.0889, -1.7846, 7.0359, 1.7705, -0.0317, -0.0757, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now straddle the small brown plush. I’m closing around it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe gripper has stopped at a substantial opening, consistent with holding the plush. I’ll lift it a few centimeters to verify that it follows the jaws.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8803, 1.5726, 0.4072, 0.3763, -0.7036, -0.5919, 0.4253, -0.0208, 0.8307, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.2925 left_y=-0.169 left_z=0.0293 left_yaw=-0.0078 left_pitch=-0.0064 left_roll=-0.0021 left_gripper=0.4253 right_x=0.2957 right_y=0.0008 right_z=0.1686 right_yaw=0.0006 right_pitch=-0.0442 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.2718, 4.7521, 1.2576, -0.2418, -0.0269, 1.0281, -0.1846, -1.0735, 7.0359, 1.746, -0.022, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The gripper has stopped at a substantial opening, consistent with holding the plush. I’ll lift it a few centimeters to verify that it follows the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe small brown toy has lifted with the gripper. I’m carrying it above the left basket, high enough to clear the rim.
move_to
left_x0.5000left_y-0.1600left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8806, 1.3392, 0.5205, 0.0063, -0.6994, -0.5968, 0.4253, -0.0208, 0.8314, 0.6067, -0.3927, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.289 left_y=-0.1658 left_z=0.0822 left_yaw=-0.0082 left_pitch=-0.0236 left_roll=0.0097 left_gripper=0.4253 right_x=0.2957 right_y=0.0007 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0068, -5.3265, 8.4581, 1.2625, -0.3394, 0.0317, 1.0281, -0.1846, -1.5248, 7.0085, 1.6728, -0.0317, -0.022, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.16,"left_z":0.23},"note":"The small brown toy has lifted with the gripper. I’m carrying it above the left basket, high enough to clear the rim."})
tool
executing move_to over 17 steps (1.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe held plush is above the left basket opening. I’ll lower it inside the rim before releasing.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4339, 1.8, 1.5234, -0.4294, -0.3771, -0.2947, 0.4261, -0.0208, 0.836, 0.6067, -0.4004, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.492 left_y=-0.1524 left_z=0.2081 left_yaw=0.0277 left_pitch=-0.0823 left_roll=0.0165 left_gripper=0.4261 right_x=0.2948 right_y=0.0008 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.0576 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.253, -9.9761, 9.812, 1.9121, -0.0611, 0.315, 1.033, -0.1299, -1.7026, 7.0906, 1.7949, -0.0366, -0.0269, -0.0171] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The held plush is above the left basket opening. I’ll lower it inside the rim before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe toy is lowered over the basket interior. I’m opening the fingers to leave it in the plush-toy basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4339, 1.8442, 1.3064, -0.1955, -0.3767, -0.3061, 0.4261, -0.0208, 0.8364, 0.6067, -0.408, -0.0181, -0.0265, 0.9998] state[eef_state]: left_x=0.4885 left_y=-0.1508 left_z=0.1355 left_yaw=0.0347 left_pitch=-0.1068 left_roll=0.0196 left_gripper=0.4261 right_x=0.2937 right_y=0.0007 right_z=0.1639 right_yaw=0.0 right_pitch=-0.0656 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0615, -9.4017, 6.5162, 1.8779, -0.1783, 0.0562, 1.033, -0.2393, -1.2786, 6.9949, 1.7558, -0.022, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The toy is lowered over the basket interior. I’m opening the fingers to leave it in the plush-toy basket."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe brown plush is visibly inside the left basket. I’m moving above the larger tan plush next and restoring the idle arm to its parked height.
move_to
left_x0.2850left_y-0.2850left_z0.1800left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.1850right_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]: [-0.4343, 1.8442, 1.3064, -0.1963, -0.3771, -0.3141, 0.9954, -0.0208, 0.8364, 0.6067, -0.4084, -0.0181, -0.0265, 0.9998] state[eef_state]: left_x=0.4883 left_y=-0.1509 left_z=0.1354 left_yaw=0.039 left_pitch=-0.1072 left_roll=0.0138 left_gripper=0.9954 right_x=0.2937 right_y=0.0007 right_z=0.1638 right_yaw=0.0 right_pitch=-0.066 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3214, -9.9487, 6.6803, 1.536, -0.1197, 0.0855, 0.1441, -0.2393, -1.4974, 6.9949, 1.6581, -0.0122, -0.0366, -0.0171] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.285,"left_z":0.18,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.185,"right_pitch":0,"right_roll":0},"note":"The brown plush is visibly inside the left basket. I’m moving above the larger tan plush next and restoring the idle arm to its parked height."})
tool
executing move_to over 16 steps (1.6s)
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 noteThe tan plush is centered under the open gripper. I’ll lower to grasp its torso rather than its loose limbs.
move_to
left_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]: [-1.1286, 1.6352, 1.1976, -0.5713, -0.8455, -0.8742, 0.9966, -0.0212, 0.8116, 0.6067, -0.4084, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2871 left_y=-0.2891 left_z=0.1677 left_yaw=-0.0106 left_pitch=-0.0306 left_roll=0.0072 left_gripper=0.9966 right_x=0.2923 right_y=0.0007 right_z=0.1706 right_yaw=0.0019 right_pitch=-0.0412 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.1026, -7.2547, 9.1009, 0.9451, -0.6325, -0.0806, 0.1197, -0.759, -2.3726, 8.9778, 1.8144, -0.0806, -0.0366, -0.0171] 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_z":0.035},"note":"The tan plush is centered under the open gripper. I’ll lower to grasp its torso rather than its loose limbs."})
tool
executing move_to over 9 steps (0.9s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe fingers have reached the tan plush’s body. I’m closing gently around the soft torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1271, 1.8366, 0.9207, -0.0692, -0.8646, -0.8791, 0.9967, -0.0208, 0.8135, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2913 left_y=-0.2914 left_z=0.0552 left_yaw=0.0037 left_pitch=-0.006 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2922 right_y=0.0008 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0446 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.4308, -6.4068, 3.5214, 0.7839, -0.2857, 0.0024, 0.0024, -0.3487, -1.4701, 7.1043, 1.6923, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers have reached the tan plush’s body. I’m closing gently around the soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe gripper remains partly open on the plush. I’m lifting vertically to check the hold and clear its dangling limbs from the table.
move_to
left_z0.1800
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]: [-1.1263, 1.8439, 0.9108, -0.0376, -0.8829, -0.8825, 0.1969, -0.0208, 0.8146, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.2934 left_y=-0.2902 left_z=0.0548 left_yaw=0.0166 left_pitch=0.0139 left_roll=-0.021 left_gripper=0.1969 right_x=0.2923 right_y=0.0008 right_z=0.1695 right_yaw=0.002 right_pitch=-0.0458 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.2667, -9.1419, 6.106, 0.8327, -0.1929, 0.0024, 0.652, -0.3624, -1.265, 7.0085, 1.7411, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The gripper remains partly open on the plush. I’m lifting vertically to check the hold and clear its dangling limbs from the table."})
tool
executing move_to over 9 steps (0.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe tan plush is securely lifted. I’m carrying it over the same left basket, keeping its long limbs above the rim.
move_to
left_x0.4900left_y-0.1500left_z0.2800
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]: [-1.1259, 1.6787, 1.1717, -0.4915, -0.8684, -0.8917, 0.1983, -0.0208, 0.8146, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2934 left_y=-0.2938 left_z=0.1532 left_yaw=0.0138 left_pitch=-0.0087 left_roll=-0.0085 left_gripper=0.1983 right_x=0.2922 right_y=0.0008 right_z=0.1694 right_yaw=0.0023 right_pitch=-0.0461 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.1436, -11.0017, 8.759, 1.0085, -0.5836, 0.0611, 0.1245, -0.2803, -1.1966, 7.2137, 1.6679, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.15,"left_z":0.28},"note":"The tan plush is securely lifted. I’m carrying it over the same left basket, keeping its long limbs above the rim."})
tool
executing move_to over 16 steps (1.6s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe tan plush is over the left basket with its limbs hanging inside. I’ll lower it a little farther so it settles with the smaller toy.
move_to
left_z0.1800
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]: [-0.44, 1.7493, 1.6325, -0.5842, -0.4091, -0.3424, 0.1998, -0.0208, 0.8181, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.479 left_y=-0.1439 left_z=0.2533 left_yaw=0.0729 left_pitch=-0.0678 left_roll=-0.0058 left_gripper=0.1998 right_x=0.2924 right_y=0.0008 right_z=0.1684 right_yaw=0.0023 right_pitch=-0.0496 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [0.0752, -9.1282, 10.2222, 1.79, 0.0024, 0.4322, 0.1392, -0.1162, -1.6479, 7.0085, 1.663, -0.0171, -0.0659, -0.0171] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The tan plush is over the left basket with its limbs hanging inside. I’ll lower it a little farther so it settles with the smaller toy."})
tool
executing move_to over 5 steps (0.5s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe large plush is close to the basket’s front rim. I’m shifting it farther into the opening before release so its body does not hang outside.
move_to
left_x0.5500left_z0.2000left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4397, 1.7618, 1.3521, -0.3943, -0.3958, -0.3405, 0.2019, -0.0208, 0.8204, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.4654 left_y=-0.1397 left_z=0.1609 left_yaw=0.0674 left_pitch=-0.1622 left_roll=0.0382 left_gripper=0.2019 right_x=0.2926 right_y=0.0008 right_z=0.1679 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [-0.1162, -9.2923, 8.1299, 1.9902, -0.3053, -0.0708, 0.2076, -0.0479, -1.5658, 7.0359, 1.6728, -0.0366, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_z":0.2,"left_pitch":0.25},"note":"The large plush is close to the basket’s front rim. I’m shifting it farther into the opening before release so its body does not hang outside."})
tool
executing move_to over 14 steps (1.4s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe tan plush is now farther inside the left basket. I’m releasing it there, keeping the pen basket separate.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4015, 1.903, 1.3415, -0.1478, -0.4358, -0.2245, 0.2032, -0.0208, 0.8215, 0.6067, -0.4103, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.5094 left_y=-0.1314 left_z=0.1321 left_yaw=0.0699 left_pitch=-0.0709 left_roll=0.1086 left_gripper=0.2032 right_x=0.2926 right_y=0.0008 right_z=0.1675 right_yaw=0.002 right_pitch=-0.053 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [0.2667, -11.8359, 6.8581, 1.9951, -0.2466, 0.3443, 0.1343, -0.3624, -1.388, 7.0085, 1.6777, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan plush is now farther inside the left basket. I’m releasing it there, keeping the pen basket separate."})
tool
executing move_to over 8 steps (0.8s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteBoth plush toys are in the left basket. I’m parking the left arm and positioning the right gripper above the blue pen for the second category.
move_to
left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.1600right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3969, 1.8778, 1.3212, -0.0975, -0.4511, -0.2333, 0.9956, -0.0208, 0.8249, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.512 left_y=-0.1272 left_z=0.146 left_yaw=0.0903 left_pitch=-0.0169 left_roll=0.0844 left_gripper=0.9956 right_x=0.2929 right_y=0.0008 right_z=0.1666 right_yaw=0.002 right_pitch=-0.0561 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.5265, -8.1709, 8.4444, 1.1795, -0.0464, 0.0464, -0.2027, -0.0889, -1.4701, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0.16,"right_z":0.11},"note":"Both plush toys are in the left basket. I’m parking the left arm and positioning the right gripper above the blue pen for the second category."})
tool
executing move_to over 17 steps (1.7s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
assistant
agent noteThe large tan plush slipped out as the arm withdrew, so it still needs replacing. I’m lowering the right jaws onto the blue pen while the left arm approaches the fallen plush, well separated from the right arm.
move_to
right_x0.3000right_y0.1850right_z-0.0080right_pitch0.0000right_roll0.0000left_x0.3300left_y-0.0900left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.136, 0.8375, 0.6968, -0.3981, -0.2245, -0.1558, 0.9967, 0.7784, 1.2533, 0.5831, -0.178, 0.5694, 0.4782, 0.9997] state[eef_state]: left_x=0.3054 left_y=0.0015 left_z=0.209 left_yaw=0.1236 left_pitch=0.0415 left_roll=-0.0099 left_gripper=0.9967 right_x=0.2863 right_y=0.1536 right_z=0.0936 right_yaw=0.0389 right_pitch=-0.1125 right_roll=-0.045 right_gripper=0.9997 state[joint_eff]: [0.1573, -1.1145, 6.5983, 1.6728, 0.0659, 0.0562, 0.1001, 0.2667, -4.3556, 9.0872, 1.5214, 0.525, 0.1294, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.185,"right_z":-0.008,"right_pitch":0,"right_roll":0,"left_x":0.33,"left_y":-0.09,"left_z":0.10},"note":"The large tan plush slipped out as the arm withdrew, so it still needs replacing. I’m lowering the right jaws onto the blue pen while the left arm approaches the fallen plush, well separated from the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 241
assistant
agent noteThe blue pen is aligned between the right fingers. I’m closing on it while lowering the left gripper around the tan plush’s body.
move_to
right_gripper0.0000left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5526, 1.2285, 0.4751, 0.0746, -0.5442, -0.3882, 0.9968, 0.844, 1.763, 0.4316, 0.6235, 0.6666, 0.5148, 0.9997] state[eef_state]: left_x=0.3252 left_y=-0.0889 left_z=0.0981 left_yaw=0.0912 left_pitch=-0.0019 left_roll=0.0163 left_gripper=0.9968 right_x=0.3086 right_y=0.1881 right_z=0.0117 right_yaw=0.0171 right_pitch=0.0351 right_roll=0.0356 right_gripper=0.9997 state[joint_eff]: [-0.1573, -3.6855, 5.2991, 1.5653, -0.4127, -0.0024, -0.0073, 0.4444, -4.0137, 2.3043, 0.1734, -0.1685, -0.2222, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_z":0.025},"note":"The blue pen is aligned between the right fingers. I’m closing on it while lowering the left gripper around the tan plush’s body."})
tool
executing move_to over 10 steps (1.0s)
step 251
assistant
agent noteThe right gripper has closed around the blue slender object. I’m test-lifting it while closing the left gripper on the plush for a second placement attempt.
move_to
right_z0.0900left_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]: [-0.5552, 1.5063, 0.3489, 0.622, -0.5617, -0.4088, 0.9968, 0.8433, 1.776, 0.4244, 0.6632, 0.6659, 0.5133, 0.3248] state[eef_state]: left_x=0.345 left_y=-0.0991 left_z=0.0633 left_yaw=0.1187 left_pitch=0.1174 left_roll=-0.0817 left_gripper=0.9968 right_x=0.3097 right_y=0.1891 right_z=0.0118 right_yaw=0.0172 right_pitch=0.048 right_roll=0.0489 right_gripper=0.3248 state[joint_eff]: [-0.0479, -2.4, 2.3863, 0.3248, -0.0122, 0.1929, -0.0171, -0.0205, -7.4872, 4.4103, 1.1258, 0.1978, -0.0122, 1.0281] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09,"left_gripper":0},"note":"The right gripper has closed around the blue slender object. I’m test-lifting it while closing the left gripper on the plush for a second placement attempt."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteThe blue object has risen with the right gripper, so I’m carrying it over the right basket. The left grasp was empty; I’m reopening and moving toward the lower part of the plush for a better purchase.
move_to
right_x0.5400right_y0.1600right_z0.2300right_pitch0.2000left_x0.2900left_y-0.0900left_z0.0250left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5617, 1.5032, 0.3496, 0.6968, -0.561, -0.4198, 0.0152, 0.8433, 1.4586, 0.5159, 0.2417, 0.6498, 0.5129, 0.3283] state[eef_state]: left_x=0.3512 left_y=-0.1058 left_z=0.079 left_yaw=0.1249 left_pitch=0.1777 left_roll=-0.1422 left_gripper=0.0152 right_x=0.306 right_y=0.1883 right_z=0.0756 right_yaw=0.0298 right_pitch=0.0319 right_roll=0.0464 right_gripper=0.3283 state[joint_eff]: [0.3897, -4.7111, 4.9162, 1.0183, -0.1392, 0.0855, 0.5104, -0.253, -6.3385, 8.4308, 1.4969, 0.359, -0.0317, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.16,"right_z":0.23,"right_pitch":0.2,"left_x":0.29,"left_y":-0.09,"left_z":0.025,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The blue object has risen with the right gripper, so I’m carrying it over the right basket. The left grasp was empty; I’m reopening and moving toward the lower part of the plush for a better purchase."})
tool
executing move_to over 19 steps (1.9s)
step 280
assistant
agent noteThe right basket shifted when the long blue object contacted its rim. I’m raising and moving the object farther over the opening, while testing the corrected plush grasp.
move_to
right_x0.5900right_y0.1600right_z0.2600right_pitch0.4500left_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]: [-0.5911, 1.3792, 0.1967, 0.6926, -0.524, -0.3962, 0.9977, 0.3824, 1.8355, 1.3693, 0.0406, 0.2977, 0.1574, 0.3288] state[eef_state]: left_x=0.3128 left_y=-0.0992 left_z=0.0623 left_yaw=0.0487 left_pitch=0.1427 left_roll=-0.113 left_gripper=0.9977 right_x=0.5308 right_y=0.1615 right_z=0.2118 right_yaw=0.0347 right_pitch=0.1658 right_roll=0.036 right_gripper=0.3288 state[joint_eff]: [-0.335, -3.0291, 2.8376, 0.3883, 0.0269, 0.2759, -0.0562, -0.4991, -10.1675, 9.2786, 1.7167, 0.105, -0.0024, 1.0281] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.16,"right_z":0.26,"right_pitch":0.45,"left_gripper":0},"note":"The right basket shifted when the long blue object contacted its rim. I’m raising and moving the object farther over the opening, while testing the corrected plush grasp."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe blue object is now over the right basket, and I’m releasing it. The tan plush’s torso lies left of the previous grasps, so I’m repositioning the open left jaws over that narrower section.
move_to
right_gripper1.0000left_x0.3800left_y-0.0350left_z0.0550left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5915, 1.3678, 0.2073, 0.7437, -0.5232, -0.4072, 0.0121, 0.3485, 1.982, 1.4544, 0.2916, 0.2752, 0.0616, 0.3289] state[eef_state]: left_x=0.3199 left_y=-0.1043 left_z=0.0797 left_yaw=0.0613 left_pitch=0.2002 left_roll=-0.1684 left_gripper=0.0121 right_x=0.5801 right_y=0.1635 right_z=0.2266 right_yaw=0.0585 right_pitch=0.345 right_roll=0.0105 right_gripper=0.3289 state[joint_eff]: [-0.1299, -2.9197, 4.1504, 1.3309, -0.1197, 0.1001, 0.7302, -0.8821, -11.0017, 10.0718, 2.2637, 0.0464, -0.0708, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.38,"left_y":-0.035,"left_z":0.055,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The blue object is now over the right basket, and I’m releasing it. The tan plush’s torso lies left of the previous grasps, so I’m repositioning the open left jaws over that narrower section."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteOne slender object is visible in the right basket. I’m closing around the tan plush’s upper body and bringing the right arm back toward the remaining gray slender object.
move_to
left_gripper0.0000right_x0.2900right_y0.0850right_z0.0700right_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]: [-0.2241, 1.5051, 0.4335, 0.5835, -0.2447, -0.2211, 0.9952, 0.3454, 1.9903, 1.4528, 0.2878, 0.2749, 0.0521, 0.9969] state[eef_state]: left_x=0.3867 left_y=-0.0406 left_z=0.076 left_yaw=0.0884 left_pitch=0.0919 left_roll=-0.0721 left_gripper=0.9952 right_x=0.5811 right_y=0.162 right_z=0.2201 right_yaw=0.0627 right_pitch=0.3318 right_roll=-0.0033 right_gripper=0.9969 state[joint_eff]: [0.3897, -3.9726, 5.8325, 1.0525, -0.2418, 0.315, -0.2369, -0.0615, -12.0957, 7.0906, 1.873, 0.0269, 0.0366, -0.1148] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.29,"right_y":0.085,"right_z":0.07,"right_pitch":0,"right_roll":0},"note":"One slender object is visible in the right basket. I’m closing around the tan plush’s upper body and bringing the right arm back toward the remaining gray slender object."})
tool
executing move_to over 23 steps (2.3s)
step 323
assistant
agent noteThe plush grasp is still empty; its body is behind the fingertips, so I’m moving back over it. The remaining silver-blue object has shifted near the basket’s front edge, and I’m approaching its new position.
move_to
left_x0.3300left_y-0.0350left_z0.0150left_gripper1.0000left_pitch0.0000left_roll0.0000right_x0.4300right_y0.2250right_z0.0600
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]: [-0.2249, 1.5093, 0.4427, 0.5911, -0.2459, -0.2321, 0.0083, 0.4591, 1.0859, 0.2626, 0.2382, 0.3134, 0.1909, 0.9977] state[eef_state]: left_x=0.3901 left_y=-0.0414 left_z=0.0796 left_yaw=0.0949 left_pitch=0.1037 left_roll=-0.0854 left_gripper=0.0083 right_x=0.297 right_y=0.0901 right_z=0.0754 right_yaw=0.0852 right_pitch=0.0188 right_roll=0.0024 right_gripper=0.9977 state[joint_eff]: [-0.0615, -5.8872, 4.8479, 1.7363, -0.0562, 0.0757, 0.7741, 0.4444, -2.3726, 6.5573, 1.8291, 0.2564, 0.0806, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.035,"left_z":0.015,"left_gripper":1,"left_pitch":0,"left_roll":0,"right_x":0.43,"right_y":0.225,"right_z":0.06},"note":"The plush grasp is still empty; its body is behind the fingertips, so I’m moving back over it. The remaining silver-blue object has shifted near the basket’s front edge, and I’m approaching its new position."})
tool
executing move_to over 12 steps (1.2s)
step 335
assistant
agent noteThe tan plush’s torso is now between the left fingers. I’m closing there while lowering the right fingers onto the silver-blue object.
move_to
left_gripper0.0000right_x0.4450right_y0.2300right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2859, 1.536, 0.2523, 0.868, -0.3351, -0.2329, 0.9949, 0.63, 1.8866, 0.889, 0.35, 0.4347, 0.2771, 0.9978] state[eef_state]: left_x=0.3577 left_y=-0.0409 left_z=0.0624 left_yaw=0.1128 left_pitch=0.1732 left_roll=-0.071 left_gripper=0.9949 right_x=0.4207 right_y=0.2191 right_z=0.0509 right_yaw=0.1109 right_pitch=-0.0071 right_roll=-0.0151 right_gripper=0.9978 state[joint_eff]: [-0.1709, -1.7709, 2.1128, 0.3541, 0.0708, 0.0024, -0.2418, 0.5402, -9.1556, 7.3094, 1.58, 0.4029, 0.1343, -0.0024] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.445,"right_y":0.23,"right_z":-0.005},"note":"The tan plush’s torso is now between the left fingers. I’m closing there while lowering the right fingers onto the silver-blue object."})
tool
executing move_to over 10 steps (1.0s)
step 345
assistant
agent noteThe silver-blue object is slightly right of the jaw center, so I’m correcting sideways before closing. Repeated plush grasps have been empty, so I’m lifting the left arm away rather than pressing further.
move_to
right_y0.2120right_z0.0000left_x0.2950left_y0.0000left_z0.2000left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2829, 1.528, 0.263, 0.8818, -0.337, -0.2382, 0.0108, 0.622, 2.0884, 0.9531, 0.5625, 0.4206, 0.271, 0.9978] state[eef_state]: left_x=0.3625 left_y=-0.0408 left_z=0.0719 left_yaw=0.1228 left_pitch=0.2031 left_roll=-0.0883 left_gripper=0.0108 right_x=0.4487 right_y=0.2373 right_z=0.0194 right_yaw=0.1167 right_pitch=0.0542 right_roll=0.0234 right_gripper=0.9978 state[joint_eff]: [-0.3214, -4.2598, 3.7265, 1.7363, -0.0415, -0.0073, 0.8181, -0.7316, -7.1726, 5.6957, 0.9695, 0.149, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.212,"right_z":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The silver-blue object is slightly right of the jaw center, so I’m correcting sideways before closing. Repeated plush grasps have been empty, so I’m lifting the left arm away rather than pressing further."})
tool
executing move_to over 10 steps (1.0s)
step 355
assistant
agent noteThe blue-and-silver pen is centered between the fingers. I’m closing on its barrel for a test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1608, 0.8295, 0.6472, -0.334, -0.2596, -0.1909, 0.9953, 0.572, 2.1002, 0.8925, 0.7025, 0.3717, 0.2543, 0.9978] state[eef_state]: left_x=0.3071 left_y=-0.0002 left_z=0.2026 left_yaw=0.1474 left_pitch=0.0679 left_roll=-0.0298 left_gripper=0.9953 right_x=0.4548 right_y=0.2208 right_z=0.0187 right_yaw=0.1136 right_pitch=0.1028 right_roll=0.0622 right_gripper=0.9978 state[joint_eff]: [0.2256, -1.894, 8.7863, 1.5507, 0.0757, 0.1245, -0.0611, -0.5812, -8.335, 3.6718, 1.58, 0.0269, -0.2222, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue-and-silver pen is centered between the fingers. I’m closing on its barrel for a test lift."})
tool
executing move_to over 10 steps (1.0s)
step 365
assistant
agent noteThe gripper has stopped at about the pen’s diameter. I’m lifting straight up to confirm that the pen is held before moving toward the basket.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1593, 0.836, 0.6537, -0.3504, -0.2539, -0.1944, 0.9966, 0.5682, 2.1002, 0.8898, 0.709, 0.3653, 0.2512, 0.1529] state[eef_state]: left_x=0.3064 left_y=-0.0007 left_z=0.2002 left_yaw=0.1456 left_pitch=0.0514 left_roll=-0.0306 left_gripper=0.9966 right_x=0.4553 right_y=0.2201 right_z=0.0189 right_yaw=0.1166 right_pitch=0.1049 right_roll=0.064 right_gripper=0.1529 state[joint_eff]: [-0.2256, -1.8803, 6.7761, 1.9316, -0.1392, 0.0024, 0.1245, 0.1162, -9.8393, 5.1624, 1.6581, 0.1441, -0.0317, 1.0476] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper has stopped at about the pen’s diameter. I’m lifting straight up to confirm that the pen is held before moving toward the basket."})
tool
executing move_to over 6 steps (0.6s)
step 371
assistant
agent noteThe pen is moving with the gripper. I’m raising it above the basket rim before any forward motion to avoid pushing the basket again.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1593, 0.8379, 0.6533, -0.3523, -0.2535, -0.1947, 0.9967, 0.5682, 1.9041, 0.9375, 0.4431, 0.3546, 0.2474, 0.153] state[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1991 left_yaw=0.1455 left_pitch=0.0473 left_roll=-0.0299 left_gripper=0.9967 right_x=0.4519 right_y=0.22 right_z=0.0762 right_yaw=0.1285 right_pitch=0.0829 right_roll=0.0558 right_gripper=0.153 state[joint_eff]: [-0.0889, -1.2513, 7.2, 1.7851, -0.149, -0.0806, 0.0024, -0.253, -11.7675, 8.3077, 1.7118, 0.1294, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.25},"note":"The pen is moving with the gripper. I’m raising it above the basket rim before any forward motion to avoid pushing the basket again."})
tool
executing move_to over 12 steps (1.2s)
step 383
assistant
agent noteThe pen is clear of the rim, and the first pen is visible inside the right basket. I’m moving the second pen over the basket opening at a safe height.
move_to
right_x0.5850right_y0.1600right_z0.2700right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1589, 0.8379, 0.6533, -0.3531, -0.2535, -0.1944, 0.9967, 0.5682, 1.7042, 1.3327, -0.2031, 0.3466, 0.2432, 0.1581] state[eef_state]: left_x=0.3062 left_y=-0.0006 left_z=0.1989 left_yaw=0.1456 left_pitch=0.0466 left_roll=-0.0293 left_gripper=0.9967 right_x=0.4548 right_y=0.2235 right_z=0.2124 right_yaw=0.1386 right_pitch=0.0348 right_roll=0.0343 right_gripper=0.1581 state[joint_eff]: [-0.0889, -1.3607, 7.0632, 1.7656, -0.1343, -0.0269, -0.0122, -0.1299, -12.2872, 10.0855, 1.6484, 0.1587, -0.0024, 1.0281] 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":{"right_x":0.585,"right_y":0.16,"right_z":0.27,"right_pitch":0.4},"note":"The pen is clear of the rim, and the first pen is visible inside the right basket. I’m moving the second pen over the basket opening at a safe height."})
tool
executing move_to over 13 steps (1.3s)
step 396
assistant
agent noteThe blue pen is above the right basket’s interior. I’m opening the fingers to drop it beside the silver pen.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1593, 0.8387, 0.6533, -0.3538, -0.2535, -0.1947, 0.9967, 0.3134, 1.9324, 1.4761, 0.1787, 0.1532, 0.0502, 0.1581] state[eef_state]: left_x=0.3062 left_y=-0.0007 left_z=0.1985 left_yaw=0.1454 left_pitch=0.0451 left_roll=-0.0292 left_gripper=0.9967 right_x=0.5735 right_y=0.1613 right_z=0.238 right_yaw=0.1412 right_pitch=0.2976 right_roll=0.0206 right_gripper=0.1581 state[joint_eff]: [-0.1026, -1.5795, 7.0222, 1.7118, -0.1343, -0.0366, -0.0122, -0.5402, -10.4547, 10.4137, 2.1661, 0.0562, -0.0904, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue pen is above the right basket’s interior. I’m opening the fingers to drop it beside the silver pen."})
tool
executing move_to over 9 steps (0.9s)
step 405
assistant
agent noteTwo pens are visible in the right basket and the small brown plush is in the left. The larger plush toys and yellow pen remain unsorted; I’m parking both arms safely before stopping this incomplete attempt.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1593, 0.8387, 0.6533, -0.3531, -0.2535, -0.1947, 0.9967, 0.308, 1.9434, 1.4773, 0.1696, 0.1471, 0.0441, 0.9956] state[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1987 left_yaw=0.1454 left_pitch=0.0458 left_roll=-0.0294 left_gripper=0.9967 right_x=0.575 right_y=0.1595 right_z=0.23 right_yaw=0.1456 right_pitch=0.2785 right_roll=0.0129 right_gripper=0.9956 state[joint_eff]: [-0.0479, -1.5658, 7.0359, 1.7558, -0.1343, -0.0317, -0.0122, 0.2256, -12.0821, 7.1179, 1.9805, 0.0171, -0.022, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0},"note":"Two pens are visible in the right basket and the small brown plush is in the left. The larger plush toys and yellow pen remain unsorted; I’m parking both arms safely before stopping this incomplete attempt."})
tool
executing move_to over 22 steps (2.2s)
step 427
assistant
agent notePartial completion only: the objects are plush toys and pens. The small brown plush is in the left basket, and two pens are in the right basket. The larger plush toys and yellow pen remain on the table. Repeated empty grasps prevented completing the plush placements within this trial; both arms are parked.
give_up
hindsightThe small brown plush was successfully grasped at left x≈0.29, y≈−0.17, z≈0.025. The large tan plush was initially lifted near x≈0.29, y≈−0.285, but placement near the left basket's front rim failed and it fell outside during withdrawal. Confirm the whole toy is inside before withdrawing. Long pens need a vertical clearance lift before forward transport; diagonal transport pushed the right basket farther away. After that shift, right x≈0.575, y≈0.16, actual z≈0.23 with pitch≈0.28 successfully released pens inside. Several attempted plush descents stopped 3–5 cm above target and subsequent closes were empty; treat that as a failed approach, not proof the body is between the fingertips.
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]: [-0.1741, 0.8291, 0.6575, -0.4549, -0.2626, -0.1947, 0.9967, -0.1501, 0.8474, 0.7059, -0.4038, -0.2153, -0.1547, 0.9964] state[eef_state]: left_x=0.2926 left_y=-0.0013 left_z=0.183 left_yaw=0.1381 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9967 right_x=0.3066 right_y=-0.0046 right_z=0.209 right_yaw=0.1055 right_pitch=0.0405 right_roll=-0.0108 right_gripper=0.9964 state[joint_eff]: [-0.1573, -2.0171, 10.1265, 1.6679, -0.2613, -0.0513, -0.0073, -0.335, -1.4701, 6.7897, 1.8632, -0.2271, -0.0708, 0.0708] camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partial completion only: the objects are plush toys and pens. The small brown plush is in the left basket, and two pens are in the right basket. The larger plush toys and yellow pen remain on the table. Repeated empty grasps prevented completing the plush placements within this trial; both arms are parked.","hindsight":"The small brown plush was successfully grasped at left x≈0.29, y≈−0.17, z≈0.025. The large tan plush was initially lifted near x≈0.29, y≈−0.285, but placement near the left basket's front rim failed and it fell outside during withdrawal. Confirm the whole toy is inside before withdrawing. Long pens need a vertical clearance lift before forward transport; diagonal transport pushed the right basket farther away. After that shift, right x≈0.575, y≈0.16, actual z≈0.23 with pitch≈0.28 successfully released pens inside. Several attempted plush descents stopped 3–5 cm above target and subsequent closes were empty; treat that as a failed approach, not proof the body is between the fingertips."})
tool
give_up: Partial completion only: the objects are plush toys and pens. The small brown plush is in the left basket, and two pens are in the right basket. The larger plush toys and yellow pen remain on the table. Repeated empty grasps prevented completing the plush placements within this trial; both arms are parked.
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 · 9.097 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, 0.8024, 0.6174, -0.3805, -0.0219, -0.0257, 0.9995, -0.0208, 0.7982, 0.6109, -0.3847, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.181 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.9761, 9.4427, 1.79, -0.0073, 0.0806, -0.0659, -0.294, -1.5795, 9.812, 1.79, -0.0659, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2886d75631d0859ed8eb900f30a14e2297439378e5b10d08893e053d1f92c585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de07807c1ad1b1e04b819de154d3dfb1b8284cdac75f327a6f78646e3a079408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3b7945f3efbd4aa4dc46f179299528468184b7cc9fc16a75225c9d8b0132a5",
      "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 · 7.152 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_08627449c1fa9534016ab4763f622087d08d7c4e010ee7c20c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.09,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"I see plush animals and slender pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the gray plush on the left.\"}",
  "call_id": "call_iatAbPZlUq8U05V7EkYrkJcn",
  "id": "fc_08627449c1fa9534016ab4764612c887d0b5e6034721a26fef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iatAbPZlUq8U05V7EkYrkJcn",
  "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]: [-0.8429, 0.7322, 0.4427, -0.4599, -0.6582, -0.5407, 0.9995, -0.0208, 0.8024, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2359 left_y=-0.0969 left_z=0.1333 left_yaw=-0.0307 left_pitch=-0.0037 left_roll=-0.0097 left_gripper=0.9995 right_x=0.2952 right_y=0.0007 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -0.9368, 5.9692, 1.3846, -0.4078, -0.1245, -0.0708, -0.0615, -1.4701, 7.3231, 1.7851, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616afa5879257cdda31757b41cb668cad2bb7c12c5be54074f2842032a2f5beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d243e7bfd1265cab2c135b4a41ebf47f1530fc6d818357fd742f65486b1eff70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b81ca8a84542f327d125617b91639d87bb82edf34b5e5e4c343b076ed066fbc",
      "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 · 3.753 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, 0.8024, 0.6174, -0.3805, -0.0219, -0.0257, 0.9995, -0.0208, 0.7982, 0.6109, -0.3847, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.181 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.9761, 9.4427, 1.79, -0.0073, 0.0806, -0.0659, -0.294, -1.5795, 9.812, 1.79, -0.0659, 0.0806, -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]: [-0.8429, 0.7322, 0.4427, -0.4599, -0.6582, -0.5407, 0.9995, -0.0208, 0.8024, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2359 left_y=-0.0969 left_z=0.1333 left_yaw=-0.0307 left_pitch=-0.0037 left_roll=-0.0097 left_gripper=0.9995 right_x=0.2952 right_y=0.0007 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -0.9368, 5.9692, 1.3846, -0.4078, -0.1245, -0.0708, -0.0615, -1.4701, 7.3231, 1.7851, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616afa5879257cdda31757b41cb668cad2bb7c12c5be54074f2842032a2f5beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d243e7bfd1265cab2c135b4a41ebf47f1530fc6d818357fd742f65486b1eff70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b81ca8a84542f327d125617b91639d87bb82edf34b5e5e4c343b076ed066fbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZQAploA8mXxjg57inkixgSJM1eWSfm_5kKNcaKFs81DpLwtGmdP8XXplnS_QLFZBHRrEfiWHppXdz8HqOmOQSgcWdnKsbmcj4s4wysJ0DFXXjYz8Su_Gh2yQtm44Nyt90Nhq4q6sT1dlTYD41Zkqj6gwod-RfK3TWlNk0Dpa9jS-tSWH5wughUxrNTuEz_4wBDWkBgTGR8ICFY9_JZMZLkP9snmJp6kOEisC-oRmqyjbIwUU407nOf41oWZ8vATXn-_KET1gaZ9zfU-Qzz-0KDnuG-fEkt5qZl5Y_mHmmA_5Cw7MZaAjFk9uv2vezSDBJkyH1y7-JIHG0UE3vD-0Fs7LIBo-CjfORfRaOWQJ8uKopOcBJVAXx-YPamYekhfaekHCwpaCOZp13YPtT7iu5SnqlU93kXyL_LP4lcThjmDmXsw9ctc_n2E3bHoxc30hM41kGb4L7dyiImYpyNcOjI8eSfQpIfgX-3PuPd_HITgTFbwn_kgjsvSZ3D0QGW05e5cwHzK9qkQSwMiRLf1XRAPlvak8gVnnubd6A1lqXiFlFt-oKGW6bMBLtzeoUkYU3uY5ndqfAmw6OIvUpkecE6nyDvW52qEa5P1Vh70EMFpKi2SwSHzbCtZJSm84065SNs5VYv-mmlfcXTMC8wGcMnpS4LOy4sqTvQOe9OfDowUc75HhPsHm01nwI_1LMCxzR78eKpvlX0ITMVAGfyQAuehHpkRSm7f1bQLYBeutCbJFn4p2J0VEU0PIj3fy6jJfEiwlnJanS1Qgwlj2Fai1bbZt7r1_a_k-rnxRmsmtYIlWOb2kxqjDKL7O4nGKEQJ4HGwyHPzpI71ZGbqaclUFOnk-TilFx8IyX99u_24pXQrydPGBqyrSidPPippm9fzyp070w2_uPvift4KcV9-atqGUoTbfM3sqjWMKWMWCnsEq2M8HQArxYAIcOwF6sHiaI0u6zlJYyVkqcTtAx3yB254x2-3j_apmHQZtACawIorQeOFFoGubE_JXXLXOXoh21fE5dmjsYKTHhKLygNTroZPzSS-bMKUVJYF8hTe67FQcabbGK0LBCC_uyLGPFOEErcrvpaT7fSkd94tKalrkBEuJY-iynqGDzvZqLrgZX_OV-uv2oy_UzhW7OfcS5Lvx5E3LghW_-2VE8Hggd5oD-ZuYgWliAENd5UcQwCMcR4zVpcN-t7MX_9XMu2fHLUVb4WsyFyC8iuc9NTdV5_T92IKOYQyUb9PW8jJUCaSYneA2i05IKtAO6kIJH7ZE7ov1CrDoDJfgAzWQGNtLQ3VZFJY-cuSsjeR1Ku5r34NT3vOH4h6W3YPFlX5-zvybSbf-BBdvzfsZn7CXGn7JHpthr5kGQY8RAUe-yY7gHU_umnKW3sE3DRyT-G3gB2uLOO3R6DXJrrSeakKORMbkQR_K9_CPodbM4V14qkEAhFriLwcm_xMwKotH74Oc4Nssj1iBijrBjKfzHTWAY3pPXdXPrUbv_Fse7TzkuAMhtS8L4MmK4ZKIY9XtoLQFzXHBfAdrzcRw6T0WHMpNrPh9DPXGrnst9hCeWTj2YPjCSSn9R5oYbcyY8eea6H3vb2aOI8ufr4YNBSouWdff_pqTiFge70esKg57DtwHsQotTD2BLrp5UDM8b8usx_9RFPSEr0lfqMzTdtb_te9FZUJC-U4qATsmqWo5Cwzl55EXB0M1R8YkMQnnHnGZx_Sczl3XWmAWiA3nneuqu5BF6Hhyq4WV6fcsZkU0Qdh9J1Yv5gMeVzkVonvK-yCtFUohIGhQ8I4dcNAH8ES70PQwwAI6gIhdMl6QDaPnM5s-NDv_BPsbrd1tXbPixSDL0upelyMhKdEiU4F_Hp0EUCiIk9K5g8T-T1xlSpcx7MnIDIA3WpWPthx9D8aHk7lZExSmL45Vxz-bXlKK8Lo6_QOaye4Meh5PZi17un8W8RzZF5Ls612jkSFUlOsQCyYfm_R9dPvxtI-U05-rJ2O_tStyddrMxQxq_QOVeoxfey-95Cn6cbhFzVSaT5fLJcdHgT4JsKepJ-6vJk4WoAlPIMvosVYET7FEut4exjLJq4HO0V9za0c2eaSs6k9kLySLhg_wiPk71zaUKnmxxLnt9smvWTmfHHglB09Tuh5snYA62hIe8zsVbaW_uJ3xsuLpRt0cKLbRHNJBdVlq8O_4CpLzuC3kji2DSvKWM2N_S9a7urdg_XrAJYRIb1w2VAHnCGtPTOveahuTKZ",
  "id": "rs_08627449c1fa9534016ab4764aeff887d09f31a7e3f30b6608",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":0.005,\"left_z\":0.045},\"note\":\"The gray plush is left of the open jaws in the wrist view. I’m shifting left and forward while lowering to grasp its soft body.\"}",
  "call_id": "call_W7EjrpXKK1gXzUa13j93zJEd",
  "id": "fc_08627449c1fa9534016ab4764f904487d08ee419567cc1fda9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7EjrpXKK1gXzUa13j93zJEd",
  "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]: [0.0341, 1.1671, 0.168, 0.4614, 0.0273, 0.0086, 0.9995, -0.0208, 0.8078, 0.6079, -0.3855, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3112 left_y=0.0094 left_z=0.0551 left_yaw=-0.0066 left_pitch=0.0279 left_roll=0.0038 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0134 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.335, -1.5385, 4.506, 1.409, 0.149, 0.0317, -0.0171, 0.0889, -1.6752, 7.1179, 1.7167, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c7d5639db2da74cb0a965ef9d73441ea7a44082a8eae8c18022e6ae6c508c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff7ab992a5cb488ceb8ee3c44836227c5d5a5820b8ba4aaa462627a59440865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8659c7d75b1e28fa90ac79080a23e9888f188d46d59c8cbd4804761a36eb97d0",
      "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 · 3.465 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]: [-0.8429, 0.7322, 0.4427, -0.4599, -0.6582, -0.5407, 0.9995, -0.0208, 0.8024, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2359 left_y=-0.0969 left_z=0.1333 left_yaw=-0.0307 left_pitch=-0.0037 left_roll=-0.0097 left_gripper=0.9995 right_x=0.2952 right_y=0.0007 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -0.9368, 5.9692, 1.3846, -0.4078, -0.1245, -0.0708, -0.0615, -1.4701, 7.3231, 1.7851, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0341, 1.1671, 0.168, 0.4614, 0.0273, 0.0086, 0.9995, -0.0208, 0.8078, 0.6079, -0.3855, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3112 left_y=0.0094 left_z=0.0551 left_yaw=-0.0066 left_pitch=0.0279 left_roll=0.0038 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0134 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.335, -1.5385, 4.506, 1.409, 0.149, 0.0317, -0.0171, 0.0889, -1.6752, 7.1179, 1.7167, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c7d5639db2da74cb0a965ef9d73441ea7a44082a8eae8c18022e6ae6c508c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff7ab992a5cb488ceb8ee3c44836227c5d5a5820b8ba4aaa462627a59440865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8659c7d75b1e28fa90ac79080a23e9888f188d46d59c8cbd4804761a36eb97d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZXU2RRNwwGD5i21R1KmZBpmnRiC3GyieRYBDL1aNE6DTcGHcqKVe3lGfxJ5M9UrNwtm0x9L1G4iQpKGoEt0I_q94mofY62Ixn959Xby04mqQQtPqmqMP5CZc-G_oQfTknyEJQ554hTetD_R4blKfuPmCVC-oA_chFdME3gEVsKYjCFGV2t9kugixCWgpj5auJFRFsltyhFwf8PW0ABTMr7VXW9VluFHnA1oiOChKxge4D4AmNuc41eM8y4ObWzHhQBlFQ4UuDl0kegWM62nyauZPUQUPC62z_HR64jW6HR51zOacrIjAMCaNO6F5mr-a83yU6FN6PBtfNN5Nr5we8RlHq1nhVQuHwz8bDW_DIPjJ5Ygrgy3Pyh6vfrZPQkOzFCmIndsJBqNshu6aljFz2t1_GmYzvmuHlJPQQnD-NOyJbu8If8_Sh0M6NiRh3dFAMKwRPVlIAGYoNwjIeE2hnScIh66QM652pcHwhOYCMjujjq49ZFlYJptFc4mOyTwFtQOK-Wd3lNrs3B1-rJV5Qw_v6wb2KpSqweoqr14bfnH4dIX8HE7jA9rRJ7jznOmXKbQDzltfipSd9wvhzSyE_ktoWmLwMSa2sx7j0ANp0NUIdbsb1WEY-hecLjKiI-smzz6Q7vA9QXmxK4jipJLcCxHIVnWzeTJUJqVvGkQta6naB8QMhCUcs69i-NJJ7GH8W8FUCsx96QpF04DxYc7HE9qwA7BHYLsKKKxQwXVzrODzvRp2_xl4EpPAxVJect8KozpqxVqFWxXwwEhvyL3zG0TQKRjqMtLFoMOGAWi6CY09CVnUO6a1Q-gyaQUaDuHmrlEdSw9_A4i6cQTdeHF8aTSjhnCEUpx-9IhNtVpyzlWPri7erslETMoSep36vzGhl6Ze6ryyDz5eP8Dxdi3xYQyY1-6jRw1vRb4tmOG3EedTc5hbARaNFVA_x1SkczyyW2GbplZHlSoDfsZj5GAXyVtKvOnId3f2F0L9dW7n6U0zUNtGZYJC9Mb0oGf5sg_w-VQf0wtLHlQxSJzIBgN8zULwZMNptFlCibT64WqXXuiCXVb4tDzKY9AIFW04ZG02KTHgAK9Gka0kEvxAbuxtEqnBAi0axZKZhoPOlYFOANnKToQshhi_sRMVwVDk_-TFrusXPWkm0r7pWarNlHnZIxQ-rjRXRmZrakQ7essm9fl8JWZz3m4Mp5nasqvLymi01VcGF0iLpMDN98bb-AmZoy5ha15Hzn7kQMRgJzSRveLCHT2N5SRYcTylDuErxNuwziBSE5sndfJB2l_fEo-N1neL_VYvy6UdFnwkXJmU7Hr34pjS9h68b16sMFp_CJMeo99XFZlgBorUtA0pPoPRJV4vCitZi74N6v5rXWHWp80NDYltMyqjqspllFNXTPTWkEWZdk90oRkwYoYbgc383U0YVbv7gv5t-oRx5iGyEI_OtpHBlgRV8Q5eIAM_xNJtWyu43SankMIAiapnqJKIyviYslh-3bg8MAu08rdd46dKU=",
  "id": "rs_08627449c1fa9534016ab47654b09087d0860131851334259f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.04,\"left_z\":0.015},\"note\":\"The gray toy is still slightly left of the jaw center. I’m making a small lateral correction and lowering around its body before closing.\"}",
  "call_id": "call_2iuFEGYQtNBm1hfrL6uQpqI4",
  "id": "fc_08627449c1fa9534016ab47655f21487d09de8fab7383541bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2iuFEGYQtNBm1hfrL6uQpqI4",
  "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]: [0.2127, 1.5112, 0.1314, 0.9737, 0.1654, 0.1238, 0.9995, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3322 left_y=0.0457 left_z=0.0501 left_yaw=-0.0091 left_pitch=0.1637 left_roll=0.0617 left_gripper=0.9995 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -2.359, 1.8803, 0.906, 0.2125, -0.2173, -0.0171, -0.1846, -1.2786, 7.2274, 1.6874, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c9f0fcf52149b161720ab4169bc2240123425f7622d2e2990762d90bbbeebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7cd1663078af7457e6e3a3670c21f27846b1fad923e89284c94ae5f2dfb47bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03309631ddabf68f678a5a6d2608075428bed81a0ed7ed61d8253959d46c6fba",
      "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 · 10.21 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, 0.8024, 0.6174, -0.3805, -0.0219, -0.0257, 0.9995, -0.0208, 0.7982, 0.6109, -0.3847, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.181 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.9761, 9.4427, 1.79, -0.0073, 0.0806, -0.0659, -0.294, -1.5795, 9.812, 1.79, -0.0659, 0.0806, -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]: [0.0341, 1.1671, 0.168, 0.4614, 0.0273, 0.0086, 0.9995, -0.0208, 0.8078, 0.6079, -0.3855, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3112 left_y=0.0094 left_z=0.0551 left_yaw=-0.0066 left_pitch=0.0279 left_roll=0.0038 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0134 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.335, -1.5385, 4.506, 1.409, 0.149, 0.0317, -0.0171, 0.0889, -1.6752, 7.1179, 1.7167, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.2127, 1.5112, 0.1314, 0.9737, 0.1654, 0.1238, 0.9995, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3322 left_y=0.0457 left_z=0.0501 left_yaw=-0.0091 left_pitch=0.1637 left_roll=0.0617 left_gripper=0.9995 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -2.359, 1.8803, 0.906, 0.2125, -0.2173, -0.0171, -0.1846, -1.2786, 7.2274, 1.6874, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c9f0fcf52149b161720ab4169bc2240123425f7622d2e2990762d90bbbeebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7cd1663078af7457e6e3a3670c21f27846b1fad923e89284c94ae5f2dfb47bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03309631ddabf68f678a5a6d2608075428bed81a0ed7ed61d8253959d46c6fba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZcWlvBIfLLeA8UyzCbspvzZMkUY6XNA3fEAAKb8XDCZOGMd33ZY6gkMj1ve0pNhBcafsKTHt7xRZR6PiSKaDWX0hO8yj3jbVu_ccqMB-oJ2fKKYSUhSn88PCgIudhfR0eoYG3_wSddVN_GFVJ1hSetajcqsYcjpW5j1UKEhlYBq7ijRR0KmEa4yuEErO6_Nbp3V3zT1qK-cxckY2kn6wJiTMZKUgKxSDVsAvqk-BIzmL7af2Jb_YbEfL3z5ugtLPamNU76f2p0KojFFjTY2BuPLPodebw1iP_2hRCv0jZk--Qnzp_jndUfwS_yyVAqWY413iw-zsz38x7MzGmmp2K0t9mpX4ZOGB4PgGyxYPcP97IZmjt8RC9WK-ptEac5rCb2as9hm3XddJkrUotir5SvQ3vNfzgwuU-lJFLW2o4Do7K0J9E9TGXlGhvNBHN6MGRPsEm14Y0xVhLHoGKJ15sw0XtKpZEvQEebkvvTL7EB4f21Tw1_bOAh9pbCMQbdkT1_imiTdbawiZ2Ktn6MI-4wmb9Uqqh1Sx91Lfmuzb4n9Yz471mbHcJRu5zMhHO_DpkK4fMtaNkOv0Z2KOqs9UDL4cb6hlmy-7Qk_CTATnqgcZS8KpK1VPZXVmqxvCdBSQ0AhK6UL5vOsLgZjomZGcRWcdREoQSkbV4Gae-bvHIgWm3MYDwk9kRU3kXZOjMOPAb7qM29-InQYHjA_9R-rMu8QRDPGRJXMEIhrTfAP04zY_1EiiiTCd_s4gC8V0tIHz2WhU-aAYRMaURCCai0GEoRddWvmH3sFioRtkSgHM022EjbFzSY7KEeipwZt13NSH4S8Phb0q2skN2W4zd3ajGa6ZfMnj_CmY88sU6dWkOaofb-KLo9EY6H-GZ5-v_usmlEP7t8JUPVbM8DDJ1raN-8WqzJdJAhjTQxCBXfma7-6rZcbgUuMadblpfqnDFx8BgSu6XSoZmgyHMtmQheXKD9l4PEt1eqL9AgS_iWtTubJBFPF09F0odfEJo4WXbz6cfiomYGfyjLUKuEo_NNKBehtmIJcxf7qlGs_E98DDy-XN5kyYB1YN73kmk2eJll0crnENkM3QfDfKD8MmobY5GMKnyu1FfjzJKGkbIDikXC5NtgtGe4AvdfLUb2ApIjpsvjts3VE_F-asXSnDGZ0C7T9Ui5TYsjaD3TxGin25Ayl1KXkg6KSs_18W-ixrOkQc8gV1yCPkf1O1tzeNkbPTadLnqY8S8rXGHyAlqyhwkrOZEE7fP0kLXy9mVOokpgOz3paGwtdjZO5wtdcYItwlkIfngtxjgYvLrFfekcs2mjh5qrCmgqpkbfHmsCg6OkuVaJ_hrUrj_FGHiZFQ5zW2zw1Xx9_CcarO9-rH_Ccr4dgSd2wQpLZRkXpvO97F8Z3YCDaNNKxpmc9Dup8j_g94IbOxkQ6msYTlqygco9s-Zw7gCjBmgaOMF5IwR8X8q8lvxYRbFBGWAaunpXlgs0khNXSDp0jdjv-H_azfe4Fy3hvu8=",
  "id": "rs_08627449c1fa9534016ab4765aa08487d08b92d1faa1399576",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the soft toy, with the jaws around its near side. I’ll close and check whether the gripper captures it.\"}",
  "call_id": "call_AoJDW0Rb7Bne0bQo4ngV8lAg",
  "id": "fc_08627449c1fa9534016ab4765bf14887d09cc344155fc4e1cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AoJDW0Rb7Bne0bQo4ngV8lAg",
  "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]: [0.2081, 1.5002, 0.1444, 0.989, 0.1585, 0.1307, 0.0103, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0466 left_z=0.0613 left_yaw=-0.0131 left_pitch=0.2012 left_roll=0.0796 left_gripper=0.0103 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -3.2889, 3.1932, 1.6972, 0.1001, -0.0806, 0.8327, -0.0615, -1.2376, 7.2274, 1.7167, -0.0415, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef2aa8fc51f5db28abbc47dfe26429a0d6e6b82f4a088cf0b08b84ec3ccad91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a718cd116a20cd5bce97a75c23adb2b7c29b7b37cf8c96e360147dbea2d506d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477eca34113b53c5c914f5760d7ac4782670d3d4a2cf940f9c183b00b6a721dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.396 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]: [-0.8429, 0.7322, 0.4427, -0.4599, -0.6582, -0.5407, 0.9995, -0.0208, 0.8024, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2359 left_y=-0.0969 left_z=0.1333 left_yaw=-0.0307 left_pitch=-0.0037 left_roll=-0.0097 left_gripper=0.9995 right_x=0.2952 right_y=0.0007 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -0.9368, 5.9692, 1.3846, -0.4078, -0.1245, -0.0708, -0.0615, -1.4701, 7.3231, 1.7851, -0.0269, -0.0269, -0.0171]",
      "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]: [0.2127, 1.5112, 0.1314, 0.9737, 0.1654, 0.1238, 0.9995, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3322 left_y=0.0457 left_z=0.0501 left_yaw=-0.0091 left_pitch=0.1637 left_roll=0.0617 left_gripper=0.9995 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -2.359, 1.8803, 0.906, 0.2125, -0.2173, -0.0171, -0.1846, -1.2786, 7.2274, 1.6874, -0.0317, -0.0415, -0.0171]",
      "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]: [0.2081, 1.5002, 0.1444, 0.989, 0.1585, 0.1307, 0.0103, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0466 left_z=0.0613 left_yaw=-0.0131 left_pitch=0.2012 left_roll=0.0796 left_gripper=0.0103 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -3.2889, 3.1932, 1.6972, 0.1001, -0.0806, 0.8327, -0.0615, -1.2376, 7.2274, 1.7167, -0.0415, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef2aa8fc51f5db28abbc47dfe26429a0d6e6b82f4a088cf0b08b84ec3ccad91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a718cd116a20cd5bce97a75c23adb2b7c29b7b37cf8c96e360147dbea2d506d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477eca34113b53c5c914f5760d7ac4782670d3d4a2cf940f9c183b00b6a721dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZoA3QOpxvCuS6BBbCCZOp-pcKfeYxeGSxA66LOdVpNjjihYAXbUsDIWs0i-rsuXtc38-njNRyQML2JblyltXmDLJss__QJTNRSVRkUfANSCC7UC_xzF2jyPcpSxArAe1z0vM7w9mJrqzwWW3RtVU_3T38ATKzl1U6xhY-u8FDwAlXfykAm66EApLztPwxr96Ll8KFtHRZ2SK17F53a0xtnnbpKOdGlqkTpfeVXRbFCqHREpaN5t4WGUZz575Aj4fs0GCk9Q5U528NLxZPLzRxlTLvJ9X3uG45cYuLR-J27qi91OI4D-X_oTWh6lAtR2zFzua0YCMx4t0WcbQDEcpWjigyxWjnvezOdyHXwHUTh4VHqKzJsdrD8D9VFt97NdMNBEUDEaiTWRQh0zvznT9K0uNw6mLmja0ErNh4TbZ7Ri98eTMQHHXXyBJIVsBf3P2aVCdqD2PMmQJ7W7ogsCobRF6Kn54nclEKwvQWwYNThFXYDzHy92E2svEjEE55yOqBtEFCtVjJTZwPAiX28ZiUfuzgXRjvlOhn6_U9dM-3KfmWIeLnYvnGnsOARREA1CT8kAqrLIkMnSt2R1ainz3EzsNDFVNVh2ltTFdHfBx5wgy6zi4bOYkwYFCZGTr5xVElFiRpjgXfWYHZUnGBSU2zHHotCWB52Qh0aihaqLVUqvd5EqdHoG4aYgNpuxKTF2W20kA8THMoHELo3mXfXiTnHtY4aCYyMXFK1FGb-qnWHzE6ESThJmLKFoVBWoeSrrXj7QbuwiMMA77OWSiEgxQGU4LXgluAyywhUmg0yUZKeiLix25BhTle72MLGfHrqnovGRvmQ8DlvfKAV8YFqRpZhbxfdTn8uRWX5-4M-YpD9g0cwU4eFiBUPW_oqcVqnZe_PF99FEC_GFuVNsiQyIaYrJp_IQpWUZjxsIC-LK9Y-zgY1v_WmyqL7hc9_KHm_MJj7fl4Xm-b2XYVWUeKWqcNuMq1dg_C8_GRr5KyM1t6G3fgzJbwcRm_dqhNgO4H9xO2DyCM3fHpBdwbJRdhDDX7cbDrxFOSvHsS7kKknS-XWFFTJoLymUj1_pEdOQv82S9DnvjFFbjW90OTjH06iHw9nm7Zc-VuSsw9iK2ZO3hzlLfe-nczWryUhPpjd8zSb3iTTGAXZtU2T2V7X5JBpmlPzeYJxHh0VDZXJdhYserv3X-ZO9VjH5jhaFLdMGbjWOKQ-JdFsS6kecv6esbHiab8do6UgbF_KxMZBmF1Kd0eG5SJCFh-g7ye1GeQrTpDD-parXOpQgPjhMattQNNGvdP3qvasjl9iBY_QCUiWW2j7k1fLWr1JkJGkU6KeSf_8uFsJqrd6JosCWRmVWGJheoXu3GvUp4Z3KmNIaSywt0Z-Yg6O00Yr9kauKcwKir4Qgkwqo70mkrz4ck0NMQpslYfZo84Ny3C0mUFs3s8frVEc60kKXvjYn3vQjlZokTYs6E3yuz_IR7PNAsRfLxoozGB2ofCdtgRwOWxY-wjvIwrgFX7B6o25VdsSnxdof0m8p68KWHWvDvi7HcnRioZ479OL3oQA1Q7YkZ_CEbNsqWvHxlD326Q2ORsme2P3R2crVGdfM4HXDHRVuLJt47RPOKo2TTOPF6HjSk5eO-bUwyjmdlP5QkDnDGCCqvMDI74IaN4b6FSRmvV4nX5veNs5c5yVbPvfHfzZepz0amMyjY66x6n-jmn7kn63QxdbEdr02LY_6sAliA7K_Zf64x7_xbw05N3GV1sUsjk3-gHOEKOxoOwVX7tU-mj0TxRV9pppAQpCO7_YU4oOPLbL-Hsc4vhyepqBCUwjnpfamj-UEg4pGA7VrxL3WQizQV6K2daGBhBDyHdMJ4nzhnJ4NbmeEtMNUq7-LXSogGSpzbBV76UPiqqeqisaZRt4uotzE9DaK_4q_PplY-0S4_eja02cBh6DoZcM-QoTqPmNYkFO9pQp2TKGM59IGFg30C3Qhu-NejKuhoRKoPwLZ4tt47uBGgNiLTp8b_6dSw8THNq0kWC2Uugd1oGPnNuRKOMplY0AqjzfvDIQ4VLdRYhrpu17m3probkTp4yTkIYrLUzaevfYOyI078wC0qqPEbpy_rHf2B1hFObxmqFailR5JcF0EEyvvgGGlAZXMm5z7KkYNGy0TdkQ2MRArjRuiF9EMT16bBOXkCfxRoiQNiNjdOphcD3ILfKBfzmW2vG0oMLAOt23WVv1McVTzor7XW_wZQeTh4SUpYg08Mo1V4twQblHWZL1Oi9o1ypqFRASS-NMnOaJBabANQ3tZ4hmsPL4Y8GmrdY-5r9s1LpwF3xVJtKecfRJvNAfh3Z_ht7zsoSGDQjfKsxrGDvGxo19VLZu15bl08szO3x7GmnNsDeVsjBoHLutoMgFyMGcP7PeYn-5ARH3lbvZkVQbH1JFIH8HvSHu4ML42Qz_-C3Oi_S3uBPMtCtLjudkUuy89ZJeLJ2dtumDC3JlxImV9Mb5uLDjCS6ypRNQB7AsAKBSnZilP-to8i-d_RatubUZG1CWtOIAu1zy8F0QCmZ4u9X31livxPyR_qvyKg9nVKebuu421cEsk4rHaCUoCKiTPol_uk3Da7VKxdFPxpyOopDgugD6X1RpzAwXAKYDLO2vXD5Zk5W9djmiysojm3uFW5nY8vP3nn82AxsSqsBpHcJmtm997qyQNiPJQd8hzlT8gzrHsER62-NTi00bw3r2IFZqTTaC3Gh3NU2UFbIQqnzryh56avUwpECWgfDsf4j_kL_nu9vVhUCIYyCjnCWRpfSLvGEv3-q8CvO0UpySGNafY7vRKJvWmuc-Zn5QBC1UY5Hci-A1bMsxdnNnZg7YURaiZ2w79Bkn7Vn6M3omE4ob_ZznBRXXjglIV1Duqqi7Zqa_FN8pXsC25jPaZZdpFbrGjc1BC2VfTJpGgd9fTU2S-M86bETlCtt5Wep-XleU8dNBLfAvcfGVXK5HL_8vRfve7M-qDdBN-DPF3nPn6iEdwwqmuhuzzsfOsNqs1PdOgGiKQfMbcKvpOXo5gjsGlvoEoYpKG2OeJI0N9ukmH2sjcVcrJU-ulzWulrHQxCLEmEJWfF8cxA9gMDjN8EomS01Ui2CjmfkVhjwxsG4dPZucxJcCWeQeVn3Sb27U3bAc5OH_b_ZMVFIsQSXeHs-cglnAeLGCGBlz6wjUgmoDSYZ1v41HNcim432EG1k1wnhfgRgKnPakXNYFmqIsSwgXAU27sSqkFjLm0f6FN1ZFDovN-1pRGlTOl_jBmObv8z_Jz8bCQW-jsKyFk0ATE8fOyJt5_GBILph9HXEqiuNyEQvxmkCMXy_fQ9alenICiw1oUE0CwBT40oq0NBHKGs1bJqMlgWclwyhbcg19b6SSDRpJmVXtLMNdvzML1f9QTw8Cs6cdBQ15It_7ng==",
  "id": "rs_08627449c1fa9534016ab47660886487d0bad8591bdccda740",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.03,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The gripper closed empty, so the gray toy was not between the fingers. I’m lifting back to uncover it and correct the approach rather than repeating the same grasp.\"}",
  "call_id": "call_7swGeq2WXjZakCvp6UsSZ5Ef",
  "id": "fc_08627449c1fa9534016ab47667de8887d0b3d1764021c915ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7swGeq2WXjZakCvp6UsSZ5Ef",
  "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]: [-0.6399, 0.2859, 0.3759, -0.5522, -0.5983, -0.197, 0.9988, -0.0208, 0.8181, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2211 left_y=-0.0361 left_z=0.1721 left_yaw=-0.044 left_pitch=0.1855 left_roll=0.0848 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.0735, 8.335, 1.7656, -0.1978, -0.0952, -0.149, -0.1709, -1.8803, 7.0769, 1.8242, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611a4bbb6e4353a5da88e99f723422f2e2bdd33533f141b7265734d95f04689b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2215f51dcc456af8a400e5491b2ece1cd16c2dea2efe431f4d68feadd2e5c07d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff53194c48c76ab5d35adfecc6d12b5209cc0f524ec70216aaa7d2fc36d2a05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.553 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]: [0.0341, 1.1671, 0.168, 0.4614, 0.0273, 0.0086, 0.9995, -0.0208, 0.8078, 0.6079, -0.3855, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3112 left_y=0.0094 left_z=0.0551 left_yaw=-0.0066 left_pitch=0.0279 left_roll=0.0038 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0134 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.335, -1.5385, 4.506, 1.409, 0.149, 0.0317, -0.0171, 0.0889, -1.6752, 7.1179, 1.7167, -0.0366, -0.0415, -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]: [0.2081, 1.5002, 0.1444, 0.989, 0.1585, 0.1307, 0.0103, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0466 left_z=0.0613 left_yaw=-0.0131 left_pitch=0.2012 left_roll=0.0796 left_gripper=0.0103 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -3.2889, 3.1932, 1.6972, 0.1001, -0.0806, 0.8327, -0.0615, -1.2376, 7.2274, 1.7167, -0.0415, -0.0611, -0.0171]\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 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]: [-0.6399, 0.2859, 0.3759, -0.5522, -0.5983, -0.197, 0.9988, -0.0208, 0.8181, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2211 left_y=-0.0361 left_z=0.1721 left_yaw=-0.044 left_pitch=0.1855 left_roll=0.0848 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.0735, 8.335, 1.7656, -0.1978, -0.0952, -0.149, -0.1709, -1.8803, 7.0769, 1.8242, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611a4bbb6e4353a5da88e99f723422f2e2bdd33533f141b7265734d95f04689b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2215f51dcc456af8a400e5491b2ece1cd16c2dea2efe431f4d68feadd2e5c07d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff53194c48c76ab5d35adfecc6d12b5209cc0f524ec70216aaa7d2fc36d2a05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZxD_bPydAkUBifHQZR85PtUJvPJgv1Cv9P3nbmM0tkOS6ncgmlgeu5uUQUWs8WGSJbKqMtAN_K4e6SC_vyMkP_F45d02luoBcEqSH08OPDN5gTWxmC3YZDA7_Zadlj7nie_cUSo3lyAolY8nCHBjSU-GPi7h1gr4UAJYBCmcBuVSn4y04b22jVHoSM-kux6prIGG4h_sco0UUki2aKT8ZbBp-W9FRhfV1fJi35NwPh9rY6Fw8cp3RRMDoR2ShFAtsdOB2a4KCSJ1TT65yHNdGbCOeWQHa21HlMsk1IfLyqoGzhQxMXHq4RPPLOPmVe8yUfLYiYfnRhk2YcNKdH7o0vOf4v5huag-lJXn3wS5dfuxT-hE-70fSvQLdznD_loPgkK02hDLIPFH-YKL8yaJTMO-SUoVinFf61LcUq_fpLtl20GcBCJIDc_kxzWqoXx1wpSdR2isRoc46LK6yA9qUsomez7T_C9lzO0uws9PTsjMpnqxY9JqPmkpts3F1G1NhUL5g2-WfPiBdniyQiu3PyaL5ilv7anzgCQSBDcP2NWeXf8vZ5lgNrErHwcokSQ5TXesn80wFEPsYJnpR11Pr2RpgEjUYihX3WATVDRPeDBZ-HNHOw94vl_xySgoz6Bi7DZxyeR_NP0-H9p-yDC9MkzI9FB7gJHxGZn9stP_d0IweGqVxhII03zUOBtsH3YbJFJwXoBXc8QsvIEtGlR-4M5gr-PPbNHB8LPEtrjq6c-z6QGsRqNOTMAWZVwLXQ7FLHYYwjk-A65nG9435dk8FHLXgZhvpCB6LF2XVEl_ACOAe3lk_C9b48tYKLrlAYYUnH6jSrJAXK9AfDA-r--d7fwmSeYVf7UJ3PJ4kVAa8JaitkUrta4NfEDcZj11q05I-n9v00IAYRLuhGQ0uP5HZr0tjccC50qVSM71rhQu_LhLt7GntEl-ko5sRHpHnLULnmd658JL24t2LhheQzURUWmBJtXB204z9AeP9r9JOEvNl4-Ngzj_9ulqs2-Dkdn2yl8Z2KaI-YaTtlo85s9Uq8bjVQgINBmqLRXB18Kru3eS1PRhmprSUZ3Xz7fojFrqRO0xLJChkz0Zd5JNKJa-b1UB0GTX-E3hNV67NSerEipMuFfeyfyrCGyOpdHZiYQoPu0upVjsqqb7RzipL-VlbzDIuayqpFCdMioio7fVu-Ha1LvpyHJxyGlIN_kVAfBkpbr5aBaZ_tjews_nntFHqdTtDpH8FBNLwbpdmYou2b_wsxGswK8bjmmseQgGQAKTnAwMlceV6VK_zQLtDOcVn8O2tvqHkbcljLTtUFLT7UOeA9vAEvUp74416wWCl5JcUIOfgMFHgPZH8dCYkdP2XsEQU4OsmN5FKng8xVJ0phIoRbAEa6hqvDffj6Mf0eCfJ6e-nsl1TD5mHR_dI3ThDkYJaJZKTURDnP-KqNYVZaS07SogoA17bwVE1oljeAlVn6pZEDPy0Q-4qQrCAllmtlHBsstAA8PwxIqCZqi9l_Vu7AuXNhd05LcFT7NL_IB2MAnfEMha_BmUpiAMDj5QNa2eL1A_D1_kjblrQk8aKt5-e55yO_qTKvoXWDLKObdinXuS9_DMxDJY3S5rnyGgjb6l9gJ0BLdS809IIMIRGam-TgZXeUVL-C926Lny4u957PIjWuHCEGFp5Plc1SIJXJM7n_uJLwwAK3rTsMc_ON0kJlLDdEkKDw2FzbGfzBrqiNEW4JK1_Jh0vVCnkASgP_sLM3O3b5jZPjSoUlJ8kreEpR_xqe9EC48r3ptaSsuHZAQuQwaDVDuFqJSNLCVUNLUAPQqTZwNbusL03Kc6U3XWU=",
  "id": "rs_08627449c1fa9534016ab4766da3c887d0ad825a47359c41d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.005,\"left_z\":0.07,\"left_pitch\":0,\"left_roll\":0},\"note\":\"With the arm backed away, the gray plush’s long body is visible along the left edge. I’m approaching farther forward and slightly inward to center the jaws on its torso.\"}",
  "call_id": "call_4olBnMaaMoF91yFzjFKXGphv",
  "id": "fc_08627449c1fa9534016ab476705ae887d0bbea902e575b1ffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4olBnMaaMoF91yFzjFKXGphv",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0296, 1.4975, 0.4698, 0.3908, 0.0349, 0.0048, 0.9983, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0086 left_z=0.05 left_yaw=-0.0156 left_pitch=-0.071 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.1197, 7.2957, 2.1123, 0.1929, 0.1197, -0.0611, -0.335, -1.5385, 7.0085, 1.7021, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1259ff92434eea941043dc0e424ea14c0783c0ec1bc4da2ab535505696f01a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6f424c61ab8d674cb5a4f28fd083f6748c2a02bae0c54d5c4b897f20c8dd4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4452ff37f12608247d4a5b40674dca8d685266b689787e43605007f3ee759a7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 6.984 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]: [0.2127, 1.5112, 0.1314, 0.9737, 0.1654, 0.1238, 0.9995, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3322 left_y=0.0457 left_z=0.0501 left_yaw=-0.0091 left_pitch=0.1637 left_roll=0.0617 left_gripper=0.9995 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -2.359, 1.8803, 0.906, 0.2125, -0.2173, -0.0171, -0.1846, -1.2786, 7.2274, 1.6874, -0.0317, -0.0415, -0.0171]",
      "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]: [-0.6399, 0.2859, 0.3759, -0.5522, -0.5983, -0.197, 0.9988, -0.0208, 0.8181, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2211 left_y=-0.0361 left_z=0.1721 left_yaw=-0.044 left_pitch=0.1855 left_roll=0.0848 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.0735, 8.335, 1.7656, -0.1978, -0.0952, -0.149, -0.1709, -1.8803, 7.0769, 1.8242, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0296, 1.4975, 0.4698, 0.3908, 0.0349, 0.0048, 0.9983, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0086 left_z=0.05 left_yaw=-0.0156 left_pitch=-0.071 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.1197, 7.2957, 2.1123, 0.1929, 0.1197, -0.0611, -0.335, -1.5385, 7.0085, 1.7021, -0.0171, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1259ff92434eea941043dc0e424ea14c0783c0ec1bc4da2ab535505696f01a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6f424c61ab8d674cb5a4f28fd083f6748c2a02bae0c54d5c4b897f20c8dd4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4452ff37f12608247d4a5b40674dca8d685266b689787e43605007f3ee759a7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ8R7MylIgHFNAvmFGnE-_DQb7FbtZULHrzlTb4uwh8TFkPr50LwEY0TtzvkjNRyN98T_7Za8nyClpcAZJ6pbnAkpCOOt9DHfL7xfMMV87xv01LM3w-_og86MEO4fxu-FbfUGDytCJUhx4hZXV-bZVqbWosDo42C_kvQAlGLTkTFL_kzE6oW5iYz8Ae8OCUMs7RHemDaKXgL6EuVH3j9J5OQj6GfE_c2Nm_80o99kcE-j-Euyi7tz233cd_yhognBHK6WSDeKiqPDBknJq0t-MpN-CaHEWi7WvV0a77U9j2wDoR_PGgnwoAhdaqozaIhNc6MCv39EdpZNkJD0lzid7XVIg0KxLhn4f7KgTuihTHK1Xu-05A7XMS5HBAQjXIvA3ofwM6Jhs7HVns6wqjrxky_4w_gR8-Doi59Ue97rmnnhImGayX_iwVXb59NMg-ebUc7r6LVCitPpseVuuKBE5ZlvpL9uoGYC6rzDqwkSJQrlMt4Phc7wjEwoynhNI_dPHCfrv0z4A2hIPkSubFnP9h_NRvZxcuLlqUfS-yFsWX1I7Jd-faUX09T1CH7fFHn6N61LLe0ziHkzGmSsXmDXf3yvNx7C2pJ05mnmb_NYT-pne49ggXcL63JsAFi1PZ2W4LPf7YDsF1_AUR377WsOLVHqI1l-x5L2M9XYEg_EFMhkTR2iUsTv5cI8RF_yJuoNaAbHyyC3QNOCuXS52Ty_5S0W0yB7TC3sTw1WXdalayKEzhrdE-KwisOcZXMgcRt4WA5tDQwIZLroma9RN9fTv_504bKggr5ZB5WVLFLSDryG_SU7qj8GpapXgSU2No7EadEeGh8ihg2ZG4RJVbBdnRww3c-mEYpgNGF9t-e9lO9DpeY--dGchLns21VTurRLWzS734qnFXv_6fsB7fNIYGSoqME0YO0bJXaabuZYq6j79dOgMPQQZ5OsTY2Da9Vri1G7mCBiY0aXTbi8dy0Dwjh1UEllC33IOh99xNO047Oa8tQxY90rBowJO682NVKqcAmoUPrwp8wcQOeL7Ra9_jMNrwnQFQdBTctGb2t5BMTteoANpe9Quu4uEKIVDOK-lkS7YOzdsmrVxfGQelXO0owNiCl10mzywZZCb_R1XeoqMssh3iCpz6_el2C_AUWW15SRrCkNH3rRRw9ueEBEPbjhn0U-98krwz_e-ykhlCZ8pjS4tbSsGxwpKd4ZAunp4Prg1n5VB5n8IzuFcSNbm9SFy91ObXCe1k0_LOlmDWyziKR2Cb8Ru9QJl4zS2C0LileBAZaODgQeg_qA5iINz9Y6T3OdbHHHvvWkIcAqIqC090B8BB8JgyS16eGixpl90S25KBfOaou7vL4Ko6nmHgBwARAynfhPv9jvTISWdR90lerMTftpa-zc57TWRZ9xZH-vND6q7_Z4K_ex92GxXb7NHQGStqcTq_JvEUdGWhe93fCKp9MQHnN4bCP4JpOm9mbCwGW94kBB4zfZDxcsy5Y4zHA71I3ZPoS5uOsquhAdAnPf-ccfDo0zSLVaN4i8iS_nuH4hdY2HgcJiW3hCLko_ZNabKI3gTo4dRN7ekV6SpX-9VRNJiuHUgeJfyI2LrsvwWCT29aVpKL8esDalfus21FoJH1ACFHdcN22XAcZG886PBzYJOVV3q8qVWz2tY5wtbMk2iDYqndHnfxMSbuG-qbYY_8F3UtuQV67Kgn0S5swpaaiEn6O6sQRTAYcEfxz_s6HAnK-tG4xGe99AKh-A==",
  "id": "rs_08627449c1fa9534016ab47679958487d0b833828971121b30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":0.045,\"left_z\":0.025},\"note\":\"The gray plush remains just to the left and behind the fingers. I’m making one corrected approach within the left arm’s workspace.\"}",
  "call_id": "call_uKBNZNBHCrXMDNmRe7iOyhHV",
  "id": "fc_08627449c1fa9534016ab4767bae3c87d097fa0d22364592d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uKBNZNBHCrXMDNmRe7iOyhHV",
  "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]: [0.1829, 1.533, 0.3824, 0.5137, 0.1432, 0.0834, 0.9982, -0.0208, 0.8211, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3597 left_y=0.0445 left_z=0.0311 left_yaw=0.0041 left_pitch=-0.0639 left_roll=-0.0085 left_gripper=0.9982 right_x=0.2951 right_y=0.0007 right_z=0.1712 right_yaw=0.0003 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.1231, 4.2188, 1.5409, 0.0952, 0.0659, -0.0269, -0.3624, -1.3197, 7.241, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f18d3c970d9da6f40ad7251410c7fb8aa6feba3f3318563407f18a013c855f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267e1fb4ac753f6716507ea4d1da3d7ad9565fd680fa8e0a802dd26329e55679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f372d4617f82ed7c2060f7c245b73ed37a6e637009c7d9bd855eb02ef83f377b",
      "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 · 3.063 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]: [0.2081, 1.5002, 0.1444, 0.989, 0.1585, 0.1307, 0.0103, -0.0208, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0466 left_z=0.0613 left_yaw=-0.0131 left_pitch=0.2012 left_roll=0.0796 left_gripper=0.0103 right_x=0.2957 right_y=0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -3.2889, 3.1932, 1.6972, 0.1001, -0.0806, 0.8327, -0.0615, -1.2376, 7.2274, 1.7167, -0.0415, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.0296, 1.4975, 0.4698, 0.3908, 0.0349, 0.0048, 0.9983, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0086 left_z=0.05 left_yaw=-0.0156 left_pitch=-0.071 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.1197, 7.2957, 2.1123, 0.1929, 0.1197, -0.0611, -0.335, -1.5385, 7.0085, 1.7021, -0.0171, -0.0366, -0.0171]",
      "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]: [0.1829, 1.533, 0.3824, 0.5137, 0.1432, 0.0834, 0.9982, -0.0208, 0.8211, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3597 left_y=0.0445 left_z=0.0311 left_yaw=0.0041 left_pitch=-0.0639 left_roll=-0.0085 left_gripper=0.9982 right_x=0.2951 right_y=0.0007 right_z=0.1712 right_yaw=0.0003 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.1231, 4.2188, 1.5409, 0.0952, 0.0659, -0.0269, -0.3624, -1.3197, 7.241, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f18d3c970d9da6f40ad7251410c7fb8aa6feba3f3318563407f18a013c855f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267e1fb4ac753f6716507ea4d1da3d7ad9565fd680fa8e0a802dd26329e55679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f372d4617f82ed7c2060f7c245b73ed37a6e637009c7d9bd855eb02ef83f377b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHaEsag5TpyPNNnT2RJ0enMZnDkBQoXPZsf-ExtZw6AFFZ56xFC2G5qsKWmJYHW5VABiPUZbHkhoXeizY7SZVlryhZdAKPy6KH-tYFxM6uIO9IbfTCdEuuNrT94M5lzwYcVT6Vk8vJT-d6HdYKqJMv0vjPsNkg1NvOeYAJwlYNFg1szRHXYvjqwO497lelC0NASnj_IetPqMSVGgwRKtRxY7dr2YAsbUh7VKuhofwZ_xIYKb2_7jBrPcaUMYPCVqFWVG5tRZlP0oC5bj2IxWbdfR3dBar4DpWMQo7AlGRwo5EsNfUZaVz23X4UC_ywtZWTneLJ27GxhgMZvfLoyrtrGqkmxqbSAaH-EigyOWMqUg0LomF5jnSPPQbCeXTlAdX2HIsWosnmzdnXEKJCxFGxk0aT02Ekye36jeEsWu9cM-qEv2OaJqmsTEJSyjE_lsgoq_DkdAsm43xDhABtm6rsq0lh-aSV5HwZCocdfo-RsnZB3nv_drQ_GC4DKMSI0WV3q6f4ajEGnODo-6KXrjr51TxsQMuKpPe8-69dZdbfQY9htDXmbwyluldECfIf0Yt04DpyxL-7uo0EyM3tYnIhbHFs4vWYuit35znFueef32Zjxi8I3PdA1xVXfH5Wg2vCJlCxy_N9zViFC-zQx9PFQFTfNg7xrUWFH53M9THJ_9q6xx8nLr--ngDeJKRYPbPNiNw7NfZ0eg3qx3I9GJWzNSYbg51nl2FHtyezcvfYfIjgVLTuLzJ4lTqx5n6HrivoqkfIb8WWIwtxNPOH_AbOLWDEIR0ATPbJt9aG9ERUWGMVx6Hgt02zy1lbKPi84bBA7l9-TTWwXUd2-Fdb4kUtIMH7tm-Hw73Xzmtxdj5SguYELw3Wmy52YB9HSmIwihSaRyriHfq-01NAgDeDu7npdXO9P9S-VktHdqJwwc1UfWLrR4HZ579PkEsOYRueUFpG_U8QJ50VyED9Xh0dIQZF_kNyCBS-xW8sATPUQquUO3FOJAex8OVKDujt2wmRvudWkUj1fOb_UGo_gJ4Nlv8WhIVskh_v7lEA1YkLWGq_6dNohbXLZ84LyXwATMfEEetwsbMhZ50xLDGV8VMXqiI2SDG0RaJpN_5ejImwLvjMVqITOTFRofyGI2IhZuK_9ZogOs354G4y9745JJgziRs2I62iu3_ksu05PVLCVaralDj0R3wicWOvKPKokHYfo-b6ir_3hGOc78F04DGxJzESdZHhCjorancqu05RhLyoSYI6zvM7ugGWnz1FUCc3hVqujotpdgcumldqILpSuU9zuw5Zlm1RyUqolBMilHru6smMS-2fPHvZ34An_cHJPzdbEusNvm5ZJu35rmABD62kf2m7P37RCNM1rLUEWCh9XefMknGpT72zjIUa_C89WNyH4VyBUGo6TQzc22USnEB-jooOMqmKBQiaoKMlqFtEXmvV_n2O2QAognV0RneeKSpz4jiTdPR0GlWse6N3XuYouvGx6tbMiSfOfo6cTwvA-F1ZYdE-XZmRgLB8rJ4VuZyJbAmiALa37jC6nicmQseLP_2kQor_qjYhySzoiDUWT88j6zcWaxADXDhxPBawMnXZJb0OsqiXipYq70I2BhIYY9c2xmQMgvT7BU0beaGLx1QGjmTlRDOv8gWEuQzvIycLTO84N9XSO46kbf5iPWW3V962vEZ9TeBn4DDDkmgZKcLfN8hFpPKj5gLpREvEIzzOY8fqZwpVvYpyVWFkBf-qbsoWXTabTrnKNIAUdyglfgoOtM5YT65A_EJYlvCPVwKzySt9_QofW9VvJITfdqons3uOf0hEBWa-g1CrYmvCWihqI7hTyMlCq83ZAX0GfqDsDR8jJ5O9rxKFaDFBGPs8h8IiPmcf9bESYnjcjKoIt0LRJLkEo2sC-67enPfxnE-CijUp0b0ttQ7RR0MOeM0l7EYLeC2oc9rH-aNrfuWCuMJ8OYO4vpuNQOzundZHpCFl-KcIas5GoAtW3vLq7lDjOJ5qilGcdH-RXzmVKqDZj_vE6qw6MAz7MNB4TDz2uVwO8gl2UJHJJ9ubcjmF7bnyVQdJ9eEgUiNp-6JB_n4_GEg6sPPGQtBaTA51u7bES_clzPX8Kg4pRoxAaE_RB5WCilOJD4kaODys3TqHO6BHBGU7AGLNnEB8gGiCGezwCJ5xIJ2NTnCq7eR2oEmGbozAULj_Gm5z2BRRroE3hq5-ug4v_Y6REWE3RYP8lrbwA3rya6kqZGkS1UlRGUq-tSE5AlyTRJzN2nG3NRFwHSTvg5F0FD3mbYDxcrL-Do7-jEEIKAwGCUlEgmzzdKYzsDrP3JO7tytXC9etxYntjAP_kLBlFfMMQikctzA4M_Zy9ByP4fhZu7b6IGA5Dqyim6tbJ7PdZcaW0ZzRh3pu7SWoRaXe2zcdD04EePSIjc9Yx3ccdo-uEOrjoYKd4h2uDo44Hl17lb_4xkNh5UNwmacYB-YgP3jsejRA-iNgMAxB_OHk2558w_LWbQ7vpOzufP7vwPHTmmRRycexNlpQhUXYUwQjFOBDBQR9-SjBtvvuducq2y2NN7_MoZxfEYtnssqjimHtygB_KW2PghNIufGndCSZQ=",
  "id": "rs_08627449c1fa9534016ab4767f00dc87d0b65b043b625a2249",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.16,\"left_z\":0.14,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The two clearly visible plush toys are the small brown animal and the larger tan one in the middle. I’m moving above the small brown toy for an unobstructed grasp.\"}",
  "call_id": "call_bcAVLZOQ17ThWBpnOWecC9vo",
  "id": "fc_08627449c1fa9534016ab47683394087d08213b7c2da8ecdfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bcAVLZOQ17ThWBpnOWecC9vo",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8906, 1.1828, 0.6296, -0.2459, -0.6926, -0.593, 0.9988, -0.0208, 0.8249, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2816 left_y=-0.163 left_z=0.1312 left_yaw=-0.0252 left_pitch=-0.0188 left_roll=-0.0005 left_gripper=0.9988 right_x=0.2953 right_y=0.0007 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.3026, 8.6632, 1.3016, -0.5153, 0.0122, -0.1538, -0.2803, -1.7162, 7.2547, 1.707, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6ccacdaf629927df8c0f33263fa0055903b0242d7dd0908c1c9779f0fadb20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b986a31ae8341a0692a27cae2395e6d5437ebd529b19e3042cb71f6b2debdf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340ff8de2a0f6b532cab91b434589589ce211591c500f078a0a5e99ec9539723",
      "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 · 3.352 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]: [-0.6399, 0.2859, 0.3759, -0.5522, -0.5983, -0.197, 0.9988, -0.0208, 0.8181, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2211 left_y=-0.0361 left_z=0.1721 left_yaw=-0.044 left_pitch=0.1855 left_roll=0.0848 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.0735, 8.335, 1.7656, -0.1978, -0.0952, -0.149, -0.1709, -1.8803, 7.0769, 1.8242, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1829, 1.533, 0.3824, 0.5137, 0.1432, 0.0834, 0.9982, -0.0208, 0.8211, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3597 left_y=0.0445 left_z=0.0311 left_yaw=0.0041 left_pitch=-0.0639 left_roll=-0.0085 left_gripper=0.9982 right_x=0.2951 right_y=0.0007 right_z=0.1712 right_yaw=0.0003 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.1231, 4.2188, 1.5409, 0.0952, 0.0659, -0.0269, -0.3624, -1.3197, 7.241, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8906, 1.1828, 0.6296, -0.2459, -0.6926, -0.593, 0.9988, -0.0208, 0.8249, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2816 left_y=-0.163 left_z=0.1312 left_yaw=-0.0252 left_pitch=-0.0188 left_roll=-0.0005 left_gripper=0.9988 right_x=0.2953 right_y=0.0007 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.3026, 8.6632, 1.3016, -0.5153, 0.0122, -0.1538, -0.2803, -1.7162, 7.2547, 1.707, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6ccacdaf629927df8c0f33263fa0055903b0242d7dd0908c1c9779f0fadb20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b986a31ae8341a0692a27cae2395e6d5437ebd529b19e3042cb71f6b2debdf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340ff8de2a0f6b532cab91b434589589ce211591c500f078a0a5e99ec9539723",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHaL2Ci6gWv7s7U5Ds20SOOFNQQf-V8OZ3dPJwf7E2mLMS3JqGB7c3XJk30DDR0eEF2O5B-638FRg9obUyQGTEowpxStn1qqJlAajdB-yxAJxeqtP6kDwBa0RUY9sR99uU3yVMVQVveO3Gqdb_Tde7EHSV_nehPgYOhmuJ0ePsQsKXt7lk5cwhb2YiheM7-SdOaPIL2lsYRV3z-0MDgxbI2Nl5mq-GpL4LDs5VQg9x7TVVhOMbrS3ANed2A79EttmAc6KOyz-wQrCG3XaaPyjFkWZgUHbXaBuQhd_KtHLtB9D4HyuvpOzgRp98Nk5zSUYLa5_3EphGCbetwufh9054jBO34okCfLkdsbe_20DPjmH-EZPYbtBn2KZObKTFFsO-3VUd9MrotUuBfpa17zrwu3_1GBjAULBQhoFlaDhCFIgYc1z4Qa95AW0FWEygQ4puOqeQgKaWNrc-a4QysKr6Q2ueXi3ZRLmMOgkzBUKx8NAgsL8IHo68yF34LB6t0ro5RyR8ptyhq5a3Rb7SMbaLsImdLLX5irz_-XZPILMv3pSTNXwwYlJ48to4dX8smD86xh1XYoyoYqUqU-BTotW5Ni30Ti88bc-Kt1wV8c7Y3lIPh5RC6WlOfcmDZX6SRIa186h0smdJHmAUZwlSAwmswSg8zrMk8XPDZ0J7JG45ka4o-onMT92M5VbmEMj_mpJYvCQbKGmbj9XYUUNUsKEVKKPG4pBfjuL1OJUacCqUFd22McwEZAIrWseoPzfmL1ul-KxZcwLMHdn9_L8FDlaMAg446ECiMjwt83oKIC9d7tiG9rJ7Boic10_tunoOZDvqnX6JNJhyjN0obs5-BEbbyvqpqWlN6mauDnDGNHNPVfsQbuPCyNlLh9WTpzYo4Nq9LxrveGGZ4JAGi83eUn_QZYxQySVXVGEufVDuymANPfRCyhzlkrisva9M7OWRf3PA_6_D1fkkMPX7xj9zWBLzb7qRejNkosCbJzLjGUKOec-DQLdoA-9l9e18vwg0Uh7Vb4rLWNwzUn4R65ADnJkv9IP9eFTq4EsFa0WOaBzWmEiFFPCL7BOdZU3Q4GZq5SJANAjU5UBaacmnJ7whVQzPcEngYHSodtIplF9QKjn54TPptP1eAxg24gi-h0Guo3CAwjZWK9_NeEAamohUrXe8FXuBycvBZ4yTqa9wd36pLyD4csfDpnfIqNeJw_NWTExloZQ5Tim8HFDQ23RROOI5GeQy-hrifnye00osmMH-60IR7SeNItt-gDPNwRDqv0GoPAKSyXPJHObrZc4jsO15EPcpJbprYt3unjexLyyd0bn6wZas71rAFfJOYhxncC-1463fKe82euhC2o8wpQP43xS2-S0bHPduvgCbHuYhcM4pUHU3GYOECf2TDmKia7lsREMNf0y1NwFt5exU4ctvmPUHygJrShWCyFpE--7cjAoSpmUNf1m25_hG-fNomUyAZKPOPBs7Lw0_xBBJ4jZNQ5wA==",
  "id": "rs_08627449c1fa9534016ab476896e8487d09861c54c795d520a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.17,\"left_z\":0.025},\"note\":\"The small brown plush is centered beneath the jaw column. I’ll lower around its body without disturbing the neighboring tan toy.\"}",
  "call_id": "call_Mgj6VFAuGNZuVv5nDmRrGWEn",
  "id": "fc_08627449c1fa9534016ab4768a629487d0829d77c546a48e8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mgj6VFAuGNZuVv5nDmRrGWEn",
  "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]: [-0.881, 1.573, 0.4088, 0.3584, -0.6964, -0.5919, 0.9983, -0.0208, 0.8295, 0.6067, -0.3923, -0.0185, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0265 left_yaw=-0.0135 left_pitch=-0.0212 left_roll=0.0074 left_gripper=0.9983 right_x=0.2956 right_y=0.0007 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.5333, 4.0, 1.5311, -0.2173, 0.0415, -0.0659, -0.0889, -1.7846, 7.0359, 1.7705, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b733579e24c2e09edca0d3fafed96abb9f298534432b274b3fe44469a12d233",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf7ea38114f9204675f16a13c6a951b99fcddad4a832921967889e2a82e9be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3e02933ebbb8973827e5eee8c621fde63fb46948005079bffb47c17a46e9ca",
      "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 · 2.347 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]: [0.0296, 1.4975, 0.4698, 0.3908, 0.0349, 0.0048, 0.9983, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0086 left_z=0.05 left_yaw=-0.0156 left_pitch=-0.071 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.1197, 7.2957, 2.1123, 0.1929, 0.1197, -0.0611, -0.335, -1.5385, 7.0085, 1.7021, -0.0171, -0.0366, -0.0171]",
      "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]: [-0.8906, 1.1828, 0.6296, -0.2459, -0.6926, -0.593, 0.9988, -0.0208, 0.8249, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2816 left_y=-0.163 left_z=0.1312 left_yaw=-0.0252 left_pitch=-0.0188 left_roll=-0.0005 left_gripper=0.9988 right_x=0.2953 right_y=0.0007 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.3026, 8.6632, 1.3016, -0.5153, 0.0122, -0.1538, -0.2803, -1.7162, 7.2547, 1.707, -0.0317, -0.0366, -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]: [-0.881, 1.573, 0.4088, 0.3584, -0.6964, -0.5919, 0.9983, -0.0208, 0.8295, 0.6067, -0.3923, -0.0185, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0265 left_yaw=-0.0135 left_pitch=-0.0212 left_roll=0.0074 left_gripper=0.9983 right_x=0.2956 right_y=0.0007 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.5333, 4.0, 1.5311, -0.2173, 0.0415, -0.0659, -0.0889, -1.7846, 7.0359, 1.7705, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b733579e24c2e09edca0d3fafed96abb9f298534432b274b3fe44469a12d233",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf7ea38114f9204675f16a13c6a951b99fcddad4a832921967889e2a82e9be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3e02933ebbb8973827e5eee8c621fde63fb46948005079bffb47c17a46e9ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaQ8JWo9XXW3RZaDbQeZpIY_6CdOdiCwQeTTpKu15y7qIIkvuBp4MCNFAZ7oniu1T_bWDdNkX2k6ya5Z8BXJ8ZxRTaUhS-3Vv-pzu4Gmqwgt11AKI_XJjNw-ms84WAOshcYQ2gh0ZVrSXyxmdVfzruXlnF0mhgJeJ2cR2-Cd992_ikeXhe0DrjnZWVVXEo8N5L74TYZKWrBRS8j9Y--kKxV_GqNW7Sbg9RP7j_o7dsd7Hnpl7X80xiS56aZy3PavY0eNA9fxdj-Ifh0cO41LLYFNyiklhv5JQP2aqLAS1XCwAggCu1hA3nHgZis2_0wI606ha5qqQyuszGizruIjSKUWIxpXzzg9ewfKkl-OTxpVBaf2lAxsGxO5zm6dNBpS3c_BKS_jLFmq4HfbwrY2OXxJLLkn_TEiVAs4wRvmJaKPcLqCf6DsR6saqjS337IuvdqkfVbdzqEySx6QGEdrYDvjR2zR95ZmPcqVrDr1OX2HVmRG6Hruu5mx25Fh1FP_3E_Xgr1zGSi9WLazBxQWvRCrLpa_Da4t5Wvj92gPZdIh_TFy-P97XrO1Y6vYuTHmSkYfVYqjEcKSCHYpEwOF_UeSjBom9W1abKULSazJS5QJLVGxoIOaChda0JKYItSJ_TCjBOw4yGb8KS6ZyllnMB5G2298Cp0TtqtdUXjPWLRsEDx8E-fZU6nnMWkUcbbeBrHg8hzW3kGseabUaurGDdL6AlP_4c_K2qModXp1cQcskLBtj9Ml-mDML528plbSF0JLRWpZmZOuJmCkzfnxAFyCbx6RUoIKKs1Bxfqq1wU0QSNhhoJfdw9vsBkPcibQgwjLp-s5jETOj2f38djaxyBksCRye47OSRqUhZZhduOhVwe440pHnxdT_y1EF0XBqRxXqALKR6pZgnnGODLZs_Cotup9qk7OfcaARasTLWZt2rvHKV6q__OgPY5f__ndn0fIldW5-jCuPGk0jPBapt9pMGi06AvX3qevrmrSxh4ip8UjX5XJs_qjqf9tGzYkDaTU5WAKRS1EXHiV2BRLqnW3loll_HKis__gKcUWVZh0Umc_Jh06m-0u7srvOJog23LRVJAV1hNe72p54n09dOWpJZIlCNxZZBES-WcL4R_Yt8WbhyD84hu5DScS0UuCcy2ymRRi_IgTGRKXRLwrMLWWcsd9fy6_OYByb1XCnFq5WxyRy_Va8GOKT7kLmXLsUfafkxcSctDQGN985_aiGVDSv2t4oT92Y4Gs9i7WAei6q8PbbvjkzEvmClHvK6AiigGZKrTTRFKIcOu3BlsqTvNPzegCE8rwslQtvUMrxvcYJzznEigBPVvsrSefFc1iXUan6KgeM8HRn92uxD51tuUrSJG6wsmSO5-hpHJ3Sv-sexBJhb6uo1oiyOinFCktwhst6d2PoZMm_qAduGIe6giRv7st9JUV9pBdkFuQAPyYmY=",
  "id": "rs_08627449c1fa9534016ab4768e8dec87d090c28251d7a835fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the small brown plush. I’m closing around it before a short test lift.\"}",
  "call_id": "call_YmdbUfnshr6Bj7APrW4xMVDb",
  "id": "fc_08627449c1fa9534016ab4768f7a6887d0bdfed62fff8ef026",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YmdbUfnshr6Bj7APrW4xMVDb",
  "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]: [-0.8803, 1.5726, 0.4072, 0.3763, -0.7036, -0.5919, 0.4253, -0.0208, 0.8307, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.169 left_z=0.0293 left_yaw=-0.0078 left_pitch=-0.0064 left_roll=-0.0021 left_gripper=0.4253 right_x=0.2957 right_y=0.0008 right_z=0.1686 right_yaw=0.0006 right_pitch=-0.0442 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.7521, 1.2576, -0.2418, -0.0269, 1.0281, -0.1846, -1.0735, 7.0359, 1.746, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b57d4fa2ca723464bd81754832f1eb325c6942f27c3ae5bbba46dc4947864a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208471e5570c4fc12e07e5bff206da162f97abc21302447a8d0026e76a562cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d954282c61db8e3262da046ed925fc7f59fb7bdfd91326a3882698c41dbc1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.365 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 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]: [0.1829, 1.533, 0.3824, 0.5137, 0.1432, 0.0834, 0.9982, -0.0208, 0.8211, 0.6067, -0.3923, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3597 left_y=0.0445 left_z=0.0311 left_yaw=0.0041 left_pitch=-0.0639 left_roll=-0.0085 left_gripper=0.9982 right_x=0.2951 right_y=0.0007 right_z=0.1712 right_yaw=0.0003 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.1231, 4.2188, 1.5409, 0.0952, 0.0659, -0.0269, -0.3624, -1.3197, 7.241, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.881, 1.573, 0.4088, 0.3584, -0.6964, -0.5919, 0.9983, -0.0208, 0.8295, 0.6067, -0.3923, -0.0185, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0265 left_yaw=-0.0135 left_pitch=-0.0212 left_roll=0.0074 left_gripper=0.9983 right_x=0.2956 right_y=0.0007 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.5333, 4.0, 1.5311, -0.2173, 0.0415, -0.0659, -0.0889, -1.7846, 7.0359, 1.7705, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 1.5726, 0.4072, 0.3763, -0.7036, -0.5919, 0.4253, -0.0208, 0.8307, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.169 left_z=0.0293 left_yaw=-0.0078 left_pitch=-0.0064 left_roll=-0.0021 left_gripper=0.4253 right_x=0.2957 right_y=0.0008 right_z=0.1686 right_yaw=0.0006 right_pitch=-0.0442 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.7521, 1.2576, -0.2418, -0.0269, 1.0281, -0.1846, -1.0735, 7.0359, 1.746, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b57d4fa2ca723464bd81754832f1eb325c6942f27c3ae5bbba46dc4947864a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208471e5570c4fc12e07e5bff206da162f97abc21302447a8d0026e76a562cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d954282c61db8e3262da046ed925fc7f59fb7bdfd91326a3882698c41dbc1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper has stopped at a substantial opening, consistent with holding the plush. I’ll lift it a few centimeters to verify that it follows the jaws.\"}",
  "call_id": "call_YWYwX5uRbGojhefsAN8ksvhL",
  "id": "fc_08627449c1fa9534016ab47692e29087d08396013e6e4a62c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YWYwX5uRbGojhefsAN8ksvhL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8806, 1.3392, 0.5205, 0.0063, -0.6994, -0.5968, 0.4253, -0.0208, 0.8314, 0.6067, -0.3927, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1658 left_z=0.0822 left_yaw=-0.0082 left_pitch=-0.0236 left_roll=0.0097 left_gripper=0.4253 right_x=0.2957 right_y=0.0007 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.3265, 8.4581, 1.2625, -0.3394, 0.0317, 1.0281, -0.1846, -1.5248, 7.0085, 1.6728, -0.0317, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee0f95d5152b9c3be62b259b3908394970cd3348ccf9b0647ff1625a24e686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5715819bd158cfb024e55e5be9205f77e128fdd911e6d8773acf937696a8cb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b510a6b530c0641e6877afe70ddb85c86633cfd79f473a46803079570fd40dd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.831 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 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]: [-0.8906, 1.1828, 0.6296, -0.2459, -0.6926, -0.593, 0.9988, -0.0208, 0.8249, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2816 left_y=-0.163 left_z=0.1312 left_yaw=-0.0252 left_pitch=-0.0188 left_roll=-0.0005 left_gripper=0.9988 right_x=0.2953 right_y=0.0007 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.3026, 8.6632, 1.3016, -0.5153, 0.0122, -0.1538, -0.2803, -1.7162, 7.2547, 1.707, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 1.5726, 0.4072, 0.3763, -0.7036, -0.5919, 0.4253, -0.0208, 0.8307, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.169 left_z=0.0293 left_yaw=-0.0078 left_pitch=-0.0064 left_roll=-0.0021 left_gripper=0.4253 right_x=0.2957 right_y=0.0008 right_z=0.1686 right_yaw=0.0006 right_pitch=-0.0442 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.7521, 1.2576, -0.2418, -0.0269, 1.0281, -0.1846, -1.0735, 7.0359, 1.746, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8806, 1.3392, 0.5205, 0.0063, -0.6994, -0.5968, 0.4253, -0.0208, 0.8314, 0.6067, -0.3927, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1658 left_z=0.0822 left_yaw=-0.0082 left_pitch=-0.0236 left_roll=0.0097 left_gripper=0.4253 right_x=0.2957 right_y=0.0007 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.3265, 8.4581, 1.2625, -0.3394, 0.0317, 1.0281, -0.1846, -1.5248, 7.0085, 1.6728, -0.0317, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee0f95d5152b9c3be62b259b3908394970cd3348ccf9b0647ff1625a24e686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5715819bd158cfb024e55e5be9205f77e128fdd911e6d8773acf937696a8cb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b510a6b530c0641e6877afe70ddb85c86633cfd79f473a46803079570fd40dd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaYadZiV4LPW5M1hRzkrs-ejAqhVEUZFAWtYM8Ew-ftC3Ib-K1WOYEFf1CqNeFtKo_PCY_VoEkjnC6IV_1sJS3haZU9fmdxYI5fdh6w78s-nFOCbFVvwAkbRK9fb4M4qGcvU8kLsOuiMnTAmIfstU3odb1_fod6KVU1igKaf5oUl91-BghsPAXIXsIKDqOjyrgb1JtlMrrF4HPjHwMftjGEyOaFyiR8v7GJ4wGXubFMx22qnUuzsYELEQReBUfqi4nNnTLhwxrCXWW1yXpj4z6YQEKp1ZqWVH8GO7A-RBe7SJrycphVkA0kMxrvz7I8LTw4aNOHxhFEKjrryg1BH9M2obvPPFkV8rzukjx3XmlP7s0HSWrQskfpxG78qiJQ06K_PnBVpDSvsZea8sWFwjGuQOMucB62zRzrMtE-mc_xSC6WpB84153EJjTuD9gl6oUAeBMf0ceB_76jMT3vYxT1haI15YSRc2Mi59f71x4JSL0-VcSGT4u17O6elD_m2lpWtmNpmG9g9_4hotG_43U69hVyDmGBot-epfLXWkXthrW3TLOsvavXElbrIs7TofA8AxghOXN7tuex7hxYRoicK6EyAYTTKU3Q4M7mm2_GZN0jEw1hl_-mDjLMlu7yOvkThTZALDjudCxuFh3T8zWBKBan_mXbptKnMtuALdK50cvSKvl4fyF6x2q0WGZxEPwEjm9Ny9G23ddxDoWFhGC1WxBrRNnBVFk74dfbgpj-wyd1PwF2HOMOvccdts-0dXGMH_-itKqoFHrqQxv4uqctciacd91Ht_JwCnyVwr_CIWM5DtDDCJcrTr-LsSGpx9_dhluch9Vwrnpt_1i7AN8jSoixtAPAjcLC_msg5h-32vEzodfjqRh_Kr6f5J4XhAJ_SRxh7Fbnd6g6t9YPtoyT4fApFHEjRggAkg0YXBB2asVNJ5_RUk4gLAFMxAcri2AFmH9qTZ7KN2WNYAffFc5WRkelAoUreFo6dlTOKv49ljeKVZPypNl_KNaFltIZTG9WhbEuIwTYh4uOh0kWFFKYloImYNspgno5YyNTiZ9LCSp4ge3A-tOnI92ouLN_C0B_BXHAd3NbcEhRoDVkBmdxyOOF1iVgS144nOTkPvgQ04S0EbEWgtmK3bkXuc3t1b5xMIp7HoRVXTmj0qGUvr0bFfpZxX8bNPZzyzitFNKuzkNhH1Na_RIE7Vf80OfpZc7t5dxrPlyrQdDuSK5O5pOrIaHrfaK9M74JPJYB8dBDRm7lZYg_jE4ZxHv0gofngJHkgmyxnpq8F5fsElxwv6t2G66Oxc_BxzGHukprIPrkoY5lGnIdCqnxOKxaHs49y5e5ixuqHq41zYeaCtLkZHVZfDHQ_Q0ls9EfXkv7Pmd6_iK3B86H-DgsZKl34S6s1R78yzkgTY6c6Eai4wrKau-qQYqN6Jry_3xvv4YFau3pq3gHopbCrDrUG5XEmN6aqPbl0-mj8TLbFaD3qspK2m89vw==",
  "id": "rs_08627449c1fa9534016ab4769614c087d0a3bbd4ff6b4af52f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.16,\"left_z\":0.23},\"note\":\"The small brown toy has lifted with the gripper. I’m carrying it above the left basket, high enough to clear the rim.\"}",
  "call_id": "call_IfQlIr22sqQTA2pSrsNQ6Pnt",
  "id": "fc_08627449c1fa9534016ab47697705087d0b42637007d1660d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IfQlIr22sqQTA2pSrsNQ6Pnt",
  "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]: [-0.4339, 1.8, 1.5234, -0.4294, -0.3771, -0.2947, 0.4261, -0.0208, 0.836, 0.6067, -0.4004, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1524 left_z=0.2081 left_yaw=0.0277 left_pitch=-0.0823 left_roll=0.0165 left_gripper=0.4261 right_x=0.2948 right_y=0.0008 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.0576 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.9761, 9.812, 1.9121, -0.0611, 0.315, 1.033, -0.1299, -1.7026, 7.0906, 1.7949, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71dc02162e3ccaa4bba3b89124c5eecaa39cc8c921def180bd651f30cc90b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ff727b4eecac87400b5e4d3a6726163104bb7c7e30f89113476fb1eecc69e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75c19b0b45f8d57e9d1fd2755d6358556accb23360b968e659ac43c3d674433",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.084 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]: [-0.881, 1.573, 0.4088, 0.3584, -0.6964, -0.5919, 0.9983, -0.0208, 0.8295, 0.6067, -0.3923, -0.0185, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0265 left_yaw=-0.0135 left_pitch=-0.0212 left_roll=0.0074 left_gripper=0.9983 right_x=0.2956 right_y=0.0007 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0431 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.5333, 4.0, 1.5311, -0.2173, 0.0415, -0.0659, -0.0889, -1.7846, 7.0359, 1.7705, -0.0317, -0.0757, -0.0171]",
      "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]: [-0.8806, 1.3392, 0.5205, 0.0063, -0.6994, -0.5968, 0.4253, -0.0208, 0.8314, 0.6067, -0.3927, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1658 left_z=0.0822 left_yaw=-0.0082 left_pitch=-0.0236 left_roll=0.0097 left_gripper=0.4253 right_x=0.2957 right_y=0.0007 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.3265, 8.4581, 1.2625, -0.3394, 0.0317, 1.0281, -0.1846, -1.5248, 7.0085, 1.6728, -0.0317, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4339, 1.8, 1.5234, -0.4294, -0.3771, -0.2947, 0.4261, -0.0208, 0.836, 0.6067, -0.4004, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1524 left_z=0.2081 left_yaw=0.0277 left_pitch=-0.0823 left_roll=0.0165 left_gripper=0.4261 right_x=0.2948 right_y=0.0008 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.0576 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.9761, 9.812, 1.9121, -0.0611, 0.315, 1.033, -0.1299, -1.7026, 7.0906, 1.7949, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71dc02162e3ccaa4bba3b89124c5eecaa39cc8c921def180bd651f30cc90b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ff727b4eecac87400b5e4d3a6726163104bb7c7e30f89113476fb1eecc69e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75c19b0b45f8d57e9d1fd2755d6358556accb23360b968e659ac43c3d674433",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHal6t8eQXn9ALJJrNlu5PG-hw8hLLNuztocbNq-vHMLYzrMctP7cjownLJHXpVOoLxCGahrLVQ-kuOvibtWBBZZPTISL8QXbUpZ3iA_kxjg6RPA4xFfoLCjgR98LG2W3tvEH-qVd6keuy5UsSZAPMW-3JLD64qAR2FvYs0DfXSuWUzKqsgnS3vzPb9EpoYavLGmbx7sLl4Ootk-4b0bQ5e7n--8mhjay073GCcUuN6S7Bj3xynL4aIlb0h9EXqMBpIuN3Wg8IO9r7KKjz1t57SYg4oldd4HXuEH36UirRbbXrz0PqQGOq1RS4In2vPOWx8a1OhxJQdg-9d1_-xYoHijy6SntJg2NW8OlIlIjn-dbnxchLdWK6mKl7ctJdB8gxstL-DQ7mKXcK9DirmcgMlywdSCimQksTg9cs6g6Os6NcQQPqEs-Bb3hFfFV1pzF7nZ14xqH1laEZ6yLF4XvAJtEtaf5AJXb-z44W17kRH-tQkfENAhrF0aooYvCOMOOBmT6F2W2xG0qGgNYuBrONwHSTiJJYigSx7b099UWCPDijnMTWdZ4Xc50IRUbRh8eRnhmi-U98LmmrLXXRja4vNfDXQH4sUdvpZXowto0HwcPkJi0INsD8MSyS5z_Kii5i65VycUt-2bsAolZp74lKDOrT7GrF3lrVnLPCSaQCVBE4r93IyHhKveNCbeysA9L8fms-QRcavh452IpNJi_GUg3tthpgJMUyXWZ8PECC349CaRIyrqWPvje8rGb_cirSJ_3uN6yLkNzuIy_-ocEFDhzryFphyK5b2qxSWStMA4n-FZlxAF6XVhNx-qOlvH7g4WA2jRN_zfrlnK6IQRAzvdWRlFisMw0r7u6Er3rlxxFlcQdDGwWAaJAPkW5gCRsNuaGf_V381XQdkaDsCDl_TNOizdYosXdQfVBP811Lxg1SGXc3CXBQy0Wcq9jHmxPsHNXoCyp2h83F8nJNTK-PNXp87G1ngASbwzbYbIR8iU8VnZ5bmVx-bIHegE-AWLdbkrkF4v6YTj-ceq2hc2_bj9cmKpwpYuFCt-lN88hitZbWF1lgqtnB6lMV28awtMCBOPooup5b-OaskfvadbrwkGTyKb6shHKSFMzFlRw5bBJF6g5tz3iPe0khB5WcuW3uYipjv2S2oR3bPjkSZj_V7KF8-HwMC09_sK_Uncv_d43kvEo8j8jmoT6vxuTfq5UbdEoiPA7NT9PeY3H1huK2DzcHJlr8IPAu3PwtUEci-Giir68DR51MnxaJK3HCh_y02d",
  "id": "rs_08627449c1fa9534016ab476a4673887d093535102c2bd187a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The held plush is above the left basket opening. I’ll lower it inside the rim before releasing.\"}",
  "call_id": "call_VpejrlXOZMUQwDxsPiSoSkJZ",
  "id": "fc_08627449c1fa9534016ab476a5029487d0ac1112ed8b8d0732",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VpejrlXOZMUQwDxsPiSoSkJZ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4339, 1.8442, 1.3064, -0.1955, -0.3767, -0.3061, 0.4261, -0.0208, 0.8364, 0.6067, -0.408, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.1508 left_z=0.1355 left_yaw=0.0347 left_pitch=-0.1068 left_roll=0.0196 left_gripper=0.4261 right_x=0.2937 right_y=0.0007 right_z=0.1639 right_yaw=0.0 right_pitch=-0.0656 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.4017, 6.5162, 1.8779, -0.1783, 0.0562, 1.033, -0.2393, -1.2786, 6.9949, 1.7558, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2fa9a5031ca6db6cff14d57bc9705a8d33f884fe6a01b90282a9edac776817f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe122e309cbf5f7d494d20488c4ee4a72f64ad76ea02366809e5cf8206f717a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a7212d54078d39ef8e9b76c9b0ef3929c016d3dd80906eb89342734d022236",
      "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 · 5.028 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 49 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8803, 1.5726, 0.4072, 0.3763, -0.7036, -0.5919, 0.4253, -0.0208, 0.8307, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.169 left_z=0.0293 left_yaw=-0.0078 left_pitch=-0.0064 left_roll=-0.0021 left_gripper=0.4253 right_x=0.2957 right_y=0.0008 right_z=0.1686 right_yaw=0.0006 right_pitch=-0.0442 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.7521, 1.2576, -0.2418, -0.0269, 1.0281, -0.1846, -1.0735, 7.0359, 1.746, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4339, 1.8, 1.5234, -0.4294, -0.3771, -0.2947, 0.4261, -0.0208, 0.836, 0.6067, -0.4004, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1524 left_z=0.2081 left_yaw=0.0277 left_pitch=-0.0823 left_roll=0.0165 left_gripper=0.4261 right_x=0.2948 right_y=0.0008 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.0576 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.9761, 9.812, 1.9121, -0.0611, 0.315, 1.033, -0.1299, -1.7026, 7.0906, 1.7949, -0.0366, -0.0269, -0.0171]",
      "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]: [-0.4339, 1.8442, 1.3064, -0.1955, -0.3767, -0.3061, 0.4261, -0.0208, 0.8364, 0.6067, -0.408, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.1508 left_z=0.1355 left_yaw=0.0347 left_pitch=-0.1068 left_roll=0.0196 left_gripper=0.4261 right_x=0.2937 right_y=0.0007 right_z=0.1639 right_yaw=0.0 right_pitch=-0.0656 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.4017, 6.5162, 1.8779, -0.1783, 0.0562, 1.033, -0.2393, -1.2786, 6.9949, 1.7558, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2fa9a5031ca6db6cff14d57bc9705a8d33f884fe6a01b90282a9edac776817f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe122e309cbf5f7d494d20488c4ee4a72f64ad76ea02366809e5cf8206f717a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a7212d54078d39ef8e9b76c9b0ef3929c016d3dd80906eb89342734d022236",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaq8WK0CvpAXXmTM8dqCdMwEduYWJ9SPwG5nyER1Csnt3triZsKXjkCVcdrWQIgn2Mw6PDu9wyiaSSCS-9UexqjeiiO5gixTtv-HlkP24VuA9KNZXxivZOaDDTz1dKxhpMQo3VDN_z3JzH_XzEh9AK2NvgyE269MJn27cbFwXa_dwSwwY21vIXXSK0tzOg1-tdrXKyB1-c5nX5otUOHvQ__kyqe3_M1l9kWlbX5qgRpltQSZSl5SCXopKbB8JoaXqGPY-2FwozZaMssW_uOv-jO0twmrdiFMT95KJ1b-7-bjFV4ueh9FiQnj_eQe8xF9U4VL0k0doDvNFMjsv_EfhDF-OsQWk_7Ol91wbyy0ISVDAIH4Mxq6x613niiHN-MwjmR8TcojXy92ME2SSzcM7-i7lYa6lHHfhHmod7nY271Rf55x2P5oyEOz0GVNjxHlgbPKN6oX4Vf1HpJapjMDAUSze5X4yUEwlyKs2qsjkpUGCGhmmN6g8Rh9OFdtCglqGiIIrY01MI2eO9hVuL2CjDdD3nKn_N2bR_NOnZTh9lKXf--d-H4YYQIevEQez7PpaEcnYpxJRGYtFF_puMaeLhmBiii6DgaMHlovCs7gbbZl4i23OIWikZBWIs7wj6swNDdZUFm8c7tQbhUoc0N6EdUWcNnxAIEqmtZkLX5WY2Nk9stbJp_od_FXKpJbrNMxBWO11SUzAiEhfwpDgzCIryLY5Vcw_61R-83VbEfdepza8xCapijXIEhzqE3-2ldkULtbbwBTF0_uadbV5qM855Z8W4C-LlEfJWDgE0586vMqZ3Dt1LeEhEqy3W4u4azS8kDgsxxqqKAobUw8VKDmD632gUDSLGgyJeO1zKJVDdn7_HNypHZ5Hzlxvvdsb1I55TDpIAbvDGdZPNxJR2ZOQiG19KL19DWVg5fA-vCTAYYaccHtFkEKr5Cx7V-dfSDFtWl1Lv2n3-_VqIBvwk25MxC_RLS9XNb8D74XKKtd3ttFie-8aIg6OmNOMWr1Prdma2ozCR2724RJ8ktGZH8xHZt8zvAZeILyTwOpUmU9Q9WiEa6OBEezpxe4v9HaSgTO7YtfvDpfVNQfIujlRyqMRub44xWujPHHjHFFMbxlLp1IUQXta8KCte4Yzoi8sG40SC7n9W8fAUpZ7yIgqhZElGOUqH6mOe2_VKZPj-QS2wJC19R7vDixRziB0zaX6wHTurCPVh5yLwD58UHjgefvZXYC9WdI0erWHvrfOotdtsvvxvs9x3a9EuPsYHnubC23KVRvPerQEu3VU-tNA1nslZL8UKirAigPdNM_g0W_KFxaQPwc2u0jDvzfdzdD0etImvjHg9IBAFDwoTfCzUhj0sb6qefpvGKUl_nxhdtg35FFOd7BV-TTrTQg0XQhjEKEVzwD3WWdMvA43rMa3Y6zzZNTDcFGxWOu2elrhKg0ekWR8gVmrjBVhvQ1jJ8l4JJyLl51_oVNRJY1aCDxlE3IeutNyDRueMyTYYeUTFwnP3_jkZdl_T5VlxO6vn5pmAg-FtqDULpsqDktVDym_FpJRXUng==",
  "id": "rs_08627449c1fa9534016ab476a8c5d887d0b69badc1f2fe7b0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The toy is lowered over the basket interior. I’m opening the fingers to leave it in the plush-toy basket.\"}",
  "call_id": "call_CtinUHjtMkndYeRnx41ALV6L",
  "id": "fc_08627449c1fa9534016ab476a9de4087d082e4d5cb48b2a0b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CtinUHjtMkndYeRnx41ALV6L",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4343, 1.8442, 1.3064, -0.1963, -0.3771, -0.3141, 0.9954, -0.0208, 0.8364, 0.6067, -0.4084, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4883 left_y=-0.1509 left_z=0.1354 left_yaw=0.039 left_pitch=-0.1072 left_roll=0.0138 left_gripper=0.9954 right_x=0.2937 right_y=0.0007 right_z=0.1638 right_yaw=0.0 right_pitch=-0.066 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.9487, 6.6803, 1.536, -0.1197, 0.0855, 0.1441, -0.2393, -1.4974, 6.9949, 1.6581, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bd241decc9f188a99d67da786bbefffef8e1101d03136c2c244a3f41083619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4019076c8a587a4d6aa0bcdd02385f654ad1cee945680cc4dfb6eb8e3e1842ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24cd85e0d760d693b4776172d088d2a5e6575549ae87681f6309e9bbe169dfdf",
      "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 · 3.306 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]: [-0.8806, 1.3392, 0.5205, 0.0063, -0.6994, -0.5968, 0.4253, -0.0208, 0.8314, 0.6067, -0.3927, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1658 left_z=0.0822 left_yaw=-0.0082 left_pitch=-0.0236 left_roll=0.0097 left_gripper=0.4253 right_x=0.2957 right_y=0.0007 right_z=0.1683 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.3265, 8.4581, 1.2625, -0.3394, 0.0317, 1.0281, -0.1846, -1.5248, 7.0085, 1.6728, -0.0317, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4339, 1.8442, 1.3064, -0.1955, -0.3767, -0.3061, 0.4261, -0.0208, 0.8364, 0.6067, -0.408, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.1508 left_z=0.1355 left_yaw=0.0347 left_pitch=-0.1068 left_roll=0.0196 left_gripper=0.4261 right_x=0.2937 right_y=0.0007 right_z=0.1639 right_yaw=0.0 right_pitch=-0.0656 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.4017, 6.5162, 1.8779, -0.1783, 0.0562, 1.033, -0.2393, -1.2786, 6.9949, 1.7558, -0.022, -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 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]: [-0.4343, 1.8442, 1.3064, -0.1963, -0.3771, -0.3141, 0.9954, -0.0208, 0.8364, 0.6067, -0.4084, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4883 left_y=-0.1509 left_z=0.1354 left_yaw=0.039 left_pitch=-0.1072 left_roll=0.0138 left_gripper=0.9954 right_x=0.2937 right_y=0.0007 right_z=0.1638 right_yaw=0.0 right_pitch=-0.066 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.9487, 6.6803, 1.536, -0.1197, 0.0855, 0.1441, -0.2393, -1.4974, 6.9949, 1.6581, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bd241decc9f188a99d67da786bbefffef8e1101d03136c2c244a3f41083619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4019076c8a587a4d6aa0bcdd02385f654ad1cee945680cc4dfb6eb8e3e1842ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24cd85e0d760d693b4776172d088d2a5e6575549ae87681f6309e9bbe169dfdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHaw9BTXsiqe7YQGhkuc3eJVKaBhXF_2grrk33MnNCHJJPHuzkkyiO5wg68KvTuK4HSjI_12XaT4cq8WNhRBcLDKkTI212khgUgo9j8CjSHenxB7oliHtWgPl5FjwRGwVnPlrh0EzIPDMH3v3MLPgenKa-NLQz8a4ajPQUH7Ab6eAXimRkZfkxvehLv6UZpjgCMCLc5RW87y69st0BhWM8-LIjbC3e5g0l0jjkklxc6AcSTkQeFQAxZSe5HyJp6OqiaZMA9z6BdDtELuWep_T7FoJd_qbuaMQs68HPdN50oQScVSk9ZrfPdGjSbiztXdvqZcwMQePS5w4YQCXOxcn-FltiCYejl0fHoxxmKkkgi66_YAGEScTqWCk7N_x9TtT_zkvFc7kkxbv139bUhF5M8heas2b2E_3eNc_fAEk3_5FLwB7VeV4qQ_s2iqezdlskFSO-DAtXVNrCS5k-zmfmO8owh6BF-NcYkxHkOdkH1fAz3NtZAypUnx9S_DlTpgDeM3l843okr0a11uyPSNHorjf7iL8KcqNm9kuWG-VNvL83aPVBo_B4d0HUR_eEpePWYVyEu2MzCOeOSrzu-5eXZSPceOgF-DgSn5Z1exyWWUq8HnGD1fC0t2NPOk84rQ8U9bReKteQQz1na4SeEDVe-htL8IHHyWSo3l0YeXwHerzQ6zj-NqXk8NgVY-N_31-Uc8m0AFp4dKSbw2KBLcqfrh2JFK_b6AWEoa9NtxN-qEulxFwxHOApIgwu8MIA31HjAFA_x6uW7rKMRxD8v9OAUN9SXEDpLHPTpM8bSOdZqPDvOLT9XXjJZywCuT-BjKIiIwa_BmHhFOqSwKwqZ_qB4qr4fkHRCGrY3DaEifPlwYCEMtzGx1WyT2oStgCR_b0cwTaZLFqQAxzC5bGzgUzar2fL-_sN2vrBmXoYknU7uCqDv65I3bjCqRNUH2oxR1SAR4zBNgVRSucp1CL1IZhtDDwvLUrN70HElXtMle58GHfzLGE6CEY9yVWxQEmJWX4yWsLaZ3FKqKdfZFwIjOQv3erBqfAQYjkKrLyDbzn1rauHVdh7Qrm64bUEvlq6mMgqTjyphQNFf_J9JbrKLDdJccv-5FRF6BNvBd77D-FzeBU35zS1OiKRdzgHTIpUWbOPuAcCWi1q8IL5ev_9WhaG3N2SPAAHbz4odNMzEZilX3paSWpB8WdZrHiTzWXOyvSmUAyVRRAk4dQiL090fFjODsRf41KKdf0a3Nnz1c_uHqTcV95O1gf15YrqWjvvI0_UKiHh0L4eBWCdrx9J_K7UAFHVDYgxzLKQijf694i7ebVLmryHU78wdHHEDSW8ulScoYp13CkmscCoI7fkuO3y10b739-waVO3dRc8DCBFrSNlJOMDgdmEq_OY8zHBWX0tdAUxogRkg2LXRjVAbn_MFHrsHBP2ZBglsjmAKFyN1yx9C4NdasGYWh6Yr-MmMphZtspG4ArJT1fthnhx-pSWy-0auF1nOQydKMvifnJGdgnvZpEPwE01_eLaoyrPGqH9zlEtrDTwA4SLnT7KM_9GaXyhMM96FkHUc4OxOQ4JUqVwGsmw6OFkFzKcl40MBnx1hXeffVsKNu-ABNx-Bwxm5ooweDidtBXXXRe-236BHaZ_rNOsUpRp_6bT8nQY-EKnVOJGYvbkzCkYRQvCotULm05haXi4tFlVylMJ-3tdOd_dtoXZi39SPuoC_tr1_TE3Cg",
  "id": "rs_08627449c1fa9534016ab476acf3c087d0aa1ab28bf030816f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.285,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush is visibly inside the left basket. I’m moving above the larger tan plush next and restoring the idle arm to its parked height.\"}",
  "call_id": "call_77NUgczi0etxIxqHve5aADoh",
  "id": "fc_08627449c1fa9534016ab476aec7a887d0abd8f2d316d2ca3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_77NUgczi0etxIxqHve5aADoh",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1286, 1.6352, 1.1976, -0.5713, -0.8455, -0.8742, 0.9966, -0.0212, 0.8116, 0.6067, -0.4084, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2871 left_y=-0.2891 left_z=0.1677 left_yaw=-0.0106 left_pitch=-0.0306 left_roll=0.0072 left_gripper=0.9966 right_x=0.2923 right_y=0.0007 right_z=0.1706 right_yaw=0.0019 right_pitch=-0.0412 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2547, 9.1009, 0.9451, -0.6325, -0.0806, 0.1197, -0.759, -2.3726, 8.9778, 1.8144, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976b66ced3974b1599cf9e531cbf7d63671b4326c82029bffe8b04edd6861880",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b888a0be70e2840aab3537a9b7495be43b9f8c383d64b2ea7b47e31ea1ec7be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1ea4ce22a21de70441fb1695de23db16ba0225f5169a09d0b41d94dd080ce7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.37 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]: [-0.4339, 1.8, 1.5234, -0.4294, -0.3771, -0.2947, 0.4261, -0.0208, 0.836, 0.6067, -0.4004, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1524 left_z=0.2081 left_yaw=0.0277 left_pitch=-0.0823 left_roll=0.0165 left_gripper=0.4261 right_x=0.2948 right_y=0.0008 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.0576 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.9761, 9.812, 1.9121, -0.0611, 0.315, 1.033, -0.1299, -1.7026, 7.0906, 1.7949, -0.0366, -0.0269, -0.0171]",
      "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]: [-0.4343, 1.8442, 1.3064, -0.1963, -0.3771, -0.3141, 0.9954, -0.0208, 0.8364, 0.6067, -0.4084, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4883 left_y=-0.1509 left_z=0.1354 left_yaw=0.039 left_pitch=-0.1072 left_roll=0.0138 left_gripper=0.9954 right_x=0.2937 right_y=0.0007 right_z=0.1638 right_yaw=0.0 right_pitch=-0.066 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.9487, 6.6803, 1.536, -0.1197, 0.0855, 0.1441, -0.2393, -1.4974, 6.9949, 1.6581, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1286, 1.6352, 1.1976, -0.5713, -0.8455, -0.8742, 0.9966, -0.0212, 0.8116, 0.6067, -0.4084, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2871 left_y=-0.2891 left_z=0.1677 left_yaw=-0.0106 left_pitch=-0.0306 left_roll=0.0072 left_gripper=0.9966 right_x=0.2923 right_y=0.0007 right_z=0.1706 right_yaw=0.0019 right_pitch=-0.0412 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2547, 9.1009, 0.9451, -0.6325, -0.0806, 0.1197, -0.759, -2.3726, 8.9778, 1.8144, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976b66ced3974b1599cf9e531cbf7d63671b4326c82029bffe8b04edd6861880",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b888a0be70e2840aab3537a9b7495be43b9f8c383d64b2ea7b47e31ea1ec7be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1ea4ce22a21de70441fb1695de23db16ba0225f5169a09d0b41d94dd080ce7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHa4u22HWl8EcQ_42Tarp8PE62dYNJ5Gam_95MFBRe4F_aCqwjE9zDE5sr2Y_9PdZhu4TIW4FnEFv3cvtylRdWMyAosL3Z4iRmG87HuRqqeH-cXgpR7lkZOJ92qLFDuJW4iuyNtz2b8eGxQPr_pKW5ravE8kVUzfgsOsUE2WT4sbVGkhPp-D6OofxHkPSB-kQEbYpuuNBYV6CH3qXHeayTNUK0TMaiOzKgNwS7l7OO2EwUNa1S_Iiazd94XIHHUIN-qbU6Ak6dzigTSMD7m0-zkgRPc7-u3nXKJf5S7IuH3hz_roPddD0PbKElO6_3zn3z2bZBE8PUFNAgxDlChSkhVgivu9zsWbKxmyCtUjfEnF3OxLfMKueIrCCx3vHytHmhUxI-okJdEJxMT5uea5EWr6fAILQ2UBZ-RkqIKE8Yd07gCAkbLdWc-pJzNeg1MMMIU3QO4ZiMeX219oOCwVMy41fs4asmPb1afNQCvaqh1qZTxwufemeX0ccBDUC5d_3ZGmKhdK4yHP1oBXT3MMCoZ-CbH0WdRveOaYBYDXQ66dMSrpTXuLgK5dZbqOXCMQ-jXCfgwqzOSWvOW_vKF2XdzkzuO-7tHL6hl7hHI2DveIu2zr1E_euaFRdKC96iUtOL7NxvKNgqfMp8RRUztZlEtusUGw79h2OFDjtxkJQG6OsONmCri-ac823mlLV3HQLLcl0VI9NRDuahleEKvQcNLooNm_thRnx7nS-cjAv3uMdMeJmwzv1ehhKRC1qNVd67ypaCUjRVDYPJyVxykWNJBhQ8udmtyTGOGullX9mucjBL-6eo5YCiJX_Eb65Ajp-pmMRyDGISIqh6cpmLf_h3yY5s8M381NISCUpprkksYn4ahgM8jTHlgzPORLDEQk_ETHvmtccRkwkFfSW2Pz1WkzRshuL31gCjYF_wxOgdaD2by_4gmBTQ_1GCK81vn9IW4y2arOsAYg-nX94XyWEyAY7I90Y-WFOloJLwTiQB2EjsV4Vh2XDBGhKKiHT9eIBvoWSyZNdbzIJ3AQENq8-rHLSthsoxo1XTB7gKRUnrAlyT3SSWbjePskuh3WbsuNzoaCl-HvBXVo8SLPuzKYLBX_BAMd6_3TJGBAQBXPs8jPB9igF3dJiBotsMHsIu5sVVuNzLZe1vG8EmRd3CZSiQsl0UbgzMqNn4CkwLOQXtEj_eT8qZRCNjmpAzDTcgJlHajk52jaFBKsGPGUGfGWXHWgWNFvTPiHqtZCoP9-yCv2Ui-nAAhSy77C13uDr2kvXtzHAxVobaem2KQgyN84EdHL6a2DI6vEbrKVz_X7v5AzAOpPnxJ6V85ykPAtuBC8kP3H9g6nWokHDD04TAPOfKoHiD2Pm6M4NyV1c9Djqc1rjvHThLTIjPZYLz5-yiSosRbxb2kzBj4W4Q9px4U5hoNcGiwF-8V97uctMVHWqibr_byK73qCRxZuooRdMtnoEQlytb5cpnWgqQ7Q5tjRt5l-1OpwI0yzhh2OoUpYufsQXTwsWdtnomoyhHRtAJKREQ9oOjRXwpRUbFPqMQDNaiPjIPPI_W4wYX3dnO3tOFViDf2S1uYEFjLiATsRf1qX2eb6",
  "id": "rs_08627449c1fa9534016ab476b6e38887d08c6209921095a61c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The tan plush is centered under the open gripper. I’ll lower to grasp its torso rather than its loose limbs.\"}",
  "call_id": "call_MNe8pX8bHEaQuqMQEwEYZfZJ",
  "id": "fc_08627449c1fa9534016ab476b80a2487d0ae0cb6343b77f163",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MNe8pX8bHEaQuqMQEwEYZfZJ",
  "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]: [-1.1271, 1.8366, 0.9207, -0.0692, -0.8646, -0.8791, 0.9967, -0.0208, 0.8135, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=-0.2914 left_z=0.0552 left_yaw=0.0037 left_pitch=-0.006 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2922 right_y=0.0008 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0446 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.4068, 3.5214, 0.7839, -0.2857, 0.0024, 0.0024, -0.3487, -1.4701, 7.1043, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb03f9d2acf48b6d8e540fdd551cd9098340c0423eb739354a87677b3e3b3af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafcd9a8ffed98f3bbfbe7e3c2891a478c47debf7cb60c994f913885c5b9c7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808287822afd225aac2a3bbdc85635081f35646052137d330ef60959faf97e49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.38 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]: [-0.4339, 1.8442, 1.3064, -0.1955, -0.3767, -0.3061, 0.4261, -0.0208, 0.8364, 0.6067, -0.408, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.1508 left_z=0.1355 left_yaw=0.0347 left_pitch=-0.1068 left_roll=0.0196 left_gripper=0.4261 right_x=0.2937 right_y=0.0007 right_z=0.1639 right_yaw=0.0 right_pitch=-0.0656 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.4017, 6.5162, 1.8779, -0.1783, 0.0562, 1.033, -0.2393, -1.2786, 6.9949, 1.7558, -0.022, -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 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]: [-1.1286, 1.6352, 1.1976, -0.5713, -0.8455, -0.8742, 0.9966, -0.0212, 0.8116, 0.6067, -0.4084, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2871 left_y=-0.2891 left_z=0.1677 left_yaw=-0.0106 left_pitch=-0.0306 left_roll=0.0072 left_gripper=0.9966 right_x=0.2923 right_y=0.0007 right_z=0.1706 right_yaw=0.0019 right_pitch=-0.0412 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2547, 9.1009, 0.9451, -0.6325, -0.0806, 0.1197, -0.759, -2.3726, 8.9778, 1.8144, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1271, 1.8366, 0.9207, -0.0692, -0.8646, -0.8791, 0.9967, -0.0208, 0.8135, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=-0.2914 left_z=0.0552 left_yaw=0.0037 left_pitch=-0.006 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2922 right_y=0.0008 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0446 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.4068, 3.5214, 0.7839, -0.2857, 0.0024, 0.0024, -0.3487, -1.4701, 7.1043, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb03f9d2acf48b6d8e540fdd551cd9098340c0423eb739354a87677b3e3b3af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafcd9a8ffed98f3bbfbe7e3c2891a478c47debf7cb60c994f913885c5b9c7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808287822afd225aac2a3bbdc85635081f35646052137d330ef60959faf97e49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers have reached the tan plush’s body. I’m closing gently around the soft torso.\"}",
  "call_id": "call_paT3Fe1cERGfmgXqu8vFqrdm",
  "id": "fc_08627449c1fa9534016ab476bb426087d0a65fa1653a00cefd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_paT3Fe1cERGfmgXqu8vFqrdm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1263, 1.8439, 0.9108, -0.0376, -0.8829, -0.8825, 0.1969, -0.0208, 0.8146, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2902 left_z=0.0548 left_yaw=0.0166 left_pitch=0.0139 left_roll=-0.021 left_gripper=0.1969 right_x=0.2923 right_y=0.0008 right_z=0.1695 right_yaw=0.002 right_pitch=-0.0458 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.1419, 6.106, 0.8327, -0.1929, 0.0024, 0.652, -0.3624, -1.265, 7.0085, 1.7411, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869d9a6d7ed6d12d61142b13a2e21dab5c3a54e62259459c7b144e8e8c820b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d9381d3589894465a664c6b9c68c54317486a54ca9eb38d854e7d92cc1790f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106f92dc549f3ebfb389381db05ce2198bffe2ece77b19e07a212e65d4f91550",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.111 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 68 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]: [-0.4343, 1.8442, 1.3064, -0.1963, -0.3771, -0.3141, 0.9954, -0.0208, 0.8364, 0.6067, -0.4084, -0.0181, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4883 left_y=-0.1509 left_z=0.1354 left_yaw=0.039 left_pitch=-0.1072 left_roll=0.0138 left_gripper=0.9954 right_x=0.2937 right_y=0.0007 right_z=0.1638 right_yaw=0.0 right_pitch=-0.066 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.9487, 6.6803, 1.536, -0.1197, 0.0855, 0.1441, -0.2393, -1.4974, 6.9949, 1.6581, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1271, 1.8366, 0.9207, -0.0692, -0.8646, -0.8791, 0.9967, -0.0208, 0.8135, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=-0.2914 left_z=0.0552 left_yaw=0.0037 left_pitch=-0.006 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2922 right_y=0.0008 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0446 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.4068, 3.5214, 0.7839, -0.2857, 0.0024, 0.0024, -0.3487, -1.4701, 7.1043, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1263, 1.8439, 0.9108, -0.0376, -0.8829, -0.8825, 0.1969, -0.0208, 0.8146, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2902 left_z=0.0548 left_yaw=0.0166 left_pitch=0.0139 left_roll=-0.021 left_gripper=0.1969 right_x=0.2923 right_y=0.0008 right_z=0.1695 right_yaw=0.002 right_pitch=-0.0458 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.1419, 6.106, 0.8327, -0.1929, 0.0024, 0.652, -0.3624, -1.265, 7.0085, 1.7411, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869d9a6d7ed6d12d61142b13a2e21dab5c3a54e62259459c7b144e8e8c820b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d9381d3589894465a664c6b9c68c54317486a54ca9eb38d854e7d92cc1790f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106f92dc549f3ebfb389381db05ce2198bffe2ece77b19e07a212e65d4f91550",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The gripper remains partly open on the plush. I’m lifting vertically to check the hold and clear its dangling limbs from the table.\"}",
  "call_id": "call_myrex34DI4qmCOy4P7tToRb9",
  "id": "fc_08627449c1fa9534016ab476be644c87d0841291abbbf21442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_myrex34DI4qmCOy4P7tToRb9",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1259, 1.6787, 1.1717, -0.4915, -0.8684, -0.8917, 0.1983, -0.0208, 0.8146, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2938 left_z=0.1532 left_yaw=0.0138 left_pitch=-0.0087 left_roll=-0.0085 left_gripper=0.1983 right_x=0.2922 right_y=0.0008 right_z=0.1694 right_yaw=0.0023 right_pitch=-0.0461 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0017, 8.759, 1.0085, -0.5836, 0.0611, 0.1245, -0.2803, -1.1966, 7.2137, 1.6679, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8387ae39ed89180e474ee8e0202f70173e6220874008a5bd1b9c9f8b8c173c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476994aae59b45b70a0df9ac53c36f2e4225d4b8873859fc3d96bde1294de4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57628deae207a72363df0165b1fcb7960c5ca9046c0104a8162c5775645c6994",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.596 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 68 changed as sent

message 71 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]: [-1.1286, 1.6352, 1.1976, -0.5713, -0.8455, -0.8742, 0.9966, -0.0212, 0.8116, 0.6067, -0.4084, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2871 left_y=-0.2891 left_z=0.1677 left_yaw=-0.0106 left_pitch=-0.0306 left_roll=0.0072 left_gripper=0.9966 right_x=0.2923 right_y=0.0007 right_z=0.1706 right_yaw=0.0019 right_pitch=-0.0412 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2547, 9.1009, 0.9451, -0.6325, -0.0806, 0.1197, -0.759, -2.3726, 8.9778, 1.8144, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1263, 1.8439, 0.9108, -0.0376, -0.8829, -0.8825, 0.1969, -0.0208, 0.8146, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2902 left_z=0.0548 left_yaw=0.0166 left_pitch=0.0139 left_roll=-0.021 left_gripper=0.1969 right_x=0.2923 right_y=0.0008 right_z=0.1695 right_yaw=0.002 right_pitch=-0.0458 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.1419, 6.106, 0.8327, -0.1929, 0.0024, 0.652, -0.3624, -1.265, 7.0085, 1.7411, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1259, 1.6787, 1.1717, -0.4915, -0.8684, -0.8917, 0.1983, -0.0208, 0.8146, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2938 left_z=0.1532 left_yaw=0.0138 left_pitch=-0.0087 left_roll=-0.0085 left_gripper=0.1983 right_x=0.2922 right_y=0.0008 right_z=0.1694 right_yaw=0.0023 right_pitch=-0.0461 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0017, 8.759, 1.0085, -0.5836, 0.0611, 0.1245, -0.2803, -1.1966, 7.2137, 1.6679, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8387ae39ed89180e474ee8e0202f70173e6220874008a5bd1b9c9f8b8c173c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476994aae59b45b70a0df9ac53c36f2e4225d4b8873859fc3d96bde1294de4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57628deae207a72363df0165b1fcb7960c5ca9046c0104a8162c5775645c6994",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbDACRxSRbqpPIo0JJoDpu4Saa64NFzdTFqjTWGhe2ZKYnycz9V6ebzNZsHPNj0tX_oCszJMgeuCZ6Z_qdebYS12X6zCWzZ_QwX9WLfENTu8TEuPX5JQS4vr_nbW44fc6AqgcLnecCwfEYHXdtVAaKbOU9DJj2qy1ptrb4wiqvTomTd3zKw3FZfctOkD6DwVYy0hIMA-6egJZKueGHDI1Lr3DDhRv79e7XhreFy1mRWmgLNxBF60l6MMc4vgM0jIGcQuYstZtaMeRxZYRfG_URe7k344lXx3ifXz-C-W8T5BhLjeLnxU_DcgXYaB0LRQX_AYjDMfrf-e-Wh6CuOTkQK8jpNnDvm38GUcAlp19oKFVFsxC_XcdbdlWyUgqm8z-JimB6mUSviZIyGYaeHVa-RJ5hn6hV05Rz527F4CIvGaxpPdW4j5nGFhMTftsgd0Zg4IYBynsmcPB7sTrsYtEJ5WU5PrMkSOWZtNr4pjgWjHqRfBgpzgWi0cweZeyxf5BJq8HptHE3GdZ15iCVuLJabQ4Czr5AZY4wm9cijfU7QMtWthz7fXME5aqb6R-TaBlHLd_juzJed7accwj-NyU91vxVcGyJHkj7LoYDive8a0BSPtQcuweKWmojDHVy1nJ59A04TbeStTE__bImmqP7QOfc9FIRfTxGvRGIvppvirnZHJrFsdpR7lgHVvZCABOngYz8lZD9eCWeLJMHT8Oh-TuE82G1-fYeXTYw4eslNMqL2XOyf5sJp65rM9z4MgGMuw-H5EwSAdy2ckP06VhQ7D_Ni3p34ZpC5GDGZbPhlURVNRZqMhYjqcJMz3ThfqvPjmKbR-Yt-QW8jY5tUAFlTo6LvfdSYKEbI12Aja5hmyXm8Zf3lhIawpOp7MEXXMQ1zpOAdDJ7opL6XIGi53LwZL1FgKNsjtYgi84wKATEhvurj7SSpBrirR7QfTb95LLV813j11lclCYbWGG4vpnvmcu2I2QqtmiBAi5g-l1mAGI8-DSNSvveNKsDHMprq-TwITwx5XgZ5rmrQ_QprZFKiiQxz83u3Jz7KWZxyLf2HdwME-My3nZyH_FYkCRjdV1XOZMxY7TtIYcCrorzTDKHje7ZsoCDn55Exv5qZVjkJDMVeHsFbs8vA35R7ms2EVlKZd8D7UBvydMGxhRzbZtFRUzHpUUnWcNB0zVh-LDp6Un9LFb_nf5EdYKYk7YG_9c12DHko--SejNAt1-6K6i_B49s35JXyh6SoIi41mLxdqRPWmkDCtLrGDSuodIxHjsea_dCNfGd69LEhlrZ4ulGWxZgi9quStjxK6JxyGzfDolcU8ByXJT5Cu1rPA8fITMhlQkzU3hxBF4rrh7K1a6ahLg4nkFTeOVRK7NPd13-ER6Ne5Vl53CmyzxmDy7vB_oOJEF5IDpzl-XjbSGqPyKNqS5VPkcilAwlH_mRMJSttGZpRQObCBLdB0g1t_34MfGwg",
  "id": "rs_08627449c1fa9534016ab476c187f487d0975195707fbcf473",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.15,\"left_z\":0.28},\"note\":\"The tan plush is securely lifted. I’m carrying it over the same left basket, keeping its long limbs above the rim.\"}",
  "call_id": "call_Eo15TkH9mgUQyyMAQRFj0h96",
  "id": "fc_08627449c1fa9534016ab476c2984487d0adbe34d2a9778ac6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eo15TkH9mgUQyyMAQRFj0h96",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.44, 1.7493, 1.6325, -0.5842, -0.4091, -0.3424, 0.1998, -0.0208, 0.8181, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.479 left_y=-0.1439 left_z=0.2533 left_yaw=0.0729 left_pitch=-0.0678 left_roll=-0.0058 left_gripper=0.1998 right_x=0.2924 right_y=0.0008 right_z=0.1684 right_yaw=0.0023 right_pitch=-0.0496 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.1282, 10.2222, 1.79, 0.0024, 0.4322, 0.1392, -0.1162, -1.6479, 7.0085, 1.663, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8de564e6590132bc81a1abf9acb8cc3d4aff080984a9bfb4da3d840431c7f98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce3b6a2e4d13cf1f2dbcabafadf62889ace2e65bd108cfdf27b499b6522b8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50616d7d9d7741691f8348a824bfa0505641fe728107d258f7f771a3ceb9f647",
      "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 · 5.089 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 71 changed as sent

message 75 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]: [-1.1271, 1.8366, 0.9207, -0.0692, -0.8646, -0.8791, 0.9967, -0.0208, 0.8135, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=-0.2914 left_z=0.0552 left_yaw=0.0037 left_pitch=-0.006 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2922 right_y=0.0008 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0446 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.4068, 3.5214, 0.7839, -0.2857, 0.0024, 0.0024, -0.3487, -1.4701, 7.1043, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1259, 1.6787, 1.1717, -0.4915, -0.8684, -0.8917, 0.1983, -0.0208, 0.8146, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2938 left_z=0.1532 left_yaw=0.0138 left_pitch=-0.0087 left_roll=-0.0085 left_gripper=0.1983 right_x=0.2922 right_y=0.0008 right_z=0.1694 right_yaw=0.0023 right_pitch=-0.0461 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0017, 8.759, 1.0085, -0.5836, 0.0611, 0.1245, -0.2803, -1.1966, 7.2137, 1.6679, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.44, 1.7493, 1.6325, -0.5842, -0.4091, -0.3424, 0.1998, -0.0208, 0.8181, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.479 left_y=-0.1439 left_z=0.2533 left_yaw=0.0729 left_pitch=-0.0678 left_roll=-0.0058 left_gripper=0.1998 right_x=0.2924 right_y=0.0008 right_z=0.1684 right_yaw=0.0023 right_pitch=-0.0496 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.1282, 10.2222, 1.79, 0.0024, 0.4322, 0.1392, -0.1162, -1.6479, 7.0085, 1.663, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8de564e6590132bc81a1abf9acb8cc3d4aff080984a9bfb4da3d840431c7f98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce3b6a2e4d13cf1f2dbcabafadf62889ace2e65bd108cfdf27b499b6522b8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50616d7d9d7741691f8348a824bfa0505641fe728107d258f7f771a3ceb9f647",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHbHaMgRdaSip5RZPKNxN97p59JUSTrDBvldeAZNXNDEbjyQ9zhwHBjXrTB_vymFqHgcq2iUnJrFzMu0exdf4EOaSqAj93NT3CcjS4w7FWyRqEq5yoe1qi80OQu69tQzILQkxrZhHkBBPWMvMJIubk6O6WsPYpManNaevFkRfE35Gn6xLjfTaloN-juSQjSy6vIZC8rRJej8K0s5W-reoj7hVj3U7RuFozDwK2cuEdQVXdkh7ER79pfmgWLmPv0Z6V46s8IA9IdScGi3zY8_Xq-32hccGqNlduiBlY1C07_CrOgpqlw0ERGx_C8sadeXeEzC6_paXwzluQixr8QS1iqHdibZ6ot6Y4-r_LXpvqHbec9PcHAkpdYzS9gaOR71zF4QMZed-AyiDNPRLTESppA3XSUSIUS9rBsKlDB-HQZ0QGzUVONt0pYygxrnZ7mPaaKW-uOvMENUR4NMS24za-6kxB9qMdzQed6j6oL9VBr_kUDJO_S6d6FvrC6ffIDaZiW2xfU861gzMNpenjIvEA8DfC9N5CiSAxSuklGk7ALk4mEX7vbKBvbsBn6WJICXaO8yhW826n1wwlMU1wqBQqmq-kksAtpqRdmUdwU735zeSPzJfFEb1PODsLORn7fAi9vvKQStOTtWS-YL828vrA6mAzxVoF3Mj91hPJhOKv_nEe5SOMUiX4VGB8HCbG13PC10zu98zqnQMKJMH-MAn6wCvPTrZ6-WbpCuk8ZLzy51nz_iZm7zJVmpDv_3lWT3kgF1vA0n1O5_N2DVN3wyvdfMVnj8lBZwsLH2eJ36vG6dYAE3Lg-aBwXzOzBumWTrk3KS2hOhqPPCEDwr9Y7YVC1cSBMWiK4WlUklA6bfcUc02hobdDbHSvWneD7aYZhwjtA2fJwwFRK5-gztqd6rXCaN1g6t4_DuSoqt2MKh_EAEEQMvJ5FOvis4iF4JWUI_iO_w3PjoCWX4jsYAcS2B73ErgQeNwr7oNST12LeoeLV_j8te1M-yD7cookgL0_KWtCAP2zir063lb1JUL6nBDYxaeA4d0WZlL0KYMFgLbaheK_UwetivJceb5q57R1XbHB8U4W5BcrNur1ygXQDDmLnE43R3ldZBpkflFMNEAuQDeou1oDY00KoAgz0en7mfetph4D7QErOruaUgcjlDjvNaLgGYpRyKf5MZnJQWW3wvlhRaSQoTbs_yzRtfhqFdd4oHh6rIIuf_At3GHQZeQVRGX_cDkFGa3os3S8_VEdDS7JKuH-ZjNYAtxCCe1Z8f7tOV7v821XSzt9qY2JQJqXA88A==",
  "id": "rs_08627449c1fa9534016ab476c60be887d0bcf8c80fc6cf9129",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The tan plush is over the left basket with its limbs hanging inside. I’ll lower it a little farther so it settles with the smaller toy.\"}",
  "call_id": "call_LLsDqX4ls6mFpzZNzDf26bF4",
  "id": "fc_08627449c1fa9534016ab476c6b78087d0b89b0ff7a8e6ef39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LLsDqX4ls6mFpzZNzDf26bF4",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4397, 1.7618, 1.3521, -0.3943, -0.3958, -0.3405, 0.2019, -0.0208, 0.8204, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1397 left_z=0.1609 left_yaw=0.0674 left_pitch=-0.1622 left_roll=0.0382 left_gripper=0.2019 right_x=0.2926 right_y=0.0008 right_z=0.1679 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.2923, 8.1299, 1.9902, -0.3053, -0.0708, 0.2076, -0.0479, -1.5658, 7.0359, 1.6728, -0.0366, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ab937307620abeaea77526b3d94d595f87543303d7b3cdb7b8f31e13928517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c93b9365b923d2175bfdc0bdfcd9d82737e800f1a0d2b1f3e37b18fbb2fca65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9e446d4fce4e2d0008f7657baf5793df993c5fe3239a767fd6c77940f775fb",
      "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 · 7.005 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 75 changed as sent

message 79 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1263, 1.8439, 0.9108, -0.0376, -0.8829, -0.8825, 0.1969, -0.0208, 0.8146, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2902 left_z=0.0548 left_yaw=0.0166 left_pitch=0.0139 left_roll=-0.021 left_gripper=0.1969 right_x=0.2923 right_y=0.0008 right_z=0.1695 right_yaw=0.002 right_pitch=-0.0458 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.1419, 6.106, 0.8327, -0.1929, 0.0024, 0.652, -0.3624, -1.265, 7.0085, 1.7411, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.44, 1.7493, 1.6325, -0.5842, -0.4091, -0.3424, 0.1998, -0.0208, 0.8181, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.479 left_y=-0.1439 left_z=0.2533 left_yaw=0.0729 left_pitch=-0.0678 left_roll=-0.0058 left_gripper=0.1998 right_x=0.2924 right_y=0.0008 right_z=0.1684 right_yaw=0.0023 right_pitch=-0.0496 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.1282, 10.2222, 1.79, 0.0024, 0.4322, 0.1392, -0.1162, -1.6479, 7.0085, 1.663, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4397, 1.7618, 1.3521, -0.3943, -0.3958, -0.3405, 0.2019, -0.0208, 0.8204, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1397 left_z=0.1609 left_yaw=0.0674 left_pitch=-0.1622 left_roll=0.0382 left_gripper=0.2019 right_x=0.2926 right_y=0.0008 right_z=0.1679 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.2923, 8.1299, 1.9902, -0.3053, -0.0708, 0.2076, -0.0479, -1.5658, 7.0359, 1.6728, -0.0366, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ab937307620abeaea77526b3d94d595f87543303d7b3cdb7b8f31e13928517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c93b9365b923d2175bfdc0bdfcd9d82737e800f1a0d2b1f3e37b18fbb2fca65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9e446d4fce4e2d0008f7657baf5793df993c5fe3239a767fd6c77940f775fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbMqiLKynZlhsXWR242vS8aQic4bBrBNo7rAWefajwiBI02iOZAqS8XWzGwR-O1yFvOk7NDaf1_LjDFr0T7zkR29dCRAPqVUxoPD3gVxOGBOgI0H7h8n0svLbexusDXklQo6g7N_NPLpZGysSiJLNr87BP8B6gSladX_J80AdSkk7afMPCDcipu3VTNUA2xODqBvJrCVkIn2mhjqLhzp8es47Ob-HZwinQlm0S598MRm-T-5__VahlNkYgSzQ5pRb-kKgJ_tvfbUQZKkmo5G_VhKFmBJI8MEn8mpacTxvsWgpYn-HW0lK_EZQ5XjxAd6QDsx1-axDo9koE1Qu8Isqfu7GMVFFioVPmGDWhst1-gb07cCDJGEWF_5jo2Dzc6Iyv0muSmzGOr4DXCSXSNq-wKt9Z40yG_xEOao5-ktchraQsXs46LHQiMiwaUaKHXo5VA5_70B8W6TkbSkr1gCw67rP-tzovBnu1_gFZ8mj4ZBVVmpCfWfCPrqM_NdpqGun_ZjP6iEPtFpRQ3HsWYQm_FfhYHckvQQV24uXaDR72CWOri-Kx-m2aFq9ImVKuFoJCYTb4TGR1wGMOcp1Yg-cog_VNnMAA6WTyXPuLJ8oKFs8sgPndeT-KyR-fE0Og0pB1oluTSl65GNKaG1Lg7IhAAHyOCDVySAMYX_uFaE1DxLHAI3eTQ5TdFDOvEpvZhKNCQUE_Mz-xBnSXiX25A7XcDKts1GA8EHS1yO2GeVXp1uYsWDmLcMFUsi7qHFmb2Bb-VkBd9oY6bTpfM7ssQ1hdnMzZnwNz0IIdqUoe9kS-YSbyUPcOYRTP0jnV9SkBX4z1I3iJ-A2liZAxKSVDNA9Rcu6OCpsi6tZRu9IqCsJOoX2ul_hAi5HyAu0LwR0kbfhFtIOZJzH54w9ZMELXO0ChDvo-YwWbMMRq8uI0g-F6VL65EcdDcSHYvkJPFjLMLMzpGAb7icgk5Bv7I0qyuMTxCcBQiILVLzbQp-WtG5ym31RYFhjINXp0x4B1wATZ--YHkKWzKmZyhhOw6jirf97UpdUhX5l16aNWHubzJHJsgqXwl0z1mQzE1DelBbOXfkm9WCg5UacA1S6frdTgyHcWlX8aonS0mZx6QmdWlmVxOz4zymG99CIBz2xBKlGjWKUkjh8688e_2k4s9PTIvJ7yz01kqo67CiGSi421fuyv6QRIeo2OfXwsoKoSjyAoATQ8qnyYVEUkxm78IKNxpnBxH6usBmYcTxDO7nKolSN-K9mdYYM7B88SD4DO1HSucAlOOYyLIulMBPkia1-JE2OnDSiABaX6y1BzognBjTjTd7ZuRGbys4ZnCaPWdYE1thMUIa4zUgGvt7H-UZv2Cs0MTVBXlYB6-vOO54pFFf5LwavMq3MQLH3cJ9Z8PBpiqyN64_m-vOf34DEIxRRrJh8TkxH9nQN-COQKCEUzaMgkYn4lTOvmNlSDu3i3MfRQlQJiAzOjNKKCP9A4PXb202WELgN67KXMmehD5tvcjPDGTDyJCpsiyws-EAEeppLU1mXFAkpGhFgofsz8fpjAY78RBrohiiuPLPm9StErC8J_xnVbV4DmiNOBQ6WgQrunKu2e7cAGFGTQHuSp_JvkIacNMtAYF2DruLBpoJ4Tzr25DGCYiIoFc6j_OWceZGnfsXL_xp8pNpz0PT5EwlJFPcHHvd5-SsKeWR4N8UTt0KBvJejsFdtBN4twkbGQ6eHjyUbo3JTGc6jubZdNocDE7o928Rg7KFG9es9P2KzrrfpwWjSVbrjwa0x34K2Ci6DAMxfXaDPttkpF5olzJU66MyO-jDNtwnZCTLnNadOjEuhVrD6x85ReDT5gzYHFp9JLwuaQzpGvfbdDd5-Jv2mK6HWiDVDuscd3KcVrE0Yz7dErixVQ=",
  "id": "rs_08627449c1fa9534016ab476c93abc87d09f7922b6741b35a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_z\":0.2,\"left_pitch\":0.25},\"note\":\"The large plush is close to the basket’s front rim. I’m shifting it farther into the opening before release so its body does not hang outside.\"}",
  "call_id": "call_QIw7mxRJabltmd0z109pidLq",
  "id": "fc_08627449c1fa9534016ab476cbf8a487d0b9a76b9bc9eeaa3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QIw7mxRJabltmd0z109pidLq",
  "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]: [-0.4015, 1.903, 1.3415, -0.1478, -0.4358, -0.2245, 0.2032, -0.0208, 0.8215, 0.6067, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1314 left_z=0.1321 left_yaw=0.0699 left_pitch=-0.0709 left_roll=0.1086 left_gripper=0.2032 right_x=0.2926 right_y=0.0008 right_z=0.1675 right_yaw=0.002 right_pitch=-0.053 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.8359, 6.8581, 1.9951, -0.2466, 0.3443, 0.1343, -0.3624, -1.388, 7.0085, 1.6777, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d13bb7f54df1798994de990abcdb0c9c944ceb2f84f4ecad114f65c6a9043b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3c427040af10baaa79b05a516f3fac3d474aed1065831b508eb3b7343fcc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f2fc66ee8b3240e0767dac4537b752fed8e5756f38e296cf0ce36cf8c61838",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.48 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1259, 1.6787, 1.1717, -0.4915, -0.8684, -0.8917, 0.1983, -0.0208, 0.8146, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.2938 left_z=0.1532 left_yaw=0.0138 left_pitch=-0.0087 left_roll=-0.0085 left_gripper=0.1983 right_x=0.2922 right_y=0.0008 right_z=0.1694 right_yaw=0.0023 right_pitch=-0.0461 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0017, 8.759, 1.0085, -0.5836, 0.0611, 0.1245, -0.2803, -1.1966, 7.2137, 1.6679, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4397, 1.7618, 1.3521, -0.3943, -0.3958, -0.3405, 0.2019, -0.0208, 0.8204, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1397 left_z=0.1609 left_yaw=0.0674 left_pitch=-0.1622 left_roll=0.0382 left_gripper=0.2019 right_x=0.2926 right_y=0.0008 right_z=0.1679 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.2923, 8.1299, 1.9902, -0.3053, -0.0708, 0.2076, -0.0479, -1.5658, 7.0359, 1.6728, -0.0366, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4015, 1.903, 1.3415, -0.1478, -0.4358, -0.2245, 0.2032, -0.0208, 0.8215, 0.6067, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1314 left_z=0.1321 left_yaw=0.0699 left_pitch=-0.0709 left_roll=0.1086 left_gripper=0.2032 right_x=0.2926 right_y=0.0008 right_z=0.1675 right_yaw=0.002 right_pitch=-0.053 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.8359, 6.8581, 1.9951, -0.2466, 0.3443, 0.1343, -0.3624, -1.388, 7.0085, 1.6777, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d13bb7f54df1798994de990abcdb0c9c944ceb2f84f4ecad114f65c6a9043b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3c427040af10baaa79b05a516f3fac3d474aed1065831b508eb3b7343fcc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f2fc66ee8b3240e0767dac4537b752fed8e5756f38e296cf0ce36cf8c61838",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHbVvEUu7WwSsa3M0nxwJowpLkJhKC32m_Cor3Gr6zJLUZHryA0e_AK0iFMKGK5LKrJycemZoX51Pas1Zq0VJsqDcwg6bNNAccZbTPtVqZCb7mDCq02s8I1OgW71Kt3poQemKrZ2MPB0F_EEvg1m0cIlI6LIT8M-P_NM3YSvzaBSG0M-dF6WBvwwkiMBLoMMFv6mC8c8JKFHoJGyVx5YyBCoS7TgjNd3TNiNlI4OXHi9zZ3vTWi6tZadV2UUeOjbzJ4XDCV-61dheDhG2KbHbK21p8_Dof-Q_tcvuqs-BV50wa3O-I6TzjL60w7TsmPwKFRszlmHCEUmg1Rxu92Ez5g757ucZiYc9Uypkiys9WNJaEQagRzPdk-1y6fidC1WVFNs-WRmxABo3xVX0DPtddTvKQEB6pLXMQxiu4i5s_jxBB8vJDuVbQ17Skgav2EzDfIAonSrMXuHx3NnR2mCEn1ORHZmNzzJP6saawfjQnooGPn3ZlLcVJicEbfYCHMR1vCai3DrU1zQTKevSQx_JnjsutXhz4WA79rILF_88rl_vbVhNJKMYU-Q1Ymw1sHS2kHuQEFAIFEfu7UFvZsZjxU085jvrJ8fW5Yr4PkhahlQBq9QtbZjYBynqLJGpyPSvWzzOvBWt4sTg85YXOOrdI0aV099pmIrpoUkGi8wocQwQ0pemlZt7ZLuAkCtJT5NFu1oEkMgTIWY0YMvg1x9WFpQEVCmxStkOxPaQdy5_83JZelYQY3VJL_f7AIfKdEjdVGHzC-l6i_4Uj6oyAifJTjECmUFMO4ejMzUshifd4G_ErUnKoeHgaIJaMCGCNjUZ6uYUjAaxbA7sB0ggdYffKQ_65e_hMgRtZemrGc4Ahkvfng1R1YQIV5dgpnO_Wrwi4vclY774wb8kEMfYfRjEGNDjgggw6jahkIkQCtXjYrzdYh6EWEQGUq0GWNh771WH-xhYPGUxjeUZTnK_Zed5ddnZtH1NtTkiJTlSb4KOf5YaDYFzFGD4QMSzSMn9YIBH7eYkeAxCDnd9I-vJ3OzAECXrKGb96ZNNtfAGL1tw6uXu37xw-e95Yc0eOBlgrkWHDhUYAhFtkjGn-2JJj3dHeQp3viKvIXrsy5LiTLb38C64IlQ8i3us6ct4ORt_gNy8qRd9WxLNCOq-hHIoluCI79cfHScXsXA49T5Z-j8FkOyLt7c4tKLHK4CefvdEQDOSelH5SIjpjZC-p9K96p5rDqcIBRSe-A4Y70FYjIGHYPDve9MtoVfLk656JqQPbn9urUfXLqSrhbIbzhIBWweXz4AQwxGcsb1UoaWYhNpfBhhyN_-K8A_f-1-4myfPSwQhI2xdBZrUZvYXlShUvFyyMa5ewSuQIZeiMWHT4-XpenP-lBBTO1asE8caJsc70lYK7nrf49gllazPTOQTG-FzblTNTm9lUiAYkbhBkTqw7fQsnzjeJTP-UZDddrbuWlTrvCAioM1g5QbBeX7B_5m6F-t-LU9E-QcGTRget6wu2-gPDrGYYubD8LwqlXzutsyclTGLPeZFG_xuCqOHQ9X4551-CGJcYl8DXKlEZc2tw0KhE7B1mnHBivNmcFYF8DNNbzcIWjvtzdtlouiDUkUNUeeyVsqFpP8oiztG9WHV21gNwsFrtXFPUYnwnUKOa1_71rym_7s4iN3jB2n98AMxuW5gooygznjInA9qdj3jeM8cKKYzdM_h3cjPgrxWAVNzzdxb003JJLBOIPZXhw0ga6B760eiRrB_CSFSQRLHS1Qm8IHLASctjLaOAxD5b2Csy7W5eClHHgkACNI6yaNzLHSduMveMjTssOKuYpsmpqjDPPxPsQ_sZue98KCjmYOgUaYtjaCz7buzu5xH9SkbyZNB2v3OV0J0ozD4D9Zs0oGtA4iipHclpRuE7P6tUDef51cRLq-DanOondQxjKmCuNdbC1_c6gUwDa0XrnWcsMJ8kEWBiPmUzGCS9Zx0Fe_3AuhruDtdGrKd5G72jj3HDVAMlScR9jnm-_VjqPlJu032w6oXmJsC1x5Qo3yXeFZmFQWNbjTMLneDBG4KqGE7W8uVbmXr8y7w8LDpm2k-oJ9bE-LEUlsknV5hpgw1wsD7DtB5ZyqRXa23BM8d3k0XOAYyrCyng08yPMZCgqA5x_l3Zm1rqdWN30Qhs9G0JoRnab1",
  "id": "rs_08627449c1fa9534016ab476d15c5087d0be49892f94e4b1d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush is now farther inside the left basket. I’m releasing it there, keeping the pen basket separate.\"}",
  "call_id": "call_LIxMatq30ReMYo2rrVenfGE2",
  "id": "fc_08627449c1fa9534016ab476d47b0487d0b4b66ed18a4fc82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LIxMatq30ReMYo2rrVenfGE2",
  "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]: [-0.3969, 1.8778, 1.3212, -0.0975, -0.4511, -0.2333, 0.9956, -0.0208, 0.8249, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.512 left_y=-0.1272 left_z=0.146 left_yaw=0.0903 left_pitch=-0.0169 left_roll=0.0844 left_gripper=0.9956 right_x=0.2929 right_y=0.0008 right_z=0.1666 right_yaw=0.002 right_pitch=-0.0561 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.1709, 8.4444, 1.1795, -0.0464, 0.0464, -0.2027, -0.0889, -1.4701, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b334aa10348e456ef6c38643255fe52481dceccced88f5a1397a2d17190e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d3cedc635bb178db8706551cd439e30a6e8edead84cd6487f6458b2fe2a000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104607e4d070fd003c15fee5a93a607b62219c9d6c12d3f0df0f7e7f2371ec4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.861 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.44, 1.7493, 1.6325, -0.5842, -0.4091, -0.3424, 0.1998, -0.0208, 0.8181, 0.6067, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.479 left_y=-0.1439 left_z=0.2533 left_yaw=0.0729 left_pitch=-0.0678 left_roll=-0.0058 left_gripper=0.1998 right_x=0.2924 right_y=0.0008 right_z=0.1684 right_yaw=0.0023 right_pitch=-0.0496 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.1282, 10.2222, 1.79, 0.0024, 0.4322, 0.1392, -0.1162, -1.6479, 7.0085, 1.663, -0.0171, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4015, 1.903, 1.3415, -0.1478, -0.4358, -0.2245, 0.2032, -0.0208, 0.8215, 0.6067, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1314 left_z=0.1321 left_yaw=0.0699 left_pitch=-0.0709 left_roll=0.1086 left_gripper=0.2032 right_x=0.2926 right_y=0.0008 right_z=0.1675 right_yaw=0.002 right_pitch=-0.053 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.8359, 6.8581, 1.9951, -0.2466, 0.3443, 0.1343, -0.3624, -1.388, 7.0085, 1.6777, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3969, 1.8778, 1.3212, -0.0975, -0.4511, -0.2333, 0.9956, -0.0208, 0.8249, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.512 left_y=-0.1272 left_z=0.146 left_yaw=0.0903 left_pitch=-0.0169 left_roll=0.0844 left_gripper=0.9956 right_x=0.2929 right_y=0.0008 right_z=0.1666 right_yaw=0.002 right_pitch=-0.0561 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.1709, 8.4444, 1.1795, -0.0464, 0.0464, -0.2027, -0.0889, -1.4701, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b334aa10348e456ef6c38643255fe52481dceccced88f5a1397a2d17190e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d3cedc635bb178db8706551cd439e30a6e8edead84cd6487f6458b2fe2a000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104607e4d070fd003c15fee5a93a607b62219c9d6c12d3f0df0f7e7f2371ec4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbbAvC_e3TaeUlZorj0WL8KLl9dzNuXEhbhXgQIOSQRCiIXm3El1423OC6tnDQLKjEjeXaGP2x3NFnXYt2fy3uyhUQ58gEnRjgV2NwvQaIPsMdEvExLqJSWCPhgpBdmSw8_m00tFLa7kwoZQhbwEss9vpdudGDU-4wefd2EZ9MlTYninXbRq37N4vOoef6qHUo6BQXid0wZKboK7Q9eTe9-gRBPi0cioiQjo3bcb34GdefsrXug_AHmv9lpCuMK_SxHgRhZcyeHD0pbXJ3h7W7OBR1__n9WxSe2pwXVfDHt_KAk9h5PpV9vN11RYFkL1nslxo4gVJ5L51y0E7YEBZDj9x9QwHhKYBNuzxZe7Myf6WXw-zrnEhfmx9k-eLJdoEcYybKdREbCHv7xYE6tLEPAQMqOIpgv2pYRruHjyMTtOvFaCbL_7h_qSIlN3SBIdt-5io9Wm4KZn78cij0yMctYnB9Hf2Fg5UbFUDNLG11hRmG67U7NxVx9qUtDfgoX_ETwLjmOo8849F0Dsg_-zJA9_atxVUMz-MjoZQlG7eNlZISorcdEblU9KF-Ca_e0Yq4SKNjokLQCqNy1N9PJ_uN3VoIvED6fFK8PTnSdJ__morl5-jR_SYx_h9yKAyHRdv1BNsQHPm0O3lReXtIl-2fGXbV9xaDy3yl4_lJT6udYDQvuNbk5aguTngiur4sBmHkThe7hqQ6Yea3rgB57Vf94DtJ-68BSNF6miU4O2BP2GEB8SkhA1c0LkEjxt0rRetKxr9x4BcwK7Q93ZyG-rIXDDkXzQnadedPty_aX5wKc5o-y73BAimdjc1q2pGBP-6B5ByiusKINBHFEOeDdv-ZzfLOSUZHhezRz-PrQ3FkX0TVnWCNv7-rFe3tw95hKbVhw7F2GZxzZjKNT46WbnrD3KcXR818yNlaJYNfpSFaksDIEbRHf5-OdntqurrKr7fcp07RniX5cEmwkiEnzydUu8AuFB0kOQ2aiMgHZP2AbUBGCFDRg7XJhxoFKCj7oBZX8L1px5hVwingEpsEmsCY9AJbxgWIGwe8hf_-BbOnD75lpEDpvHzQEb3DWipA1332tJAQnob1OffgWxq_tJH3zeIOxqYbS-uqpR8-s1xQYm0vKgnes6ScY1kjYvnVwR7TE8Y2qOmwC93W5-tOYjLIDsWgkjwPsNRHXecHVO8fbotlPN8rO17kcjBwCf4l4vDQPygOJlUK1GwZ_m5ZdQYdoisMspaghOW4bKfh3pwl3EDEQEkzZLCoC3pYu7Uh-tlBzYOmzfADPQNBrfPzXL4IFruYCgpgnVt2nPaE5E9jIbYacHJMLsoyTpScFKWM2yhh_uCEp9ER86Tcpds_gem0uVqM05IK7xDfPdOjBGaCk8tKz0xHdEpuXzt1wYe48cWYQI5b0rWMX_osTw1oRSQrJ4m_XkwvKPu8wkdonMibkdaj-rDtLkR_9jQcOAbwvYgg0pMNInd4tZIhwOcqcrIBCejv7_ReL7XKIg_XM-YogvI9K2FyPcvhJ2W6N-mSC0Rd5g18h1kq7_nfeDhd4RaIhaft9DQl_93E2opHWqtMYPDighd-JkTTKpN7zXueJMDxz7RF0gde1ZJf7eFVJCsuP99RVFILG5pWYM93gdDaCsf7wCUJn_gOcsJ1zMhveeyq5o7KiDVuYP5r-Z6vftHVIIXvhzoHKa49MX-EHNf_Knlf3IvK-wXr-1CeBm1LtZJ5ml2z3VKMCE_vTjnq6d22hNW4BnaIr89wbRUxPKesGYD7qhWeKwv2k2HkuACc-uZh1CgJRiqCs8TQajoG9vh70OKP8A9hDagaJIXKiULZCyt2HzPXOsUe-n7qIzdUWMdtQBv58L59p9jUjYBajybGGQgFm4Bea2-PijBdKdU3qOc74mU-Dl8oPA07iYnoxFC2RMNwamAFjjxyeYkpFA8JxIvnOE9w6GTemSI52YaKTHvrK60njTD4QBAEvwFLXV_AxhZcMsKygXBFNpDz9HZ75MVudfO6yvb3XzHxuWhrCocjUu8bQPPxj5l6Zg_KFmpICPU5I_SZmcakQTRuVndrytD-SgG3b74fbX7hIwuX_pxQ=",
  "id": "rs_08627449c1fa9534016ab476d762f887d0ad85b93bb2a76b03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0.16,\"right_z\":0.11},\"note\":\"Both plush toys are in the left basket. I’m parking the left arm and positioning the right gripper above the blue pen for the second category.\"}",
  "call_id": "call_b8nHP4fBE9u6KAjQVol3DsG7",
  "id": "fc_08627449c1fa9534016ab476da7f4087d0ae1f9e9b866fc1ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b8nHP4fBE9u6KAjQVol3DsG7",
  "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]: [-0.136, 0.8375, 0.6968, -0.3981, -0.2245, -0.1558, 0.9967, 0.7784, 1.2533, 0.5831, -0.178, 0.5694, 0.4782, 0.9997]\nstate[eef_state]: left_x=0.3054 left_y=0.0015 left_z=0.209 left_yaw=0.1236 left_pitch=0.0415 left_roll=-0.0099 left_gripper=0.9967 right_x=0.2863 right_y=0.1536 right_z=0.0936 right_yaw=0.0389 right_pitch=-0.1125 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -1.1145, 6.5983, 1.6728, 0.0659, 0.0562, 0.1001, 0.2667, -4.3556, 9.0872, 1.5214, 0.525, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69fb7eb0166281e3bb2f4e2d5911a9edd292da0eaa1d8b5623e125291c8dcf0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a54aa2fbc3ee942f44bed78393f4ffe8ad12ff37994eea0473cd7b2b4b75622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9c7b68bf3b6b96284706ce91e94ea48d18c589ee8fbedbc40ab3f7590ec1d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.152 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4397, 1.7618, 1.3521, -0.3943, -0.3958, -0.3405, 0.2019, -0.0208, 0.8204, 0.6067, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1397 left_z=0.1609 left_yaw=0.0674 left_pitch=-0.1622 left_roll=0.0382 left_gripper=0.2019 right_x=0.2926 right_y=0.0008 right_z=0.1679 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.2923, 8.1299, 1.9902, -0.3053, -0.0708, 0.2076, -0.0479, -1.5658, 7.0359, 1.6728, -0.0366, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3969, 1.8778, 1.3212, -0.0975, -0.4511, -0.2333, 0.9956, -0.0208, 0.8249, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.512 left_y=-0.1272 left_z=0.146 left_yaw=0.0903 left_pitch=-0.0169 left_roll=0.0844 left_gripper=0.9956 right_x=0.2929 right_y=0.0008 right_z=0.1666 right_yaw=0.002 right_pitch=-0.0561 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.1709, 8.4444, 1.1795, -0.0464, 0.0464, -0.2027, -0.0889, -1.4701, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 0.8375, 0.6968, -0.3981, -0.2245, -0.1558, 0.9967, 0.7784, 1.2533, 0.5831, -0.178, 0.5694, 0.4782, 0.9997]\nstate[eef_state]: left_x=0.3054 left_y=0.0015 left_z=0.209 left_yaw=0.1236 left_pitch=0.0415 left_roll=-0.0099 left_gripper=0.9967 right_x=0.2863 right_y=0.1536 right_z=0.0936 right_yaw=0.0389 right_pitch=-0.1125 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -1.1145, 6.5983, 1.6728, 0.0659, 0.0562, 0.1001, 0.2667, -4.3556, 9.0872, 1.5214, 0.525, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69fb7eb0166281e3bb2f4e2d5911a9edd292da0eaa1d8b5623e125291c8dcf0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a54aa2fbc3ee942f44bed78393f4ffe8ad12ff37994eea0473cd7b2b4b75622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9c7b68bf3b6b96284706ce91e94ea48d18c589ee8fbedbc40ab3f7590ec1d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbkN91rxYDK9jk88jE7mmG7aJuqs61izFFUXi0pfP4g-Dfp6xPwc0Ir_2jdvksymodO-LZzDK2uqearL10MACoeTmhIi_-fx_7jaBCHBf0qlhAM8oGB1nNFfKepXl-D4vtTdKFIw96mOnccAlP_tLLuhmdHPH452RcdPYfp7xxRIzTCgoP5j-DKGUa3GEKWWsiqdALCdTB3cJjOpF_4WWTUe6vC-oGK1B0hene7P2eapvcPcezlTk-KiWfq2xG3H_DbS4zG_NUPYGulAWfmTccOSyUAEVVWIelXDJW3RmHPef0F3ds8u9zIdR8PPc5o3dDtPIAjiEVQ2f729lypv2O-Uibaoxhu0j__VTHTTbG-eXuh5FvvGO1HafRApX7EHbIo7wa3rYlWteLap2sEVSENBquKCr5N3vhzMpnlIWEQhfr588P6hoExWEY6y1yggcsdNVQL6D774GxK0CGWVZGYab918zvaN7pl8Is_PAvuLFb6lFmjSpTV2Y4IcrZ9WzmNHQUX0cTQQ-lXOpnx0Cyu0oHLoKhPcDK3Htn8PIOVzfNy-ZL-m3JnW_yoDU9uef-Uv9K_MPqPwW_Aj9Mtz8sSktSBv284uVdURjNPw1IzfTTCpRTY-dRcIotZmxq96ZSN5B3lHo4U7pV17KODG2rWylXEZi-aHT4i4dEkcf87xnYoA9jrD3pcet2tWTCTMRUfF6YTFrEO6eamrD-fbtj4YQunVEDDnKgXzBb8jYNhZZ3LZkUMTPx5EAQXcpV3NSFm2uOP47ZAjQY1GA7HiBsHXC7iTzxtuAlyeAzrBEggjRbTGvmECstsFBJ8PIFQvRrKFWodTTBHpGhDKXG5k-NDhInn89kwnYGtK31khYBTbFyvBbQH1aKk_J46Rkw-qKMoEsBjvdtJfriV_Xw4LtKHqsa5A9wRKZwVvZUHrm5ku2kxc0bVWpC8CYFs3BGiiR0JbkQnVLTGQ7ZVOSKAd-8VxH3yOPPagk74Hp6UQ8gi86wY9DGl5MZZqieWeMlhwXwnMExd4strWfPVEa-Lap1s0RQoj891GW4Zhw__LfjM1vEZ_nTD2wCO4HJlcipn7vQpam_DXsNNKTyyRlUHdHTb97kDNB4RW6hMsaSULsF61EEvY7TK92dcQFpWUYB2vTRn7yD3BPvMY4ND2RKOCxh3rN0IDZWLzHehZF_U_Cay5H3ENzdXpd6jVXBkKOb5xo-dgr_S9rIRRpIIH7mL8pYUgTsQhfVVqEsEtpE-_BVgBSSFXzMu6iDTcfPKSf6YpkPn16s28PV5yzOupWrGptiK_Pzpr7hRLv7iLJjdVXNqEBKP15XJvuo3IBHTAFGUvJu5hCWsr2dE99RUeEd_5p8uTWxhd2cYMCr3gd08CCS0Nqq-zAK1dmpH14kjEwpJG3ERKQjmyuH5LpSyyctIqClFsSRGf070MK80gmsqqTrTJ2yxd-QQRLRxtGHU0f8k7Kbwc7iCPQzPc0wkjVORotuhDF9PXTAycAtURL2CLsB4dLiAtvkdxQQNNf-WRofzvIdzRpUDtaP6yuQuzcnG0vuqvc1yWZUFoHVRHX1eHpDYDKSQUJqAN3Y-DuVzpTMbUzkexu2JkSBJtRxd7AfjXtZm-hTwK6iEQqnPdC5vxpAuEv937y-67MPgpY0MV5KiHTNuEvLkimtJoJnvPj2XHZK-jDT4zwDJajpb-7vqTVCTYXLmIKy0h0x15NRcxqFkVhkEIkV7efvsPDiaZHCZArq40N9F8md0zbWQNKAC8fob44HuSAHS9FgFGt9aSPwn-NxNTMZ2tg1zpyRK7A5gjfU4tgL9GlQKtCEfBOicuh_NUzKHyZjgWeJD3UOOof9c1qKV1xeCTGpUjzjKPEgae_etVGQgf2rXYcxdS5p0xWJP2wQoR5jJQj1EZIAbdEVhyEob_APL-_lfV4uzWolQunA0FEQ37_ghP_v-tLpkbwxV428OQ0zjzGynd8YPrGtZY_s8bWRBUD65jf8zAy9BCqIifaXdomDEAncvaSesYZDbWUXnRcbN4AsgLqA8dBkZGgMBRbjlPqRZWNILY_ukmqKBDjzDmRKB-uk954UaiAPIrHVoY3liXqryRCWy1JEh-cbyMwXf-Zf_9ifMaECr89vog734iglrWrmfREx_WQwIr3Gr27_BAgVzPobXurviJYggu00wPNl_aew7-PAAyHu87dr8Q_M3NT-WrF2KgeawhpNpksV9qwKT7DXg0bdNO-3MKpun4mOIwOrwf-7PqCFGX9vUQj24BnDErh_ur3TegiuTMcStLG_kN442zB3JITzHth0Sgr6rDZ9ciZoY46USV_BEaYSQ3i64ASu8gInqhn7H3LrBE5WCJC5xltuL408V6napNCUWRAcdJdF5gLWA_rD4dSxtpVuCR8HRJt0l_5A=",
  "id": "rs_08627449c1fa9534016ab476de9bc087d0b84a009f2d538ce7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.185,\"right_z\":-0.008,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.33,\"left_y\":-0.09,\"left_z\":0.10},\"note\":\"The large tan plush slipped out as the arm withdrew, so it still needs replacing. I’m lowering the right jaws onto the blue pen while the left arm approaches the fallen plush, well separated from the right arm.\"}",
  "call_id": "call_ehucRGBepIAQ14q27Bkgn694",
  "id": "fc_08627449c1fa9534016ab476e36b8887d0a798eb801f80b341",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ehucRGBepIAQ14q27Bkgn694",
  "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]: [-0.5526, 1.2285, 0.4751, 0.0746, -0.5442, -0.3882, 0.9968, 0.844, 1.763, 0.4316, 0.6235, 0.6666, 0.5148, 0.9997]\nstate[eef_state]: left_x=0.3252 left_y=-0.0889 left_z=0.0981 left_yaw=0.0912 left_pitch=-0.0019 left_roll=0.0163 left_gripper=0.9968 right_x=0.3086 right_y=0.1881 right_z=0.0117 right_yaw=0.0171 right_pitch=0.0351 right_roll=0.0356 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -3.6855, 5.2991, 1.5653, -0.4127, -0.0024, -0.0073, 0.4444, -4.0137, 2.3043, 0.1734, -0.1685, -0.2222, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ef69f9ed100386d369864e3655e5558bb2f50bf99c174705d59d250a244a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fac7b4f5cce32b036fb727122bbccb6ed9792eb53a9e9de25dee71d5a3a339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cbd002855bf722c18d62bf1381016e7259ccca6f9a98d450ea8ec15d5bd792",
      "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 · 5.511 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4015, 1.903, 1.3415, -0.1478, -0.4358, -0.2245, 0.2032, -0.0208, 0.8215, 0.6067, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1314 left_z=0.1321 left_yaw=0.0699 left_pitch=-0.0709 left_roll=0.1086 left_gripper=0.2032 right_x=0.2926 right_y=0.0008 right_z=0.1675 right_yaw=0.002 right_pitch=-0.053 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.8359, 6.8581, 1.9951, -0.2466, 0.3443, 0.1343, -0.3624, -1.388, 7.0085, 1.6777, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 0.8375, 0.6968, -0.3981, -0.2245, -0.1558, 0.9967, 0.7784, 1.2533, 0.5831, -0.178, 0.5694, 0.4782, 0.9997]\nstate[eef_state]: left_x=0.3054 left_y=0.0015 left_z=0.209 left_yaw=0.1236 left_pitch=0.0415 left_roll=-0.0099 left_gripper=0.9967 right_x=0.2863 right_y=0.1536 right_z=0.0936 right_yaw=0.0389 right_pitch=-0.1125 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -1.1145, 6.5983, 1.6728, 0.0659, 0.0562, 0.1001, 0.2667, -4.3556, 9.0872, 1.5214, 0.525, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5526, 1.2285, 0.4751, 0.0746, -0.5442, -0.3882, 0.9968, 0.844, 1.763, 0.4316, 0.6235, 0.6666, 0.5148, 0.9997]\nstate[eef_state]: left_x=0.3252 left_y=-0.0889 left_z=0.0981 left_yaw=0.0912 left_pitch=-0.0019 left_roll=0.0163 left_gripper=0.9968 right_x=0.3086 right_y=0.1881 right_z=0.0117 right_yaw=0.0171 right_pitch=0.0351 right_roll=0.0356 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -3.6855, 5.2991, 1.5653, -0.4127, -0.0024, -0.0073, 0.4444, -4.0137, 2.3043, 0.1734, -0.1685, -0.2222, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ef69f9ed100386d369864e3655e5558bb2f50bf99c174705d59d250a244a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fac7b4f5cce32b036fb727122bbccb6ed9792eb53a9e9de25dee71d5a3a339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cbd002855bf722c18d62bf1381016e7259ccca6f9a98d450ea8ec15d5bd792",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHboNHpySqtjwqX41q_foBfCRCkFq5Kj4VnZAhsXoCI0TCuqksZk336cYIwPOvdih8x17qTSwBDc6Sy3OUiPKxAXNFP4XYgevPmV-FjPZ67yOIeXvjQeGHRoMi6GR5KosRgkkTHz3HKA8dbqzLGMC2d19E_GMSAe1KuHqCtlILuQ_cta8TK24qYwX2t5mJ84sRNSCJK381AEaydr6sBeAibM-pDt8Jc_y-psQQtZxXQOjdeHiUp_Wcj7r7X0-bZnxO3-AXe_J_b7jlTF2Y67hGxiuX8gYe-rQMQxmR3cuUT5b1j19IeqJZ-fSQOLkS1i7DMnVau5OdQSe-90bugL1nthUy9u7OikPTyzt8LY2LgE0jM_Iiuj7A7YSCxONNLHmGorZmzN3BANFMM4IPdmqkT8V8NEV61ZA3zmlXbd9YwHimMQCiwcOX6NXQWedLmYI85r9eUKLrj1543sHqNXVqX0Vg92aC6l9mwDDppONpuP-_TXxbbIiQpALs2ptAmgxfIcg0dvg01lgKtHoaf7ZRjuaImGpdaQlNemtcstg1hlZ8_wmEQtcefbuGdMMIvZdIwzIvZGp9YdsIaE0dIenKT8b7DUmeKkmv-Olj090OrXmxjTJj-bMVJC30-Mk4oyJaTvdML8NxFZlvQXO8XYxVkLm4F8QbaMjnOW7cTz_OaJacmLmq1h8A8yQ3MT8us25mZC-XiP1M8j-mILKXSCKijvQUSY1FeGQugRRCkqrkPqTN1Ez1TU2FutjWlSIz-nRMn5tec3gfgisGqGpv9iJ5TPLlaDdlQ_RftDfy47ocCE1v4DSm4Xc7LLovW4FQQQ3EOvriT3KG7QIqktdABrLFxXKTHVWodiqfQ_JAuZi43I7b772h-1eqbKu-sQTx5bgoVP5gYNnzjD-Gr6cqWpJ9z64eK3hkNrRS4E5GNRA2uH3JVA3LenEtXiRdbzZS1GUBRUzjlh6UZ5_giq5bChsGtUzSNNiSBKUlaZZyXwr8O1KyEi8MBxf4xo1yYcHkFekr_AGrg-N_W_xQg3_tWNqPMZgKnFX3hbaRKwrZ-jGerO-R8Ir4SSmuygpG95QmRB2ckpAV7kchhQGQmsnwdK6dM6rdGRYBoCKDkQnqqf6PxkudlLUhY_g3ilTp5BL7Tf4K2D-IpIXi5AbGtZOpoQvmPKGMAaFTMOR4Evgt85aKJjqxkns-3cG71KgpUWrmglkYfs8gTMkwU1L8OwsixcnnYs0oFY_3JOsdfqsbAkMXDXNm3vk8Nheg5yAPa1L4jxiLonoGsa-Xrz8L3Ifno5SDXAvV4_7zYZgMEtcAgWvvkQUHZ7UltMIiVdMw9FXoM879bh",
  "id": "rs_08627449c1fa9534016ab476e769bc87d09a1390b8e6a7c66c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_z\":0.025},\"note\":\"The blue pen is aligned between the right fingers. I’m closing on it while lowering the left gripper around the tan plush’s body.\"}",
  "call_id": "call_Te9w0GIERWKFvHp7nqgHC9bo",
  "id": "fc_08627449c1fa9534016ab476e829d087d0a39c518fcf410b3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Te9w0GIERWKFvHp7nqgHC9bo",
  "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]: [-0.5552, 1.5063, 0.3489, 0.622, -0.5617, -0.4088, 0.9968, 0.8433, 1.776, 0.4244, 0.6632, 0.6659, 0.5133, 0.3248]\nstate[eef_state]: left_x=0.345 left_y=-0.0991 left_z=0.0633 left_yaw=0.1187 left_pitch=0.1174 left_roll=-0.0817 left_gripper=0.9968 right_x=0.3097 right_y=0.1891 right_z=0.0118 right_yaw=0.0172 right_pitch=0.048 right_roll=0.0489 right_gripper=0.3248\nstate[joint_eff]: [-0.0479, -2.4, 2.3863, 0.3248, -0.0122, 0.1929, -0.0171, -0.0205, -7.4872, 4.4103, 1.1258, 0.1978, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827ce148bd4621ae8fe80a499bff9bb57a3aac153d45537e79f70cdc639d6e06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb8e60130bc67d027e15335cac70021775c72e32712fcea7b6e82a5ecc08ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2a09af52e847d43b460c95a69bd89ff143b3af1a55402c08b7134fd22db4a1",
      "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 · 7.192 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3969, 1.8778, 1.3212, -0.0975, -0.4511, -0.2333, 0.9956, -0.0208, 0.8249, 0.6067, -0.4099, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.512 left_y=-0.1272 left_z=0.146 left_yaw=0.0903 left_pitch=-0.0169 left_roll=0.0844 left_gripper=0.9956 right_x=0.2929 right_y=0.0008 right_z=0.1666 right_yaw=0.002 right_pitch=-0.0561 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -8.1709, 8.4444, 1.1795, -0.0464, 0.0464, -0.2027, -0.0889, -1.4701, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5526, 1.2285, 0.4751, 0.0746, -0.5442, -0.3882, 0.9968, 0.844, 1.763, 0.4316, 0.6235, 0.6666, 0.5148, 0.9997]\nstate[eef_state]: left_x=0.3252 left_y=-0.0889 left_z=0.0981 left_yaw=0.0912 left_pitch=-0.0019 left_roll=0.0163 left_gripper=0.9968 right_x=0.3086 right_y=0.1881 right_z=0.0117 right_yaw=0.0171 right_pitch=0.0351 right_roll=0.0356 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -3.6855, 5.2991, 1.5653, -0.4127, -0.0024, -0.0073, 0.4444, -4.0137, 2.3043, 0.1734, -0.1685, -0.2222, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5552, 1.5063, 0.3489, 0.622, -0.5617, -0.4088, 0.9968, 0.8433, 1.776, 0.4244, 0.6632, 0.6659, 0.5133, 0.3248]\nstate[eef_state]: left_x=0.345 left_y=-0.0991 left_z=0.0633 left_yaw=0.1187 left_pitch=0.1174 left_roll=-0.0817 left_gripper=0.9968 right_x=0.3097 right_y=0.1891 right_z=0.0118 right_yaw=0.0172 right_pitch=0.048 right_roll=0.0489 right_gripper=0.3248\nstate[joint_eff]: [-0.0479, -2.4, 2.3863, 0.3248, -0.0122, 0.1929, -0.0171, -0.0205, -7.4872, 4.4103, 1.1258, 0.1978, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827ce148bd4621ae8fe80a499bff9bb57a3aac153d45537e79f70cdc639d6e06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb8e60130bc67d027e15335cac70021775c72e32712fcea7b6e82a5ecc08ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2a09af52e847d43b460c95a69bd89ff143b3af1a55402c08b7134fd22db4a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHbvIlEBtxUnHiiKsA0VXp0R9lr8LSjBb5dI0RhlzhzgaY7LnZyekdU7dysZr2ewQpztEKKCilyUioQs5VTBhfYDlCaz1jZ9j5IKKz3ZC9C_ICjlAy54RYiGG0yka6LRzHc6BrolxDI2NnkH0R4Ubcw6cvdwf38J1NU3TV1xpnnoUouHPs4uDm-yqo5Y70KyV5ZSPnRZsIGZ7W5Q9KQmrKX_MGyijKxjp5e0_Y3fBz0p6Xg-ijBIK4cUZLQiYCmKJuDgw13jMKYHR2iCRCM6FPOfFdNaO-CYJttPC7j-ha-Su82bK0Gj3l1-HvALhrR9uLz4ynjZVYpQCH5KzHjR9XEXedwqd2Dn-xJVhF7G0gJQJRxRlbVl0bqX9fYf3KMvhBJ7WhAVhst5sXH6ilcqipjyr52zJHp_P7tPtiU4o9kavaw3F2Iu8JJsz03jF20o33gPwWPaZsLUtPXkfo2nYYOC_QE2jo_hLb6kB1AaciI65jCbszHQN8D2NBzx48KyUsfpCH6bVREF1vc3Ty62PK4X44VujEWWyRBF2DyZZG5ROVAMX6aKoqPoi5Os6PyFQ2krW9TuAaMp9G6zMTg8fAT4XX-j5ZefR-dAe_CscM4KjVntMUgkgewZS0rc6Jfmf2jCOTzNA7311z7IKGin5WjyYUHhgi9-BoHwipDIwqSHCVUyIoD4Ke3atazvYKbxdKntdhFiIyl6hvZynFZCsA6dAxa6922uFU6E1Wd1B2wqGOTyIkl0VSfAbhUwkXIo_51wYx5BrOPfEmnABH3MmkwqQLWUWyTAsZA377YMfbyAOap69Suopmnouc1wkhKA4rfUskeuHiUqXV2EUEA2jM7MQ-9X6ukG_1ViSv2u_GR5pjLJDs0GY673g8kFUxBIByQrtJSV-fAK9lodeoDl5guURC2NTE6wOAhfCskJAVBESEQ-Fa_ckSo3LgRwGbOFRxTRTnNftWcAQr5x11yUZB_quEbmbveEgwjPf352pxnqiskFNkv9tuQNdWW3V1hQoTGcC4HDB9m_fgOKFLMNf7q-7HVmIEOBft-W8qBFjlNFgtXwkBA5cfEi_wPmkjwefIMXD2DVE5n40HvkXgrwbOdRoA7pH01N5PI-aZOy8VMd2KpTBysezX7r4yec7SInWhMR5RUF1kt6sl8fUtcqHsPznqFLMIfatFFBsMjTodhRHtcL0sgPiSyUbu7J2lVuwi1W7DhO2bAFDfLinEmML8lBw9EFyQbhpa5ZWukPrzLBEE69dX_EBa64EyVVhBe-azHBXi0CD8mDhi4BH3VheLyyTyGt6kXLlYsvp0XqwDHD-cFULwD7one4jdAbEXkDh2klUX9Nt94dqKKLOGiyp680tpY8OYWcOp_bdc0OuRhG_oz0kYCNM2Pz-FvKmb744HnmL_kXdVNQe2Jg2MKsmzFFQLFMLLRTZM8r2SFHc1eKKhPvyDVFFfMNV2XV7oyezPtQ3fIFd_B8gMjKuhCdL4b0eR24QIR2Tk0eybBVfHlsCMeV-U47bSEhywfqBFCrQ3rJ8Z3DUryR5U5aq9xnaq3fjKjS-jugSvIA-Qft5BUyGC_Fo-2AWIuDM_PArPyiy-HezQC9enr1ZrRYVhq1exL56N-UCaDdCj2TyGKipFquJsAHjTyKM7knixfUTDqxlH0Tn25yUEQy0HLW1DN-8ZxjRIGiUWKasugOnN31VNPzsDyv2kRXkVvBwZg4l9vOBgxUPgpoLgoYmiDxBcGuI4wsjx3dYNsJ66X8hxKvKwZ2BkVjSAbhc1p8W3TwqUlbpGMd7yfZF14wfy1CvKT9Ch8bjE8ckJZmW6wmIs-lHlXJC8XfPBCMIMeZnuCRKrUvFV-hKFgnaIUWjItPFGDq2PvRcq0XJh7fyfSb-tjObKzxmue40XtosA0cuYCrzjbi0zELYbCZ_sbOWFyYfQBBVIY8jBU-e2ct3eHYm626veHhtiM=",
  "id": "rs_08627449c1fa9534016ab476ebf0c887d09917f349924dfcd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"left_gripper\":0},\"note\":\"The right gripper has closed around the blue slender object. I’m test-lifting it while closing the left gripper on the plush for a second placement attempt.\"}",
  "call_id": "call_IJcSl3FgRLE4SimwhMQvoCo3",
  "id": "fc_08627449c1fa9534016ab476ee542887d0b418fdfb1e49d625",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IJcSl3FgRLE4SimwhMQvoCo3",
  "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]: [-0.5617, 1.5032, 0.3496, 0.6968, -0.561, -0.4198, 0.0152, 0.8433, 1.4586, 0.5159, 0.2417, 0.6498, 0.5129, 0.3283]\nstate[eef_state]: left_x=0.3512 left_y=-0.1058 left_z=0.079 left_yaw=0.1249 left_pitch=0.1777 left_roll=-0.1422 left_gripper=0.0152 right_x=0.306 right_y=0.1883 right_z=0.0756 right_yaw=0.0298 right_pitch=0.0319 right_roll=0.0464 right_gripper=0.3283\nstate[joint_eff]: [0.3897, -4.7111, 4.9162, 1.0183, -0.1392, 0.0855, 0.5104, -0.253, -6.3385, 8.4308, 1.4969, 0.359, -0.0317, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45766604dcafcdfc70dfb02667fe50c411f776ed04a0a2f89ae6dbc58d52551b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db143de339a8162cf5fb8570d770b86696f03d95e44b5fa38613a605204360b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b654b84a539aee1ae58799bf414cab98512149b981b5e14efb025fce61ac4885",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.574 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.136, 0.8375, 0.6968, -0.3981, -0.2245, -0.1558, 0.9967, 0.7784, 1.2533, 0.5831, -0.178, 0.5694, 0.4782, 0.9997]\nstate[eef_state]: left_x=0.3054 left_y=0.0015 left_z=0.209 left_yaw=0.1236 left_pitch=0.0415 left_roll=-0.0099 left_gripper=0.9967 right_x=0.2863 right_y=0.1536 right_z=0.0936 right_yaw=0.0389 right_pitch=-0.1125 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -1.1145, 6.5983, 1.6728, 0.0659, 0.0562, 0.1001, 0.2667, -4.3556, 9.0872, 1.5214, 0.525, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5552, 1.5063, 0.3489, 0.622, -0.5617, -0.4088, 0.9968, 0.8433, 1.776, 0.4244, 0.6632, 0.6659, 0.5133, 0.3248]\nstate[eef_state]: left_x=0.345 left_y=-0.0991 left_z=0.0633 left_yaw=0.1187 left_pitch=0.1174 left_roll=-0.0817 left_gripper=0.9968 right_x=0.3097 right_y=0.1891 right_z=0.0118 right_yaw=0.0172 right_pitch=0.048 right_roll=0.0489 right_gripper=0.3248\nstate[joint_eff]: [-0.0479, -2.4, 2.3863, 0.3248, -0.0122, 0.1929, -0.0171, -0.0205, -7.4872, 4.4103, 1.1258, 0.1978, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.5032, 0.3496, 0.6968, -0.561, -0.4198, 0.0152, 0.8433, 1.4586, 0.5159, 0.2417, 0.6498, 0.5129, 0.3283]\nstate[eef_state]: left_x=0.3512 left_y=-0.1058 left_z=0.079 left_yaw=0.1249 left_pitch=0.1777 left_roll=-0.1422 left_gripper=0.0152 right_x=0.306 right_y=0.1883 right_z=0.0756 right_yaw=0.0298 right_pitch=0.0319 right_roll=0.0464 right_gripper=0.3283\nstate[joint_eff]: [0.3897, -4.7111, 4.9162, 1.0183, -0.1392, 0.0855, 0.5104, -0.253, -6.3385, 8.4308, 1.4969, 0.359, -0.0317, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45766604dcafcdfc70dfb02667fe50c411f776ed04a0a2f89ae6dbc58d52551b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db143de339a8162cf5fb8570d770b86696f03d95e44b5fa38613a605204360b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b654b84a539aee1ae58799bf414cab98512149b981b5e14efb025fce61ac4885",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHb3gS9G9AcXh9QCFGzByeLHUCBmrOZz_nrNlD42LvA4S_DtoHkuI1uN-6YLONros51617ZmhiyrNs6ttVoKRuMrSCEqJ-GE8d7uj6cFonCJ8uUcy7-z1nAju6R4fv7QuMsqy9U-2H1HDtMILIY6beUo-hFUEgLi42myenmOspPPsab3DFl8OAnCiu0hasqeIwDnEjURTDIu-4dQoNwPSrdpvM1GIR5Z9j7ujslXaZUXj2ccmXFN1m-QBF-iN7Ah7TrgpRMPqeAXhBsvZYNsMnaAa84ppvZKxkiKi0z1TgD2aO8BJw1IAs3ttG2wpqQOnyXnvUuXdiCvgQ5MNWgF9QXCzvtosqVXKcUWb0BgStbM7SKKoHDB8Z9NHNofmh8kZdEvKTpN0qUYZiKZnr_zEx6jn0Kqhknq893VIGlikjw00pT5sprdx6XHeShYoWI47oQNThdZmqm29VU99Hd7yQRzg5Ont7I_rBTRdYHJtg_jYjBII6QQZu6CbFiVJk3vZrb0W_L6x_2YSYuEIm8npfuvZ7doGicE3rCmzrn8Er-cpOhNqJuP4KXR3DyBjgLxVORRS5ShhjsXP8MxuwQemgMfmpnRpYb0zfEMCN4MuXnTwS8qpdSfywdExs-9GkFUQWtIKoj_WPPI0bkCp9XxKK4tnuRhpYa8qb5Ur4ibTA0kBrp546F6GcR5ef1XaZ_5VdY1KYkWPJxzdTeymni6AaBT1wN5Oh46jjMl01I0mYgTdwlu5iSCdmBhcyTUkhuSOlGHTMTY4fjrQUWADPrqQre7vEqh5afUoIu7waBiuBV-Z2-2iKzPr8zpnkGksq7oBdwT0ah1a6MoiKg10P29FaVobUluQfrx_SYO5Dv9Vm2Q-lYKTAxldXmW8JrmmA1QcdXrzV34ekXZGa2rdq0oP0Au3q3qb7DRJFIfXeu7SM_nhvsBp0JdHCOVXhx6NwlKe8eD8q_cLXI_U17VCRbqFgspbQhf3iOeP8W5ELmc636SzNg8PxH2wqD3xLzH31yB0j8rka0Xu_nz1W391Q8izB3lMRyQaB00b8__Y7zD2TAIieu4Ad4cq9HTjO3xki_D6IKp8Kp2OwM6isYrIrcQd4ATpdGB1w33MBG2a16i9lfzldp9mIumIljGIxkokX6HxRMnrZexPc9Gp3zwjZMN9_6Rfi0hL_mruJXyYTgheC2QnZb2GZmQOfuVSzSniFU_FUuXNyPYWT7_K8PzOtnLdhO-Kz50gJuJtEovCe9eb6b_zN-cSiOntfWRfOlnJlDc7iIpsVz3npZoJa4d95TASyG_ttQqgxzpkMmD3QUcZU1Z7NtKPAHfonDZ3nXEDYs11CtwQK7RgzH-A1k7zE5qCkjlpG09OS5Rb7xv0pSfIvEeIizaDZtgCRwVeimCsIAPdbyDUagRfzC-0Bklw22GBVUCJEQQoOSfgPsXrbuzntX03_s_E7Xq-IcshdGh1IHL9FKdPV_uOIvIuyeHmrZ5Y0y2xvwfW_K2MMYpBCzy1yVfskZF4ghHgH1ZQ9_LBT8_mXeacCztDnKfcHiy9zoEZxEom2GUBPGLjus5JDbpBNEZl4ET0MlYPisWtnrxZZUjt-bYMnZQkaTCp2RVZfoqiwdtsB0itnRozCPjHNIew2O3Ay7bInZet84bxmQCSGglVr36gy7P_8r6bypCgOT-sGa_OuTBqkDaQB0_K4Ja6s5Bg1rdQBxz0Ken5t2jvD5egmDv_IXUE_FK5hhn8gNvSt6Yv5TU_goxsJU8GsQzqCnynNKQpECWIaBqZKAilE1IzlsRfBvQylhC5FKgmtF6L6g9wZUrKryXgbV7j1mgDzVjiHyigUvS6DdgM4fHrdd3XPmHYIHof9Ejqv1I6hmKjsCQpVyZSXv_tYOeHZVYkSVeispv2H0Di_Bq1XyMctGS74hlhIMndnp-SKcUEVGgh5nbpQkoNzk2owInVV3RgGseky6Wi12ScejW0uHMe-PaM9V577bG2Dpu4-hYoG-nAsCVD7X1B8AHbkC-1rumiopp0M4sFn2nv6Hr6GibNBuNMkbzf2nrT347zb4Z-O53hAYMjIsYg6OkGGnRe-xqYecwQ3GclE_IZbxVBwrsNLnQ_QQvuC2Ymk504-iQbfhVjc6lfjNlUHcmxucuKPVr5vhdSRrVufTqAVvT18Lj9z-x4Tw8SzhofeUz_AQj6QolD2v81NTneI4S6E2R_IKEYnLnw4Nd_1fKgNEb7ZC_NExXtdDrslQxb9UzXFgaLuoT4wMkGfiDiow7qVqU7YJdESTSmro8oQ1aFAe9AmP5jCYYacIjUkGbehSDNEnSJImkoTIriinqXODUj66f6S2bhOgiFLeIsc2XhUJZPg3alBc6jElSepedCxeHuYMVu9b245LXM-APm7mbGOiMUVwMTGBEGqiiL9snFJRoV9V4OII8e5q8",
  "id": "rs_08627449c1fa9534016ab476f1b68887d0a2e4ad69785c6014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.16,\"right_z\":0.23,\"right_pitch\":0.2,\"left_x\":0.29,\"left_y\":-0.09,\"left_z\":0.025,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The blue object has risen with the right gripper, so I’m carrying it over the right basket. The left grasp was empty; I’m reopening and moving toward the lower part of the plush for a better purchase.\"}",
  "call_id": "call_uxBVhzce6GMD2ITUlEzBkm6v",
  "id": "fc_08627449c1fa9534016ab476f61a9c87d0beee215af00ffa58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uxBVhzce6GMD2ITUlEzBkm6v",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5911, 1.3792, 0.1967, 0.6926, -0.524, -0.3962, 0.9977, 0.3824, 1.8355, 1.3693, 0.0406, 0.2977, 0.1574, 0.3288]\nstate[eef_state]: left_x=0.3128 left_y=-0.0992 left_z=0.0623 left_yaw=0.0487 left_pitch=0.1427 left_roll=-0.113 left_gripper=0.9977 right_x=0.5308 right_y=0.1615 right_z=0.2118 right_yaw=0.0347 right_pitch=0.1658 right_roll=0.036 right_gripper=0.3288\nstate[joint_eff]: [-0.335, -3.0291, 2.8376, 0.3883, 0.0269, 0.2759, -0.0562, -0.4991, -10.1675, 9.2786, 1.7167, 0.105, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7ca6cbe2e4d89fc75da1b69bee85e1cee90b815b1c33437eb62137d161d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ff22fc33b08ebca2f822917f06abcd44ce9f72dc7b18015b78a365e3d6a190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d95106aeae86790a37fffbfb093e25cc5c906a41576a0c0446f5385d20eb78",
      "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 · 6.418 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5526, 1.2285, 0.4751, 0.0746, -0.5442, -0.3882, 0.9968, 0.844, 1.763, 0.4316, 0.6235, 0.6666, 0.5148, 0.9997]\nstate[eef_state]: left_x=0.3252 left_y=-0.0889 left_z=0.0981 left_yaw=0.0912 left_pitch=-0.0019 left_roll=0.0163 left_gripper=0.9968 right_x=0.3086 right_y=0.1881 right_z=0.0117 right_yaw=0.0171 right_pitch=0.0351 right_roll=0.0356 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -3.6855, 5.2991, 1.5653, -0.4127, -0.0024, -0.0073, 0.4444, -4.0137, 2.3043, 0.1734, -0.1685, -0.2222, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.5032, 0.3496, 0.6968, -0.561, -0.4198, 0.0152, 0.8433, 1.4586, 0.5159, 0.2417, 0.6498, 0.5129, 0.3283]\nstate[eef_state]: left_x=0.3512 left_y=-0.1058 left_z=0.079 left_yaw=0.1249 left_pitch=0.1777 left_roll=-0.1422 left_gripper=0.0152 right_x=0.306 right_y=0.1883 right_z=0.0756 right_yaw=0.0298 right_pitch=0.0319 right_roll=0.0464 right_gripper=0.3283\nstate[joint_eff]: [0.3897, -4.7111, 4.9162, 1.0183, -0.1392, 0.0855, 0.5104, -0.253, -6.3385, 8.4308, 1.4969, 0.359, -0.0317, 1.0281]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5911, 1.3792, 0.1967, 0.6926, -0.524, -0.3962, 0.9977, 0.3824, 1.8355, 1.3693, 0.0406, 0.2977, 0.1574, 0.3288]\nstate[eef_state]: left_x=0.3128 left_y=-0.0992 left_z=0.0623 left_yaw=0.0487 left_pitch=0.1427 left_roll=-0.113 left_gripper=0.9977 right_x=0.5308 right_y=0.1615 right_z=0.2118 right_yaw=0.0347 right_pitch=0.1658 right_roll=0.036 right_gripper=0.3288\nstate[joint_eff]: [-0.335, -3.0291, 2.8376, 0.3883, 0.0269, 0.2759, -0.0562, -0.4991, -10.1675, 9.2786, 1.7167, 0.105, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7ca6cbe2e4d89fc75da1b69bee85e1cee90b815b1c33437eb62137d161d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ff22fc33b08ebca2f822917f06abcd44ce9f72dc7b18015b78a365e3d6a190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d95106aeae86790a37fffbfb093e25cc5c906a41576a0c0446f5385d20eb78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08627449c1fa9534016ab476fb15e487d086a11be0bc250fa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.16,\"right_z\":0.26,\"right_pitch\":0.45,\"left_gripper\":0},\"note\":\"The right basket shifted when the long blue object contacted its rim. I’m raising and moving the object farther over the opening, while testing the corrected plush grasp.\"}",
  "call_id": "call_xtLyqm2guU93OgTkfsH0kuAR",
  "id": "fc_08627449c1fa9534016ab476fedccc87d0848b61df136dbd38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xtLyqm2guU93OgTkfsH0kuAR",
  "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]: [-0.5915, 1.3678, 0.2073, 0.7437, -0.5232, -0.4072, 0.0121, 0.3485, 1.982, 1.4544, 0.2916, 0.2752, 0.0616, 0.3289]\nstate[eef_state]: left_x=0.3199 left_y=-0.1043 left_z=0.0797 left_yaw=0.0613 left_pitch=0.2002 left_roll=-0.1684 left_gripper=0.0121 right_x=0.5801 right_y=0.1635 right_z=0.2266 right_yaw=0.0585 right_pitch=0.345 right_roll=0.0105 right_gripper=0.3289\nstate[joint_eff]: [-0.1299, -2.9197, 4.1504, 1.3309, -0.1197, 0.1001, 0.7302, -0.8821, -11.0017, 10.0718, 2.2637, 0.0464, -0.0708, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8279b6cf91448e7a11f16f58ebff2bac7413a8a67813953ddee62b37c1977e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d3c9d0ab8fcae440d5841110169075ebe816359f4748bb5b73eab08576a573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f66fec2b62fcfb8ff95ad9339958d1875832fc81977909e019f75710206ed0b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 6.913 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5552, 1.5063, 0.3489, 0.622, -0.5617, -0.4088, 0.9968, 0.8433, 1.776, 0.4244, 0.6632, 0.6659, 0.5133, 0.3248]\nstate[eef_state]: left_x=0.345 left_y=-0.0991 left_z=0.0633 left_yaw=0.1187 left_pitch=0.1174 left_roll=-0.0817 left_gripper=0.9968 right_x=0.3097 right_y=0.1891 right_z=0.0118 right_yaw=0.0172 right_pitch=0.048 right_roll=0.0489 right_gripper=0.3248\nstate[joint_eff]: [-0.0479, -2.4, 2.3863, 0.3248, -0.0122, 0.1929, -0.0171, -0.0205, -7.4872, 4.4103, 1.1258, 0.1978, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5911, 1.3792, 0.1967, 0.6926, -0.524, -0.3962, 0.9977, 0.3824, 1.8355, 1.3693, 0.0406, 0.2977, 0.1574, 0.3288]\nstate[eef_state]: left_x=0.3128 left_y=-0.0992 left_z=0.0623 left_yaw=0.0487 left_pitch=0.1427 left_roll=-0.113 left_gripper=0.9977 right_x=0.5308 right_y=0.1615 right_z=0.2118 right_yaw=0.0347 right_pitch=0.1658 right_roll=0.036 right_gripper=0.3288\nstate[joint_eff]: [-0.335, -3.0291, 2.8376, 0.3883, 0.0269, 0.2759, -0.0562, -0.4991, -10.1675, 9.2786, 1.7167, 0.105, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5915, 1.3678, 0.2073, 0.7437, -0.5232, -0.4072, 0.0121, 0.3485, 1.982, 1.4544, 0.2916, 0.2752, 0.0616, 0.3289]\nstate[eef_state]: left_x=0.3199 left_y=-0.1043 left_z=0.0797 left_yaw=0.0613 left_pitch=0.2002 left_roll=-0.1684 left_gripper=0.0121 right_x=0.5801 right_y=0.1635 right_z=0.2266 right_yaw=0.0585 right_pitch=0.345 right_roll=0.0105 right_gripper=0.3289\nstate[joint_eff]: [-0.1299, -2.9197, 4.1504, 1.3309, -0.1197, 0.1001, 0.7302, -0.8821, -11.0017, 10.0718, 2.2637, 0.0464, -0.0708, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8279b6cf91448e7a11f16f58ebff2bac7413a8a67813953ddee62b37c1977e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d3c9d0ab8fcae440d5841110169075ebe816359f4748bb5b73eab08576a573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f66fec2b62fcfb8ff95ad9339958d1875832fc81977909e019f75710206ed0b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcHtrDsGbgbUxmVzacX-U6kujITUjmptyW5nwCc3blpGjEXujxMYLN3G05OOs6gyGgKr3ivWn2O-YqUrFoMao7GHWr36AJ_ugVjqo8nrO6x7h-XC7TkiTO34IvNq8ZPfRSGNW8rhz_xV1_XWKN2IbkDtV2SGPtPzTUfTZW5WkLKVEymXY_RFd_P5-KX3sft_7BLIcaLmvfqgRRzOVPxyv16T4Cjxmmg9zQxB5K-zi-Vhyx3EGjDW4VWbiuI4zhSy_3jNIG3tml5856xEISg-j7ilNcIVuvBJYVUj7LFFftDIpBMdIXE1r3Vh5WSceMQvS5Qaapdzxwr-HxxFkIOvvpKmUF3ufotyQWMD8pOp5sltgAvm8hNxD677AksID95418XoHZyxHbALJBH4T0QLglM-CkbDe2ikLm-XRn23qFMLM9gLEnlxBZljAA5pJlKLFeM0fBgpTGDcyzPjRUgrZUVlqGu12QlMcxWZWOqcNi9SQmXLCfTyuzcrXGVJYdZLT0zs4yR4ECvk2dQlASE8ZbBH5WCNpoUqHhTapr3fEqCoej-TfFAlNPiX2U5yZ7r-YYWg03rnGSwr_9OD60LHQ-tgGAO2FnmDAX5rzZHi0kzZriBok_jw_P1jGkxHMut89t4bBIrdf6gfSkZGx8BWz6y59uZpB_tr2cOSx0NsMn-wI1Lp6y-mBt2ZNu7gyH7qDFLf3f8w0ZCS5gHYMe-yywmW0S-yWB8ykBFgUKpFjwqQnO7ldV2BqLK0W0eiDiTZLp0Cd-ZAD1NifDHJ5kYpT5NfiWOS05GRWygMkO6halUAnnAHGsE9LnMN866z1-mCY5eUoI_1LoTtoHS7ky6VJHLes0Efms4xUYALB7hn8WP79tEfj0UHiisBh1FDPfM6ylTtVF4PYXJ2K5jlsau7sI9MfhM0W173izKWLOdg0WGhsQ0z3GeB_b7Hy5SAEeiuH-WQABEk_T8E83vrLjKYZ2LCpinJSEaPfBNNdCz_1jeaHpsqXjja36rEZaZfp2naCS7DjJ5VsLiPyxk1obx0uOul21K9Vhtw0TWREhvziEgJJ3mNny4Hk9lBWP9sshuddaVwyyrPP6aL0PdinMH4-WUrf3qvk-BATVQVF-e1M5bwLv-2HHFAeur0yrxecjkb2yjFmPUtU4jmGP272TZ8kvkz3psvcNbjOfCKJPNkS_6U94LSQitaf_9YKoBwYh5OmY9PXY6ows-2UxdEQ1QURoTPAY7MGUPrxprHc5HLUjpeynL5RYFTCqww2vBbWcH9Sko4aVsjuNIS9dzHzwRk4jWvweovMF0XONBiuI9UzLIGBw4nb9vaskN3fZ565rZY1JlTFpc46kVihN6LQ6EJWLvPQ4z0NG8s0uVgqDSpkRt5zvWgtdP4uDr92vCsZfzeuV82XBPawZxyY5jTy_VDhwYy8tc9-6s9p1fR07x2lqKIAQaC-e6pCQuUNeQGUIwRNEot8CxbaIqpjWOLC-EfDWx0kK-z9ojIYTjU5V4topdxtgrvA4W9DbuM86fVQA3B1ThHMKIKLSPbG-kzCqA532FiL2yi5l4BmrChviulFk694d__jnHyPQPf7uNpu2SPX4rlt1cTz1EQiz_a_ceIDeb554H0zK0klDRRyusu0xCA5J1ufXi-pqv3Tjx9tVgi_0SyRMxopBnq-X2ODDs3y7wnljwFnZAv9vzhlvQmQs2hO6Jj-lTE4maaiI0bNoqdz8LCKhCjihsLBQG_mRS2ai0LvSBoDzJn9C5mbOWmpj6C4dKaX26F6LImEjuMfvFsWINMgh30_66DO2hgyU4zCy1UTdsXXa9pWc1o5sJ-wCxAQK51sPhb1pGqEuAiiTjaioGSheEIpvqCaYH55e3MMebjHg33LBKaz6PeNgwCdYNuKw56dc-7Ekygqc9xfHH_nDn4lmKb3nOAn9kaPJp5_UcKcAhfhfDWb262xj_HeH8w79s69Qo5VgjJb_7SozqzVfOPEtcu0KUoal9VEvgV-co0TX0dxYqsTlS_kpgii-vN3xPFsgliOlY8_ERYzp82Yb4w9CCfj8uwE0UXfGubCBc6nnlUH8lxCegkN9S7WsFe9LRWHoM1hQE7OH2xEiVPuxuObLzrQAXJx9c1P33Cz5yYJwcjhtHBr9V0E02VHTMrmaEZhUp0DmwcjFxCuue8tJFMfj9hRi_rJmbOfwX-s87BI56aTQ4Q_p816-dQka1s4I-4BXaiawmqkvxkVkwtZx4LzhfS9TH8Y7mRy5m8vh_5VDhE_8zy9EMZ7BcFl8nGJiMuCh4b0O4hkrxs0iCH44QDBPKjq-WL37yNDXwwQC3eSg8yNzq8HMN6CdHY3zyWzUwZs8d2ruMFzKlBWszeYowaQupnR7jQaiJALgdZBV95A==",
  "id": "rs_08627449c1fa9534016ab477022c5487d0a255eac422a373a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.38,\"left_y\":-0.035,\"left_z\":0.055,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue object is now over the right basket, and I’m releasing it. The tan plush’s torso lies left of the previous grasps, so I’m repositioning the open left jaws over that narrower section.\"}",
  "call_id": "call_9ziLf00gbeZa9ExwsAFblf4E",
  "id": "fc_08627449c1fa9534016ab47706017887d0bc0e190c67232dc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ziLf00gbeZa9ExwsAFblf4E",
  "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]: [-0.2241, 1.5051, 0.4335, 0.5835, -0.2447, -0.2211, 0.9952, 0.3454, 1.9903, 1.4528, 0.2878, 0.2749, 0.0521, 0.9969]\nstate[eef_state]: left_x=0.3867 left_y=-0.0406 left_z=0.076 left_yaw=0.0884 left_pitch=0.0919 left_roll=-0.0721 left_gripper=0.9952 right_x=0.5811 right_y=0.162 right_z=0.2201 right_yaw=0.0627 right_pitch=0.3318 right_roll=-0.0033 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -3.9726, 5.8325, 1.0525, -0.2418, 0.315, -0.2369, -0.0615, -12.0957, 7.0906, 1.873, 0.0269, 0.0366, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805df72f811c5955d53924d9083ecf85fd7bc45252275cc9e230bc341e594860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8ee6730f7d852122961bdb70071eedb9f19b52fee5b9fbddec04214326abfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05baf8a0aa10ce95214799a01a9adb1390523347f171710e8588df6cafeb168",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 12.13 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.5032, 0.3496, 0.6968, -0.561, -0.4198, 0.0152, 0.8433, 1.4586, 0.5159, 0.2417, 0.6498, 0.5129, 0.3283]\nstate[eef_state]: left_x=0.3512 left_y=-0.1058 left_z=0.079 left_yaw=0.1249 left_pitch=0.1777 left_roll=-0.1422 left_gripper=0.0152 right_x=0.306 right_y=0.1883 right_z=0.0756 right_yaw=0.0298 right_pitch=0.0319 right_roll=0.0464 right_gripper=0.3283\nstate[joint_eff]: [0.3897, -4.7111, 4.9162, 1.0183, -0.1392, 0.0855, 0.5104, -0.253, -6.3385, 8.4308, 1.4969, 0.359, -0.0317, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5915, 1.3678, 0.2073, 0.7437, -0.5232, -0.4072, 0.0121, 0.3485, 1.982, 1.4544, 0.2916, 0.2752, 0.0616, 0.3289]\nstate[eef_state]: left_x=0.3199 left_y=-0.1043 left_z=0.0797 left_yaw=0.0613 left_pitch=0.2002 left_roll=-0.1684 left_gripper=0.0121 right_x=0.5801 right_y=0.1635 right_z=0.2266 right_yaw=0.0585 right_pitch=0.345 right_roll=0.0105 right_gripper=0.3289\nstate[joint_eff]: [-0.1299, -2.9197, 4.1504, 1.3309, -0.1197, 0.1001, 0.7302, -0.8821, -11.0017, 10.0718, 2.2637, 0.0464, -0.0708, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2241, 1.5051, 0.4335, 0.5835, -0.2447, -0.2211, 0.9952, 0.3454, 1.9903, 1.4528, 0.2878, 0.2749, 0.0521, 0.9969]\nstate[eef_state]: left_x=0.3867 left_y=-0.0406 left_z=0.076 left_yaw=0.0884 left_pitch=0.0919 left_roll=-0.0721 left_gripper=0.9952 right_x=0.5811 right_y=0.162 right_z=0.2201 right_yaw=0.0627 right_pitch=0.3318 right_roll=-0.0033 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -3.9726, 5.8325, 1.0525, -0.2418, 0.315, -0.2369, -0.0615, -12.0957, 7.0906, 1.873, 0.0269, 0.0366, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805df72f811c5955d53924d9083ecf85fd7bc45252275cc9e230bc341e594860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8ee6730f7d852122961bdb70071eedb9f19b52fee5b9fbddec04214326abfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05baf8a0aa10ce95214799a01a9adb1390523347f171710e8588df6cafeb168",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcPTsJpInPeKjrxiTT_TSKtv7Js7FjMnmdsRXEpZVEFaECS1CqBjwXBFelGwVfcemieCRsutNUjUbmc8y8Ygvgy1cLvOZZe2w8ZOpi0SvG9zE2JytYqYqhIkg-j0BXjE_q-y7B0KpUbi36RFcJd-03kQ_7sbc8b1Sx0sEyqV5CKRDPJX1-vfmaBRhL2oVOcx-8PXgTYn5jRMzeGue77zaF8qx-LJpqt-CvbqWGVRwpO41Cm2SEZsdvsvSacy8Bn_jkKr7Wp0NlxI4so3-fIe0ZUCuqXFkc0QlIr1KKyK9s-xmc8VXcQibtF5lkO_xmC1pNjkJwrktNI3BFAbjbmL8ZiH2I4a2cF48i3E16fkZW7faQBc2Z99x06s0spUiLflhzz3BVHMoGPEF98DBCKg1UXsEY56y393oQ_fhX2kaTDSciVkjlQRrI_Y_MxBV7M5cO4mSXHC5QKDDuCxATsyxFxaedKTpEc-HA-Y36dYkb8LuP9wbUkY7sK0eMcMzCsWRFBLA-y_G_yJT48ENU5IwYJGUgg6MveqOGO288cZNd--it1vMZhZQpFvGkAhDdjPkIbFi-Clh80HHhZ4duggMFuqmF68SCpmgI9yxOHQ_VHuYCDhYBQBUMOVH-pYevF5cYFHcxRKtop5Sh1Uy5S_BwSOAQs6xS_pMkCwqwNpujK4q7hH36drd24gXr5opH6-w3OphDuxHgHkdNaXenT82CDojHBXpOSpDE2aNCDAL3QDGUKaVDE5WwJrXU-CqP9rUSrSlT9F16gV3Q4dvzl9k-EM8ieuVBQaS0n4RcZM2wzIiPhjKSJdnQhUp3Esvu4pziSokLsw84ma2lY5oEXpBhhl0CfEGNLU6cMsQ_ouVVJVBrVhJvfcPkRWE-XjrWF5jwvxDtsPQpZFwAFKpbr1225GxZcfzL8T3TlEhzJQszC8buuG2IrlkTaCcNR-EMCpwQbm02TAPo72GxuCAA6OHLszPtSCVcD69Yji3nQ_gQ3_SzZXb1jMOSvquXU4qwXYgkp3eg9K4J7RCIPCuc-owPbrEKacDzGHOdwd8y2Fdhyu2cGJHpqSSFP3s-aHup9CuLkiIK15ygykvMwFfCcjKhTGhvAbCTtHb3fBWN2MVzu-atYjJjEFy9f6KZoOvzCfb_dsUGr6v7Yr-rVjX9_uXjlsYdfvbFSSiTgl-zMD33hdVAb9KdTUklWThblaVlkskJoCxvjIIeX1jUeDFdN0XUGGcoUgIMfkWFfyCoHQtOLgLJWkwYBT64PNdQZqq6FTYntJatf8lRk3HqskTLN3kKhezYTtATD5s12lpabUQTKwqTY3tWu94AZybNTL-zlNcjqDj0nv4QAGyTYmmXW-baWgrqTXRfbF6Ts_erQjBZS57HhircDR0lg_6syUXoufsoi1MxOPn4INL59McrUN2ILWy-jcsye96tP6gmG6lkZUQSioM2khobZhWCGpbCeCJ2kuqE6UwX69S9IIi3iIs2iqm48oc_pwmwbvo96aCpQ-EHq43iXEmF_N65SjZcCx_KigfIWxaLeZ3lKCaolvdxnNw05_gvKrpLh07wQ7DOfZCpcHBTmauRkUTuvHEOa8XtQvXqi6uQ4r9F3LEuAST6AUrzLsPFXy_upRPpRp7XLNiQintak5JiwWyoOOOrsSSrajvfbx60htS4tZOvPNkGpkhY3bAL2Y0YlSBKGiJTvQwlD4oyoRY7H-O78xEPXPmiH6c3hnXDs4jOIxtcmNkc8GYDMq2IT21RNqNZZ7WnnxVWqgIRQ1FwMUwFpkwF25snJ8YeFgeq0p_eEROS-_h4Zj43JoKgRLMHcwy5yrT9w08FSUVQWlGbLx_OEnqyXMIBjLyQNsgf25js7k4ksFeBZRW4iDhdf9K1ppX_hS0hipyVkDDOSwbyFF-dVVywbpxwYz95yzGrK32z_lIJoyji14VRpMwNZRQ7yW0lM1SKzO3U2cTk3Ta_XycX4ixCJg8QuCLfc2lJpCqWj1S85jFP0TfisRot87lTuPpH-HjAgtPS9oC_B-GJuqRXdios2Wgs7vFdHlfm3ejVtFDQdyDQ5bZaEGwfccrj4w89-w_33lmhgPjLigVzW7OpkexFTUUVSrCn3eui0TfWuOQDY6Gf7QEdOfh7HlSE0D-Rw32NRo1Xjbchb9QAmBsJkZDH9Jj-5TuAYY7HZ_jFVG8AENQ1Df20cKGY1iZJeb7IYEAd1AqThjM8T2yTwgBD5-VdYfTBMaV5ym8vmKgji0YoFWn1E3N-e4KsIwk_CUARU0S3-7O6xdLVoDpKFuFRSjSKaWzXU",
  "id": "rs_08627449c1fa9534016ab47709d46087d0befabebb3e0cf640",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.29,\"right_y\":0.085,\"right_z\":0.07,\"right_pitch\":0,\"right_roll\":0},\"note\":\"One slender object is visible in the right basket. I’m closing around the tan plush’s upper body and bringing the right arm back toward the remaining gray slender object.\"}",
  "call_id": "call_Ta0oblTCBn8jpbbkHcWwZE8j",
  "id": "fc_08627449c1fa9534016ab4770debac87d0918e005516748010",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ta0oblTCBn8jpbbkHcWwZE8j",
  "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]: [-0.2249, 1.5093, 0.4427, 0.5911, -0.2459, -0.2321, 0.0083, 0.4591, 1.0859, 0.2626, 0.2382, 0.3134, 0.1909, 0.9977]\nstate[eef_state]: left_x=0.3901 left_y=-0.0414 left_z=0.0796 left_yaw=0.0949 left_pitch=0.1037 left_roll=-0.0854 left_gripper=0.0083 right_x=0.297 right_y=0.0901 right_z=0.0754 right_yaw=0.0852 right_pitch=0.0188 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.0615, -5.8872, 4.8479, 1.7363, -0.0562, 0.0757, 0.7741, 0.4444, -2.3726, 6.5573, 1.8291, 0.2564, 0.0806, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81869b3e0cce38c6b3aaf512ca61790db435088fee1a650982d03c66fb916f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4388e942b04ac810a7a8f3c24c1e84294d94c8ef4336aaa58213ed28a8a0e01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6944f2fbbbca248dc5f18b9a416efc6d1d80392cd55f9a705ae398313822ca",
      "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 · 3.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5911, 1.3792, 0.1967, 0.6926, -0.524, -0.3962, 0.9977, 0.3824, 1.8355, 1.3693, 0.0406, 0.2977, 0.1574, 0.3288]\nstate[eef_state]: left_x=0.3128 left_y=-0.0992 left_z=0.0623 left_yaw=0.0487 left_pitch=0.1427 left_roll=-0.113 left_gripper=0.9977 right_x=0.5308 right_y=0.1615 right_z=0.2118 right_yaw=0.0347 right_pitch=0.1658 right_roll=0.036 right_gripper=0.3288\nstate[joint_eff]: [-0.335, -3.0291, 2.8376, 0.3883, 0.0269, 0.2759, -0.0562, -0.4991, -10.1675, 9.2786, 1.7167, 0.105, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2241, 1.5051, 0.4335, 0.5835, -0.2447, -0.2211, 0.9952, 0.3454, 1.9903, 1.4528, 0.2878, 0.2749, 0.0521, 0.9969]\nstate[eef_state]: left_x=0.3867 left_y=-0.0406 left_z=0.076 left_yaw=0.0884 left_pitch=0.0919 left_roll=-0.0721 left_gripper=0.9952 right_x=0.5811 right_y=0.162 right_z=0.2201 right_yaw=0.0627 right_pitch=0.3318 right_roll=-0.0033 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -3.9726, 5.8325, 1.0525, -0.2418, 0.315, -0.2369, -0.0615, -12.0957, 7.0906, 1.873, 0.0269, 0.0366, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2249, 1.5093, 0.4427, 0.5911, -0.2459, -0.2321, 0.0083, 0.4591, 1.0859, 0.2626, 0.2382, 0.3134, 0.1909, 0.9977]\nstate[eef_state]: left_x=0.3901 left_y=-0.0414 left_z=0.0796 left_yaw=0.0949 left_pitch=0.1037 left_roll=-0.0854 left_gripper=0.0083 right_x=0.297 right_y=0.0901 right_z=0.0754 right_yaw=0.0852 right_pitch=0.0188 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.0615, -5.8872, 4.8479, 1.7363, -0.0562, 0.0757, 0.7741, 0.4444, -2.3726, 6.5573, 1.8291, 0.2564, 0.0806, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81869b3e0cce38c6b3aaf512ca61790db435088fee1a650982d03c66fb916f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4388e942b04ac810a7a8f3c24c1e84294d94c8ef4336aaa58213ed28a8a0e01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6944f2fbbbca248dc5f18b9a416efc6d1d80392cd55f9a705ae398313822ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_08627449c1fa9534016ab4771334d487d09c5a7a78f523633c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.035,\"left_z\":0.015,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.43,\"right_y\":0.225,\"right_z\":0.06},\"note\":\"The plush grasp is still empty; its body is behind the fingertips, so I’m moving back over it. The remaining silver-blue object has shifted near the basket’s front edge, and I’m approaching its new position.\"}",
  "call_id": "call_GoyfBlXpPiUz7lbASLFMixP0",
  "id": "fc_08627449c1fa9534016ab4771bfa2c87d0bf6b63c76026bffb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GoyfBlXpPiUz7lbASLFMixP0",
  "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]: [-0.2859, 1.536, 0.2523, 0.868, -0.3351, -0.2329, 0.9949, 0.63, 1.8866, 0.889, 0.35, 0.4347, 0.2771, 0.9978]\nstate[eef_state]: left_x=0.3577 left_y=-0.0409 left_z=0.0624 left_yaw=0.1128 left_pitch=0.1732 left_roll=-0.071 left_gripper=0.9949 right_x=0.4207 right_y=0.2191 right_z=0.0509 right_yaw=0.1109 right_pitch=-0.0071 right_roll=-0.0151 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -1.7709, 2.1128, 0.3541, 0.0708, 0.0024, -0.2418, 0.5402, -9.1556, 7.3094, 1.58, 0.4029, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c75eb54ee4955475f62b2f0e122b53ff403184d5a73bb3fcd166aac21faae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c5508a3f187bbef56d94d6f0e0b060f777bfef89bbd3ebc794a5922f250113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe8e4e45531430b3889d8ed77cbb9f87d28ede383ab1b4f84247fd2a3c11667",
      "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 · 6.581 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5915, 1.3678, 0.2073, 0.7437, -0.5232, -0.4072, 0.0121, 0.3485, 1.982, 1.4544, 0.2916, 0.2752, 0.0616, 0.3289]\nstate[eef_state]: left_x=0.3199 left_y=-0.1043 left_z=0.0797 left_yaw=0.0613 left_pitch=0.2002 left_roll=-0.1684 left_gripper=0.0121 right_x=0.5801 right_y=0.1635 right_z=0.2266 right_yaw=0.0585 right_pitch=0.345 right_roll=0.0105 right_gripper=0.3289\nstate[joint_eff]: [-0.1299, -2.9197, 4.1504, 1.3309, -0.1197, 0.1001, 0.7302, -0.8821, -11.0017, 10.0718, 2.2637, 0.0464, -0.0708, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2249, 1.5093, 0.4427, 0.5911, -0.2459, -0.2321, 0.0083, 0.4591, 1.0859, 0.2626, 0.2382, 0.3134, 0.1909, 0.9977]\nstate[eef_state]: left_x=0.3901 left_y=-0.0414 left_z=0.0796 left_yaw=0.0949 left_pitch=0.1037 left_roll=-0.0854 left_gripper=0.0083 right_x=0.297 right_y=0.0901 right_z=0.0754 right_yaw=0.0852 right_pitch=0.0188 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.0615, -5.8872, 4.8479, 1.7363, -0.0562, 0.0757, 0.7741, 0.4444, -2.3726, 6.5573, 1.8291, 0.2564, 0.0806, 0.0708]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2859, 1.536, 0.2523, 0.868, -0.3351, -0.2329, 0.9949, 0.63, 1.8866, 0.889, 0.35, 0.4347, 0.2771, 0.9978]\nstate[eef_state]: left_x=0.3577 left_y=-0.0409 left_z=0.0624 left_yaw=0.1128 left_pitch=0.1732 left_roll=-0.071 left_gripper=0.9949 right_x=0.4207 right_y=0.2191 right_z=0.0509 right_yaw=0.1109 right_pitch=-0.0071 right_roll=-0.0151 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -1.7709, 2.1128, 0.3541, 0.0708, 0.0024, -0.2418, 0.5402, -9.1556, 7.3094, 1.58, 0.4029, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c75eb54ee4955475f62b2f0e122b53ff403184d5a73bb3fcd166aac21faae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c5508a3f187bbef56d94d6f0e0b060f777bfef89bbd3ebc794a5922f250113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe8e4e45531430b3889d8ed77cbb9f87d28ede383ab1b4f84247fd2a3c11667",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHciuoQL6Rcsfpzujy1gMII5SUzL-z3qCO0IPi9INrXxXfjAsUkRXtA-AlR09utLfddHLB77iynzEvNvrPbiwiHIScsa-DG1rSB6NpBTBrt0tCg011TzBe8nmgGwXH7VEjiUl0pnKHKPd7X3VjfTF1O9ryJ8Ji8GoVMKJqXJbNVTT8n3pBdFU0ZfhAf4WNEwrXlocckrbboJNfgcD4pk2LVwmQtuMXWyB2YAJ2IUcLOiSrVLijyz7Xed7L93KC_iDN6nwan9iryElulvWvtOJ3QquTf_U5bcBDyvcgRzuJjvAqcyk9Y7BMNxhwiTCBn18kmBwPEXVfnAXPeerkCpvXs4jSo-kxMiBb4HEvNzop3jgq2ZwJ3RzqCdpCZfosKnHnjNOFuIykHvDweabnDaYRwws8A7ORpGRKHrU9eVD41rmweJec9gNBY84AhJ663ZGexDqWFuWB4-9xKI0bNyHjdwIaUKcn1KayjEwwOfQeV8H4tAItaApM2dB0vGoilceizkHQKqe_UyVQe3sNpFBtzeJfoyiBh9IwUGQAzJYZAsMMN2RqWvlo08_BJNYWmKoMQMfvIRRK526nZ98YrnPfmuPu-Bgj0wV2Oy-GxKclMUXNjaT6FZW2qiO1lvUSAOgnLsX6JRQuAWY5EFUumMtiTEgVYP2q3qDfsQkKPmS9b_-chmjNsBUvUNUTDvb7lixyzdqSADgFY0VtmB-45YVQs38-4x-4DXR9MDNRbKpqO6dLqVZrn6L_KqyyNYXqj0RWGaXYRFrAJFiZ174-VaWCffWY9XHyhEx7FVvoDp0Cga_tS2RTfpHhS07B3rn7FymnXJ4MF6-A-Ho4TQlMDpvgHkHrcTobfU9NAdY_VDyJpyAwgNBf4irew09M6yyyCg7GIh3QoELRZE0K7H8-QSDqVpD71OdlxYiReVoxVVperVhpMLfcPC5cJHqS_MAizsPoBm8oTJlCjRq_rwyYuH4m5ofZKEu2BbhlqQgrezkbEmScmf4ydozoveZE60NhbJ5ub4MRiW75UlZmrEdIOr7LDypaD25a4xdUAnqrlgtkhv_iePGoqHIVf8MDou4OmXr2MeD7XhrPffkAdyCTUP3HdcWGRLnXbZCF8uSfqw4yQ_TDha55aEIFbwr8jl_ZHby8xEEhjmLIuIrdHL8u7AJuVFbE3fL5B_4EZRIrvRDojVEbOa49G0dxRl-L2Z9ZZbqpNa6yCbHqcMK2mOlXpgx5KNm81qqv-_Uq84Z4WYtyXsxyb2YMvkGoALLuBaygfsDjft0cX3M-wYj0RDLvaj2aPUb1o0g4IQWwKSoXqtWbp2DgKU-wWCL9rnqHNQDszPPRPXy6rzJ8xWUTPet8hUMbi9rFwTuq4eYbpLiPsqSvXkTf4JgvdHCy2XsoGhZviopx-ojo_k71WIRurD-B7UJF7kzfMXmUymlVbEUGyq7M2_cVewO8MUo6grWClpPDh0mBEJikkN031ayZ_rkZaJAlq_u68bUXv17Umij0jSkDnAXtU5ukp7zuVdMMXBTVA37BLf",
  "id": "rs_08627449c1fa9534016ab4771fffe887d0b36b2ed0b2355e3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.445,\"right_y\":0.23,\"right_z\":-0.005},\"note\":\"The tan plush’s torso is now between the left fingers. I’m closing there while lowering the right fingers onto the silver-blue object.\"}",
  "call_id": "call_qG4NA1Mqz4kcsPXzxOYch1ib",
  "id": "fc_08627449c1fa9534016ab47721792c87d0bd983dbdcfd082d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qG4NA1Mqz4kcsPXzxOYch1ib",
  "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]: [-0.2829, 1.528, 0.263, 0.8818, -0.337, -0.2382, 0.0108, 0.622, 2.0884, 0.9531, 0.5625, 0.4206, 0.271, 0.9978]\nstate[eef_state]: left_x=0.3625 left_y=-0.0408 left_z=0.0719 left_yaw=0.1228 left_pitch=0.2031 left_roll=-0.0883 left_gripper=0.0108 right_x=0.4487 right_y=0.2373 right_z=0.0194 right_yaw=0.1167 right_pitch=0.0542 right_roll=0.0234 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -4.2598, 3.7265, 1.7363, -0.0415, -0.0073, 0.8181, -0.7316, -7.1726, 5.6957, 0.9695, 0.149, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0ac05818f08f1b225ace1c907f856c0029d233449e61e418d1d469ca68a7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78bc5d7108419dbce86528d93a966048d66df998670d35ba55c0b76d0e16f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b78497bc01476dd1ba59c4b965ee73e39a6f605f3e2c5b788cecd492b35cf47",
      "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 · 4.803 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2241, 1.5051, 0.4335, 0.5835, -0.2447, -0.2211, 0.9952, 0.3454, 1.9903, 1.4528, 0.2878, 0.2749, 0.0521, 0.9969]\nstate[eef_state]: left_x=0.3867 left_y=-0.0406 left_z=0.076 left_yaw=0.0884 left_pitch=0.0919 left_roll=-0.0721 left_gripper=0.9952 right_x=0.5811 right_y=0.162 right_z=0.2201 right_yaw=0.0627 right_pitch=0.3318 right_roll=-0.0033 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -3.9726, 5.8325, 1.0525, -0.2418, 0.315, -0.2369, -0.0615, -12.0957, 7.0906, 1.873, 0.0269, 0.0366, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2859, 1.536, 0.2523, 0.868, -0.3351, -0.2329, 0.9949, 0.63, 1.8866, 0.889, 0.35, 0.4347, 0.2771, 0.9978]\nstate[eef_state]: left_x=0.3577 left_y=-0.0409 left_z=0.0624 left_yaw=0.1128 left_pitch=0.1732 left_roll=-0.071 left_gripper=0.9949 right_x=0.4207 right_y=0.2191 right_z=0.0509 right_yaw=0.1109 right_pitch=-0.0071 right_roll=-0.0151 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -1.7709, 2.1128, 0.3541, 0.0708, 0.0024, -0.2418, 0.5402, -9.1556, 7.3094, 1.58, 0.4029, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.528, 0.263, 0.8818, -0.337, -0.2382, 0.0108, 0.622, 2.0884, 0.9531, 0.5625, 0.4206, 0.271, 0.9978]\nstate[eef_state]: left_x=0.3625 left_y=-0.0408 left_z=0.0719 left_yaw=0.1228 left_pitch=0.2031 left_roll=-0.0883 left_gripper=0.0108 right_x=0.4487 right_y=0.2373 right_z=0.0194 right_yaw=0.1167 right_pitch=0.0542 right_roll=0.0234 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -4.2598, 3.7265, 1.7363, -0.0415, -0.0073, 0.8181, -0.7316, -7.1726, 5.6957, 0.9695, 0.149, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0ac05818f08f1b225ace1c907f856c0029d233449e61e418d1d469ca68a7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78bc5d7108419dbce86528d93a966048d66df998670d35ba55c0b76d0e16f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b78497bc01476dd1ba59c4b965ee73e39a6f605f3e2c5b788cecd492b35cf47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcpmMVHFwlXZ4hkByZUtwSNv0yDFHLX9Vr1L4eXAUvoN5Y311O5woBdEoevPQnzLS2J-wxtDjVsCcgCcLCaCpa5RECABpDnF_KzmHHNuJiaiQIETZunpluB3NfSq3H7oZiNuEmyV0WE8nPgCRZp34iXLEgFug4Svo1MS6sMu8QGp924qDTXd_SqyXy5EfAeYtq3dVaaZsLPObJq-3sMUi76BpZBLPz7_UK8LZAGHfJrw4_AxX_CDNCuSHfWZn56a46ii7ItB0J7NxXtKEPCmo1VPkyY73WT0hJBF06do3aqBwkqwLC_zwude3_O85bsXD3YlaaJOuPLH4yjyXUBDEqA0qsDFORU5TTnt2DF46GwBfvmkRddCyJAs2D-TENNM1FkoWv_sPKwxc1rVMkkJPW9iLTXfcRV9Gnhtb1abeSg0aR2WlF9v9Nxnsydjej7yL716vw1PhIIIgrIvMog0wDipKtpR4twjJI8Jmm8uRfxq1aELlSpmou-TFczHv1-IOdg8UfECZNjbG6PC68meRFAfqvem0sk-AnyZ4saPELhUcFvj5H6F1zNCy_dDwRo4olFch7ovl0XhsfYdGHzUC0tHgARKTEXJfje3DrrW1ZpwyCoZFiNKV0EwtTEIlV8-IPfAwYzA2H4JOD201Lu56IIbpNPkAVcH526yy8CHsqtd1-XijTpzZMsVFyOAzf9IWlnjP_nQ4WSnGQ7PrkXoLMYq-TRI--zJ2jsW76XtWQLBZfnS57zdTUNpvhAKG75ARMv9A-zupOlLTWwZXs5L5M8Tslvf-9CZ0VOJdEQFLaWx5A1tDsL3LCL4XusnX11v9wd-UHOYLH5SoJ5sM5TEHy91ObrREl1uQtcGH0AGGx3U-alecRqqGAuqX978uOWt18d-DYjE1_KigAXsDY_P1y9Dw517VCy6_0XQpBh9wPIWb-8LqsFVU4wSS5D0oXOHqspAYSFfCjiDnQJudCFGaY8Bi96CHlapTg9Z04SLsqjEAoxGpkbFDqKob1YxsWaD3N_-hKkI9OngzXkfxB5G1_w6-uX35Eh-ZSvZG8bdNFj95dlnUzkTmM2qjMT44LzN6guJvEh-AgF4tJkzkOLpKFuC1_tvqfmrGCVW1gHlTCec6P7FvP5bYm--SFAaLRI_5Inu74_9SrvvXWGSWWKAMdg5Rlk64CKJCZnbPLd8QDTLYfczyKiWsYRMRI12DkJ4tZNYI3I7pM_oy9cWyzC-awtiMJUTOgZ7CJVXzfAfD2xsTaCEPbRm9VYtQdWqaeN2Ty35pugIkYF0L7rqKCXe5xKucH2OuV4KCe2kcVyJpxXFUhGbsqWaUBMDTyDSp-Z7SJ2DUa3hh7vJQTtMW7vBDP26-yiuRjjk6HS9puij17-GYeR9me3UPrP1X23Z5qq6SO_huJ2tnWXApusDaABfW_l_3CVtFq1MBqvbCbvhKxTTlIMzpNKmLUW_vRBamN7CWFsVHTKjdYDNG7skIDoDbrlzqdUd-C6F9zr4PixXYFy67XfLkIGtIBRHKv3Zhf6z1Ks0WFMhwVstTDnpoa7mTxlpG0CJAz6ZxlePlXeDmFZqm1sc_YPeLgjHtLTwV-5YSvzuJ_oDDuQa3W8T9ls4_FJiX6HRQNGnMGgYLhLHS7kWGNYrKdZlgKWlRQYKFUG8PpTw6y0HltTn3qOIBVSyf-nMKRGGeX0MPEAxISBH2J6PH8zpSbJfmuNGZsOra4g0oBVHlLWswSBU3r29jW2CvT0OeUuw1AH717kyoZ_TI--KgR3f7O0juKziynb4QEV2sQXrX5hAcruopCgwvDGvsGT8uGrDfn2v8jE5-LWigd-vj8RWFnDH49CR23KWKDhP86sqjxfxlAwxw6W5tHZtoo5dxBXi-dfn6Jlp-qmkpW4rfdIKttoOtoTz1IGYFiQ_1q3DlV3FhcufOJxltkA0DGRFjlftPa-vPmr7L5005LYHBOmBvd01_5KcSbjimbzBTWQZJV2zfrmcOtTtCKjlabEd9ukyKLXYumJ49qS_rUnmf48AOB8i_ls2KqqDqZn2aSSvFO6-2aVvl41BBEjWokQsqhfbo0R-EiVUhBAtxG03HiVDz2EqswKDUQ20YZjgEWc8vhnkLYernAid4PpC7EvNcycQ33e10nXpO77fiYHl6ryH5A7Qc0yWMEOeSuVHa9D5hz_WLEt01PXjrK0PdbIx7zD1OzRKy7w_ziaCB1bTkU=",
  "id": "rs_08627449c1fa9534016ab4772545d887d0b8026af48567a24a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.212,\"right_z\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The silver-blue object is slightly right of the jaw center, so I’m correcting sideways before closing. Repeated plush grasps have been empty, so I’m lifting the left arm away rather than pressing further.\"}",
  "call_id": "call_6CVggbaIIs1Jzyi6ijQ4XRqF",
  "id": "fc_08627449c1fa9534016ab47728a43487d0b99abefc8f49424f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6CVggbaIIs1Jzyi6ijQ4XRqF",
  "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]: [-0.1608, 0.8295, 0.6472, -0.334, -0.2596, -0.1909, 0.9953, 0.572, 2.1002, 0.8925, 0.7025, 0.3717, 0.2543, 0.9978]\nstate[eef_state]: left_x=0.3071 left_y=-0.0002 left_z=0.2026 left_yaw=0.1474 left_pitch=0.0679 left_roll=-0.0298 left_gripper=0.9953 right_x=0.4548 right_y=0.2208 right_z=0.0187 right_yaw=0.1136 right_pitch=0.1028 right_roll=0.0622 right_gripper=0.9978\nstate[joint_eff]: [0.2256, -1.894, 8.7863, 1.5507, 0.0757, 0.1245, -0.0611, -0.5812, -8.335, 3.6718, 1.58, 0.0269, -0.2222, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee14621a64cb786ee492b6a50e5794801852a27669e5f2c9d980ae9afb0a4d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17e809766a0bae5c7e07b3ca367392232cb5a5306044861d3794cd632e8940e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa7622c9a410bee90f1803812d92a25e5d41714271d51e268e099f6369ffd61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.1 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2249, 1.5093, 0.4427, 0.5911, -0.2459, -0.2321, 0.0083, 0.4591, 1.0859, 0.2626, 0.2382, 0.3134, 0.1909, 0.9977]\nstate[eef_state]: left_x=0.3901 left_y=-0.0414 left_z=0.0796 left_yaw=0.0949 left_pitch=0.1037 left_roll=-0.0854 left_gripper=0.0083 right_x=0.297 right_y=0.0901 right_z=0.0754 right_yaw=0.0852 right_pitch=0.0188 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.0615, -5.8872, 4.8479, 1.7363, -0.0562, 0.0757, 0.7741, 0.4444, -2.3726, 6.5573, 1.8291, 0.2564, 0.0806, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.528, 0.263, 0.8818, -0.337, -0.2382, 0.0108, 0.622, 2.0884, 0.9531, 0.5625, 0.4206, 0.271, 0.9978]\nstate[eef_state]: left_x=0.3625 left_y=-0.0408 left_z=0.0719 left_yaw=0.1228 left_pitch=0.2031 left_roll=-0.0883 left_gripper=0.0108 right_x=0.4487 right_y=0.2373 right_z=0.0194 right_yaw=0.1167 right_pitch=0.0542 right_roll=0.0234 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -4.2598, 3.7265, 1.7363, -0.0415, -0.0073, 0.8181, -0.7316, -7.1726, 5.6957, 0.9695, 0.149, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8295, 0.6472, -0.334, -0.2596, -0.1909, 0.9953, 0.572, 2.1002, 0.8925, 0.7025, 0.3717, 0.2543, 0.9978]\nstate[eef_state]: left_x=0.3071 left_y=-0.0002 left_z=0.2026 left_yaw=0.1474 left_pitch=0.0679 left_roll=-0.0298 left_gripper=0.9953 right_x=0.4548 right_y=0.2208 right_z=0.0187 right_yaw=0.1136 right_pitch=0.1028 right_roll=0.0622 right_gripper=0.9978\nstate[joint_eff]: [0.2256, -1.894, 8.7863, 1.5507, 0.0757, 0.1245, -0.0611, -0.5812, -8.335, 3.6718, 1.58, 0.0269, -0.2222, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee14621a64cb786ee492b6a50e5794801852a27669e5f2c9d980ae9afb0a4d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17e809766a0bae5c7e07b3ca367392232cb5a5306044861d3794cd632e8940e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa7622c9a410bee90f1803812d92a25e5d41714271d51e268e099f6369ffd61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcvKFzhSa8Y6Vft3Lb3o1s43PyR1yyPzssln2IQTrhRAG7A5YfqDrrHCVyv3dCycxQV7-Xmr8Wb_sq-kxbaGDRd5dICwgsSDn4HEMeOkGjlIZaUiK9L-bBhHOSfDYVaD3KqvVoun62bZv_iewAR1ypsXojcWszktD8FvhZYTNeBHKokoNm8cfichGf7ZPGVSVA27SsJ06N_EPN3Ap174lydXF5fcShnjpNzdrdJoMLtgx0KAfj8pWAGlyugf-Qqb9nB7TSJYFkiQZuAjBlc36aig5WdKMd50SHeiDbny_fbma3OzMF2RFIwVZDn2-qR0oSHYGIWyl99TCLEFttRAVYWECf02jkeXhJiWNXlgiszDOMq-20fs0VMf_8IRCx1oSgrZB3sDhrzP3mY1DmZZZnwVEsoLz86CoHg59M4S-g_rtbfqFHv8t6MfgOSoqDbpZ5JFcBhigMF_78VQXBNFti4HmRbxh1BnmeUvSMixhKMgl8zp39r8hroMXPIhY5m8X55WOYh56qIxaGY1oA-6ZDrFXXFf-RqkvNnbO1-cewf5vRiTDkLwN62PbxsLp0dohMSNGTwYLfugwHXgdkkAhQpSOuRDmFslLTAIfL2DHYWs5COGsWjtCAcds3kAUKdZmNvB4ysUbCZZ_3KdQwKVsVWsqjDxBZxzqLK8dUGQzwzt3tSQCQ_8NZIR44_h48eRBWnN_wJdlaE36Bs-h7LlG0YkPVrJioL_FTeiSkLybUQ7-gkhZqBzls5-IypyXSGsSKkPUqC8Dn8Zhw9RUMOjJZiJ2vqSNwbJ-lmlSGy7n-ETVDcaL7eoIk96zPAON7maGH5jasaJZGwiIlqOCdi6M2MizNM_aW0fb3usozjhvKnzEvmmDosQni05AMe6M-OSZTUNlPRsU4mTUJJ3fhr5Qj9-UCZlmdGPeX28pbmP0m5wCheHYsgfWF1kpNnMu62UrQ8bG9rvyHW9JNKEElP8I0vF58bEwut91aee3C-eLCm5V8CHE1VauaalZlJbRYhPF8LKsvkZEFbEgNs17IRgEObcbXmeHv4CVvpCKTLNsM7VAIcbOco7gRd5cpcCO4BZsDxVWr0R-WVK_tgnhDLFHcrfbmnfhUgiythb-vdwgCoGtLqATeY5vUdM7C9BNO_5kChLMob-fnOtFXLwJ7xMronwEa4UEf10w2uwkI9edIHm-9Sxln-6Wx3RVgYQX1F6NVHyIc7Z5vrV6o3ZPVHPYUc9LBxtEdhyAXVz8lymRcaJ34zmgaXbkmPJyfxCjNDC6bebGF6OI6Pn77JSrzeUgHv0jfxc6xcNUdscmDYUOcwymyNz2Z0p0BrfMRXOaP8IJ2c6gCRE3qeXIRA6Mx7d7fFByvLSLNJAdFVRVwRi4qwRl8=",
  "id": "rs_08627449c1fa9534016ab4772d706c87d0b2e6bd30c660d98b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue-and-silver pen is centered between the fingers. I’m closing on its barrel for a test lift.\"}",
  "call_id": "call_o6lZ7xCgYTqxDOEcwRrastu8",
  "id": "fc_08627449c1fa9534016ab4772ec13887d0a7a425bf1a933142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6lZ7xCgYTqxDOEcwRrastu8",
  "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]: [-0.1593, 0.836, 0.6537, -0.3504, -0.2539, -0.1944, 0.9966, 0.5682, 2.1002, 0.8898, 0.709, 0.3653, 0.2512, 0.1529]\nstate[eef_state]: left_x=0.3064 left_y=-0.0007 left_z=0.2002 left_yaw=0.1456 left_pitch=0.0514 left_roll=-0.0306 left_gripper=0.9966 right_x=0.4553 right_y=0.2201 right_z=0.0189 right_yaw=0.1166 right_pitch=0.1049 right_roll=0.064 right_gripper=0.1529\nstate[joint_eff]: [-0.2256, -1.8803, 6.7761, 1.9316, -0.1392, 0.0024, 0.1245, 0.1162, -9.8393, 5.1624, 1.6581, 0.1441, -0.0317, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebda12529c6ee4a94c556b97217dfe1356512be14351b1298019b9f51e1bb25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55df09041e475394e4a6bac9115ad2af8b85e561fc6ba1c9bcdafbe8a60debc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65183f25f5cf41b3b1f6258f07d0bc74bc76290329b465d7a8271a3e392e033",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 5.061 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2859, 1.536, 0.2523, 0.868, -0.3351, -0.2329, 0.9949, 0.63, 1.8866, 0.889, 0.35, 0.4347, 0.2771, 0.9978]\nstate[eef_state]: left_x=0.3577 left_y=-0.0409 left_z=0.0624 left_yaw=0.1128 left_pitch=0.1732 left_roll=-0.071 left_gripper=0.9949 right_x=0.4207 right_y=0.2191 right_z=0.0509 right_yaw=0.1109 right_pitch=-0.0071 right_roll=-0.0151 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -1.7709, 2.1128, 0.3541, 0.0708, 0.0024, -0.2418, 0.5402, -9.1556, 7.3094, 1.58, 0.4029, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8295, 0.6472, -0.334, -0.2596, -0.1909, 0.9953, 0.572, 2.1002, 0.8925, 0.7025, 0.3717, 0.2543, 0.9978]\nstate[eef_state]: left_x=0.3071 left_y=-0.0002 left_z=0.2026 left_yaw=0.1474 left_pitch=0.0679 left_roll=-0.0298 left_gripper=0.9953 right_x=0.4548 right_y=0.2208 right_z=0.0187 right_yaw=0.1136 right_pitch=0.1028 right_roll=0.0622 right_gripper=0.9978\nstate[joint_eff]: [0.2256, -1.894, 8.7863, 1.5507, 0.0757, 0.1245, -0.0611, -0.5812, -8.335, 3.6718, 1.58, 0.0269, -0.2222, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.836, 0.6537, -0.3504, -0.2539, -0.1944, 0.9966, 0.5682, 2.1002, 0.8898, 0.709, 0.3653, 0.2512, 0.1529]\nstate[eef_state]: left_x=0.3064 left_y=-0.0007 left_z=0.2002 left_yaw=0.1456 left_pitch=0.0514 left_roll=-0.0306 left_gripper=0.9966 right_x=0.4553 right_y=0.2201 right_z=0.0189 right_yaw=0.1166 right_pitch=0.1049 right_roll=0.064 right_gripper=0.1529\nstate[joint_eff]: [-0.2256, -1.8803, 6.7761, 1.9316, -0.1392, 0.0024, 0.1245, 0.1162, -9.8393, 5.1624, 1.6581, 0.1441, -0.0317, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebda12529c6ee4a94c556b97217dfe1356512be14351b1298019b9f51e1bb25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55df09041e475394e4a6bac9115ad2af8b85e561fc6ba1c9bcdafbe8a60debc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65183f25f5cf41b3b1f6258f07d0bc74bc76290329b465d7a8271a3e392e033",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHc6f3j0rP0USSqoPMVt_JDHA_4QNybNw6Wbijf5WblnqP_3uiby_uKuRWQD7kJKdqROdPFl0_QDohJhWNAu5DJXPDda-tewk6Zg3HgszeAkqP6PL2yzQu8RnsKwEEK_lRCbR1gaFFOMTD5dC9rgeSPWX0qtL9y17-IufojuisOjxVX8u2lXmvZ-Rss97w2xxVwY5mUVAk-UMLuU4ouXXr-LARdoh2T-MkPEdnJNANtcuqWwbMznDJuukOAJm1RgOPBqGH2-W-U2iUBdudPFoMniywyfpCD4hZ0n8lflIMk9UcU3cDJ03adKTQwioyvr7rECoLyPbUtbHvaSYJm-qy5OV2YnAZt5N8G9EgiMdauNhXJsaC3OlDsdae67hNHN1Ns6osQBqRTjdO5_U3KZ1GEi33caq1ie5WPdQ3F00S2fcbQgY8Tmo4Gqd63zfm7tUqmHd6IY14A2ZoM3y2teQvzpL5peGHHDHvSN0JjkrQ9yADn-fb9WpDth32pCshSrO0Jui0kjjAkbmG6TblxiJK4tu4grVFGVwB40PZeCQP_t6bKdA6EYHSmR96yVcKn7CLy7jpcXuntu5_fK31uLDsCZxQ4Mb2mwuZrwitGhQuby6mKNl51hL1o2ik4HPUWJuDMnQGOWjwHJMCuRRrLG0onkT8LRiRkLHnrCufN0GPgjn29WAfAbSXfb9BWIuqxTbfMa-uD_GwkrYBaM27vJeK3vHKCdGjxeiYrUTX0eW_OeOYdBHtDUz80nBzfUsO5HrJf-tj1_r3UDEH7aRoSujk8ePV85L3J5zSSWomEX3jhRbCC5XmnsWVG_2LWoKcIOlK-jqW9r3Zdy1Oy8q1aYS2D8K3ycxL8f70V0GDIhrYsVz3zrgdLFZoKVJcGFxsaDJHwXbePoamxRAp6WjC7mjebb8FOeUQImMYpfI_7gL3UHRC6qWPmaHt8-64pX3G2sC4x0q2Vh9lQ3P3tKIej3TtjJohI4JDQjiWqefwELhwFeHSGhHG94hKt7RlGihWSUPKU4fofsvp4BMzH33wMOJNyphM4ADPyWLQ54m0-GnJsGQOMpD3WspUZ4fD9KwY3vfI84Swn7KH-R3-bsc1JIqpP5eAsXKD7T7DAzsrRjSv1Bd-xnReNv1Uo2IPExVGW1TH0me3F6WlaZejteUpV1fRF1tN7Fz4IjPYCFYoGkrQy5ZbxokvgBtDdhwhcv5J-1LGJ-rqDjdJzKqQtEV9dvem5oN3wmR6zS6RlOCYimHuSWdKFOSCnENrjXMsAHfCPKnbiDQ0X4WbjOfZUtyjqWasfVEhpd_adI4SOscWf53EqVCA7afFyCmGkb64H1YlFw5rGKBCBOnzaC3QI0OtlD_jFyumTk4UwYZ0RwjGKJXG-uJaRgV0F5Dne2tLQw45pfd5BOjBY_Xy-Tvh3Cih8FNacI2qWBz-ZnzjdA5cUCXKEOD3c69S-6kqWkoLDzE9-yh1npFobhrLlQpJY0cuSmwAbypjYeiWEjACT_aAV472B7iKK-yzqchqH-9T8Y0IpQds9QLY1oop2U1vGGLhFoAUQuEArOW15VQxDJCDPuGXKcUrUl6YpmbJ3AS-lCJ97GJ6M_vGcEEiZX9H19QgSn0_H7TFmzFNE7te6yjYJTSzJGCTfhKf0CwfhH1ytNC3tvhHnvzpKx-SmcigPgJOD9Dq0GBZ1Shp5Amrd0HIwM8XSeCv59cVRTERjzXsc1dAD_F-8y0HgmjBMmPRglUuFKtvX4Qwxqzb1l7u-WWaH6zS8PUpI0E0gTRoBkMd0Y8oXAqyujZ59JguwF4Qz8WJxsDAVrOMQcpZ7o1vAqcZyqxS6w91Pt62dC67KX16Pje2lyzjaxTPL2LM8lxaQODCn-EV3-8tDg4m7iBy4gdkP4YZtvcIjDSvd12cLoMHElVJcRwQpjBiLSBGCgej6jUC3YkmfErpE1wv0wlwQU5DsCYhrsaZFc2EzaxWNjRI3a_wjze_3SzvrjZvOOTWQNg2D6IyyehtZEh4JeBjrCuZZK0Y3mfzIHruAvLx1tYyETy8IwrrOkZwzkClle_aH1QA28sopMCkvMt9T8f9ijy0VU91Tt_PUcPHOb3nR3033IWr3edlCfDxh-DA1S0Q8Y1ZaCFdv9RO5txcHM_fHAeXydzcC-vWI7HXZolizQUsydKa5CDkuKcacmf4uK_OEaUmg82KoEdJO03AE5zGgKRAVy0sZsafhiRjfGwlwlf8fuum1WOF04xHa9GXtyLtt9pJBJ52qv4smr2LNnMjXwN1irbs6n9YHKNjGuxHS9EAGbwwgLT5LzbJ88Q1U0jzxcuWfxZv5dbliycagVOy4foI8ndxpRgr6n9r39PBtyTVfZBaivpcMRqwPxAqOS1AP7UaCjKZyLPw1aBsHPbLE5UFgnP5DGryjUnLBBb32w9xWmj35HPD4RXQhZh_BFiNB5BZFsND0iWu7E4zrY8uLtcr-F4yTdjAZy2Toq4hl4aVNzKNBEbpiFU9peLfBqilYTC6ni5QHpqgcixqaKC7Wdi5WlYGM4bmYdlBtFyIaU-805zdRkXMYduMf7HnFWw7J0k6SjfHenYLaBDiLgiRxtCvsHpxzCL51ueyGX_QyZZxpGmJ6GVLy7jaAVukeiYJ4jgEw_ogjSS79svmwBUAmTv28jbapKfAuJg5HChZpXfIAkkVkqTsfvl5KlGin8Ey_MGYRgYN8jhCuntkIh20OeuVFkZL0KvBeeBcTp8UFoBHdaWdmiJXJPUByghTNYMf-PMWbnVY0epaintF8g80BHi1ausb_BN0JernnzSEwJfd7Ob-w5HZjxLfXufDvmmy51Cg2wamCYqnjp3Iljzm6rqAsl0pmhXni2wPpzlTCrZJRd84Q74WEp6gJYGi2cnn9b0_LU8nOCFTcjF4MY2dYzqrpsL-Oua_AGEEA-Sz6d1qauqPNYturg73wTsvVRhloqF_ijKiYZ_p54SnAPCdllkXMxxI5MH5W7wOQU4kMecBpR9PkyjTYmLTCzfQm22X8Ccz4K639i9VQ_9m_t65IgrxDF0snURxQRbgVKHj3cBGF6kFDnuSKFzesrdKYz_M_SqD0H1QteLr3rlONVN-sOGcI_Zmp4fr-gR97pk8UCTAZ-zGofVMFa1VL9l6UPFAou-HTVrzY2302wKo9DMbLViVuEj-YxBufBM-K-2dQd2Lm2F42GYBhGxX4nE34d2av3nHgxYBfaLbZjURVvkjC105_6ORYFVW8AOjx7GGxQNlF2QgKW9lupg5wxFzooQI9I2_ePFyeEl9h27IXLrYg_lXVQ2bqUvUU=",
  "id": "rs_08627449c1fa9534016ab47731f5ec87d0a47ca173e7fb8b83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper has stopped at about the pen’s diameter. I’m lifting straight up to confirm that the pen is held before moving toward the basket.\"}",
  "call_id": "call_D0MizWHuCcZUcdCZjLuTl81O",
  "id": "fc_08627449c1fa9534016ab47739503087d0af56de9fe1ce9155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D0MizWHuCcZUcdCZjLuTl81O",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8379, 0.6533, -0.3523, -0.2535, -0.1947, 0.9967, 0.5682, 1.9041, 0.9375, 0.4431, 0.3546, 0.2474, 0.153]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1991 left_yaw=0.1455 left_pitch=0.0473 left_roll=-0.0299 left_gripper=0.9967 right_x=0.4519 right_y=0.22 right_z=0.0762 right_yaw=0.1285 right_pitch=0.0829 right_roll=0.0558 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.2513, 7.2, 1.7851, -0.149, -0.0806, 0.0024, -0.253, -11.7675, 8.3077, 1.7118, 0.1294, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d70a78a03fe48eea677fa44b4de20015c3a0c9f7e173de667f2c6fab7bacc75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd7dcc0d4c86d5c4b955952f09bb2e66334872222166536e0eb1f52881922ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28451a5379ea2ce24325ab33f942ca7eefd75f95a32230a2840eb7da110f2188",
      "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 · 3.878 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.528, 0.263, 0.8818, -0.337, -0.2382, 0.0108, 0.622, 2.0884, 0.9531, 0.5625, 0.4206, 0.271, 0.9978]\nstate[eef_state]: left_x=0.3625 left_y=-0.0408 left_z=0.0719 left_yaw=0.1228 left_pitch=0.2031 left_roll=-0.0883 left_gripper=0.0108 right_x=0.4487 right_y=0.2373 right_z=0.0194 right_yaw=0.1167 right_pitch=0.0542 right_roll=0.0234 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -4.2598, 3.7265, 1.7363, -0.0415, -0.0073, 0.8181, -0.7316, -7.1726, 5.6957, 0.9695, 0.149, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.836, 0.6537, -0.3504, -0.2539, -0.1944, 0.9966, 0.5682, 2.1002, 0.8898, 0.709, 0.3653, 0.2512, 0.1529]\nstate[eef_state]: left_x=0.3064 left_y=-0.0007 left_z=0.2002 left_yaw=0.1456 left_pitch=0.0514 left_roll=-0.0306 left_gripper=0.9966 right_x=0.4553 right_y=0.2201 right_z=0.0189 right_yaw=0.1166 right_pitch=0.1049 right_roll=0.064 right_gripper=0.1529\nstate[joint_eff]: [-0.2256, -1.8803, 6.7761, 1.9316, -0.1392, 0.0024, 0.1245, 0.1162, -9.8393, 5.1624, 1.6581, 0.1441, -0.0317, 1.0476]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8379, 0.6533, -0.3523, -0.2535, -0.1947, 0.9967, 0.5682, 1.9041, 0.9375, 0.4431, 0.3546, 0.2474, 0.153]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1991 left_yaw=0.1455 left_pitch=0.0473 left_roll=-0.0299 left_gripper=0.9967 right_x=0.4519 right_y=0.22 right_z=0.0762 right_yaw=0.1285 right_pitch=0.0829 right_roll=0.0558 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.2513, 7.2, 1.7851, -0.149, -0.0806, 0.0024, -0.253, -11.7675, 8.3077, 1.7118, 0.1294, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d70a78a03fe48eea677fa44b4de20015c3a0c9f7e173de667f2c6fab7bacc75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd7dcc0d4c86d5c4b955952f09bb2e66334872222166536e0eb1f52881922ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28451a5379ea2ce24325ab33f942ca7eefd75f95a32230a2840eb7da110f2188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHdA3fffglCRSwfCH0ZIzHR2vwXswbMjGxTRswAjqs7A2Y9r0Lv10vnAwLfthVxSn2_sMzamJMLcB5RM4PMGOxNgW_tgI4QkEBtNohBHIZwoDoIR-BbO-6Rj3iN0hHcpMlsCeUZK9Y8ncwW8ZJnLbM2xjhfD2hHtEiFptWK7u3E-DOuTdeJTyU3JnExDJ-5CAjl59YbShfWOmoYmpjoFfL3cyo8ICTMrc787lL0vDa1P0D-7HocWzRmH110wXnGL8bELgm4UTLGaZvgJ04HVE7lPeG4emwxy0W1KQSoh6b1yLr6cULPO1edWKR6V0mn8RNoSnPvCR080G1UroI3CjsXmscUOvfWsBvsfVREtgwSgi89NqYW5hLco6he_bCS1gHt_Ozes3va895Ve6JgwHcZNg6MlDvncqoOMyg62F-mxZc_WeH1S0UIGjhIQve6GflQt7IdKW0a6LEqdyqhmvH6JjyiTQBfw5nodI4va2HBIi2KeYFaD9ZT9ca4TlDqr2OwuR3KeZkf36a43xQEpSFiw-FIwwku7Wt46CF0-zjMIHNOvgBv-nOqO6haur4aybZN89SGbZ8Uykc7ElnJN7N8nkgaDJYVNqKgnKN3_e0pjNzhz8LBtQX9-vuTe8FmVSlDdf2avPhHJPQMQmvg5qKZR3fq8QpOXocbhSVtCeO4lVTGv1FfZ8MlGwqk6LeqvuzA_XmOCDGAHdiz6d3rEJOzcyTncGoknvjyeIrSbeDy6LZdP2N4NN431BEQs6Rl8JF28rWiVk3kKfTj8VHccU88thgJYmxGp6fWwP1-a-zZtnY0nVuWaC4CqKMSWK5t0r0qLHprdEFidLT4jcnZRVutQMGHcv3vSL-vMUQhcHWl7RV_4pQvv83xXq5NmNbLAiOjCK-ClqFPqztYKttr0rH4p_UrIPpbwawYZAhq0D2H7XOg1ARM591tT2xmH2Na9-oUGZGIeATUdWQb1qC0g-vzevnCm8qZYBrIOM4U93tFWD3xc3BovE8BiLBRjEhjs4xShm5UCQSW2Y44n9BQ0MwKV33t37CzG2oJ7qMeiG4tIKs7dnl--xrBP_CR4rC8sxeU_n5l9WmPDhtYjOD6iSVNOgkB1wKDrg-OQUWXgP4qqP771-FXm-2WvwY3GdAAv5AIH8i87OkalfOeWFXY8t1Y02sFK3qs26cvKX8hncFjwx6ZQ4rZN4onYRXAQ4Eo2JdJ_El2A0sDdvQbnuXvRNWbUYcFAf2C3vhOhbZ0zJm4wYDRT9jgU9sXsZATOuYi3lHd0YeW_-qbQrPIeRUdg0RLHO9ldumiSjEBVpNebOaOPoucRp73pgJrhzS_vpJ_jP8DDXIy3o5q-ywwqrzLH6UmGxTDNBY2moyQZPrQ9xeLXyItQ46DAkt5ztT-cBhvYjV6ETHKOp8_5M7Km3rbeEdrkwyG5hVdcPLdqMrsxF5uK3b81ycHM126V3Lvx5QjjCz9lh9jUJ8xXk7tqNjXHR5oKFf-K_1UAhGJqB8-qAQXIoZCcj3z1F2W8UgIZwl1LB_iTQUld6ley3loFlYMctogtz7PCLHAcq8wp7wQzZdft7Kn2y7pZ6j3tCQ9TlidJnBTJf4Ch_btjq8wOwcGEnIkEccsIUlY4t0ImEkVrSRaGRZFVDfu16M5rBW5k7mubFOt-DjtG411ItUnidq5l0WNuC0mXdBZ2EI5TxXchoAOiXRKMtWW0WHKCGzDe4malRnDNLPgarAbhEFFV63Q1923SnY-7Y3GHuLt6O-TMdk33bTAo3X_-L6oh_XYxNoDZZaY5CpBPg2dPA2CXmP-hwiBUpcR47UchmQNJ5QbVu-0KRiMiuQ-6ib6VNfNLyXLSbIJrUJrCjcAhYYJk7Q5x1DaOAPFkge-7pFlAcdb9889JxgE=",
  "id": "rs_08627449c1fa9534016ab4773cde5c87d0b336f840de375a80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.25},\"note\":\"The pen is moving with the gripper. I’m raising it above the basket rim before any forward motion to avoid pushing the basket again.\"}",
  "call_id": "call_MfejOGDUc2IY75c4w6VRoxFd",
  "id": "fc_08627449c1fa9534016ab4773f517c87d098ca32b6825af5f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MfejOGDUc2IY75c4w6VRoxFd",
  "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]: [-0.1589, 0.8379, 0.6533, -0.3531, -0.2535, -0.1944, 0.9967, 0.5682, 1.7042, 1.3327, -0.2031, 0.3466, 0.2432, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0006 left_z=0.1989 left_yaw=0.1456 left_pitch=0.0466 left_roll=-0.0293 left_gripper=0.9967 right_x=0.4548 right_y=0.2235 right_z=0.2124 right_yaw=0.1386 right_pitch=0.0348 right_roll=0.0343 right_gripper=0.1581\nstate[joint_eff]: [-0.0889, -1.3607, 7.0632, 1.7656, -0.1343, -0.0269, -0.0122, -0.1299, -12.2872, 10.0855, 1.6484, 0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5483b0aab172b0d04f66216c9b73943bdc0a1f877d0d65153b84ca6f60473ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7c065887a446b5f6a66b302e1fa646fad9d01b13c0746eac4f6a638c9da5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763c9e1bf8f4bf8796df35996fd0d5bacec5bcf13fb3c861a49bc72f5f49179f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.495 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8295, 0.6472, -0.334, -0.2596, -0.1909, 0.9953, 0.572, 2.1002, 0.8925, 0.7025, 0.3717, 0.2543, 0.9978]\nstate[eef_state]: left_x=0.3071 left_y=-0.0002 left_z=0.2026 left_yaw=0.1474 left_pitch=0.0679 left_roll=-0.0298 left_gripper=0.9953 right_x=0.4548 right_y=0.2208 right_z=0.0187 right_yaw=0.1136 right_pitch=0.1028 right_roll=0.0622 right_gripper=0.9978\nstate[joint_eff]: [0.2256, -1.894, 8.7863, 1.5507, 0.0757, 0.1245, -0.0611, -0.5812, -8.335, 3.6718, 1.58, 0.0269, -0.2222, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8379, 0.6533, -0.3523, -0.2535, -0.1947, 0.9967, 0.5682, 1.9041, 0.9375, 0.4431, 0.3546, 0.2474, 0.153]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1991 left_yaw=0.1455 left_pitch=0.0473 left_roll=-0.0299 left_gripper=0.9967 right_x=0.4519 right_y=0.22 right_z=0.0762 right_yaw=0.1285 right_pitch=0.0829 right_roll=0.0558 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.2513, 7.2, 1.7851, -0.149, -0.0806, 0.0024, -0.253, -11.7675, 8.3077, 1.7118, 0.1294, -0.022, 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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1589, 0.8379, 0.6533, -0.3531, -0.2535, -0.1944, 0.9967, 0.5682, 1.7042, 1.3327, -0.2031, 0.3466, 0.2432, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0006 left_z=0.1989 left_yaw=0.1456 left_pitch=0.0466 left_roll=-0.0293 left_gripper=0.9967 right_x=0.4548 right_y=0.2235 right_z=0.2124 right_yaw=0.1386 right_pitch=0.0348 right_roll=0.0343 right_gripper=0.1581\nstate[joint_eff]: [-0.0889, -1.3607, 7.0632, 1.7656, -0.1343, -0.0269, -0.0122, -0.1299, -12.2872, 10.0855, 1.6484, 0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5483b0aab172b0d04f66216c9b73943bdc0a1f877d0d65153b84ca6f60473ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7c065887a446b5f6a66b302e1fa646fad9d01b13c0746eac4f6a638c9da5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763c9e1bf8f4bf8796df35996fd0d5bacec5bcf13fb3c861a49bc72f5f49179f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHdFNWdcoI8vJT1o3qcNfG_-6RNOkWc9TEBIAfn9qqZA7fu5heoc2LDFgR3JLOh4B6T45mykwrTtLbm_oklVEbiGP5w8EcuYOnAubVh0u3sq9Az1Ur9P-xm4445tqHSqPmjS3CYcjqLHheCKLxVYFvDHfDrmDOkciSIBRVNwnvELwLD1ryLZIGEbimhhLBl9DqzpOFbOpRJ8r8d4I9pDF3JXH6Bahy3lKucHi5sGkHbgLDbJCpW28mfqCOErglPKmIeqSbEqx6_1d_6XqwpVvmoa80kwLoRGYH1WQzJr4LrRKQS-F-nH8g57pEGjYvI1s8Mf0hMThZIEFkIRAhKzDSlB47yuaHqhW2PAVJLFdw33Puj-9xKzmqtePWtU4ZsAN87mbKWV0WFh1U0xwrK7uWWbnQ1sa7iyjKmWd2J9c4TO3ze0KNZAT6Wb4FmwM8mQLmoppIppFblOFhxs5NPS4tYxcLNEWdD2LGyzHrlyuc8_JZGrCdSEZCgNEITV20LkgA2r37o6JqDotTNB52pB78xN_18mkjPBHecRNCwaeblHVuQtz9lqKmAyz56IBVP7nPHJ6N0phEI08Hrz0flqdXcUQBgl1kFatu1HqschIBdXKpQgtyTpPuTU6ujFHRTVU-_EFqgsEdXArY9QhYYgu5piCgwkR4m98h3V60lSPGBNSXJoRiZSepMlTUaQhXGBUveUfZLvI_aP5af3gLM9CG7KMMIDa50T4mE_lSTbbdZdOE_GQW0hRtthGX6XPYL4e_flvelKsS5NuMqGvuCLookMs1rh50Yq-KcqWQmyezlLOnbPnqvb8_PcVtrFozclIPUXmFELmxnjrEm2POV94R98yR1RksqXMvT85pIFbzshs9K-fEZapaJW51-5uR6xe1bAiBXhp0ytp4A0dI-96R8XYN1RYvTDXOZU5KUhR8DIS3NitV4AzTrBmzFdNKtGrXpCGMCGYznAT2FEIzbMHRlSJDRjadbjepntwpXQMjXQVTA3U9IgvzgujmJJkc1Jo6T2ZpCWvX9lGSx1ebtAskVeiks409LmFZgw89DDE2mDpSVRg-6V7HyevfmK4oHZkw_9nYhdAH3r6wamm9yXDpgMV0prrYKQRDEPwMT-y1YvhmWSF8uCzm97XSA1AKaVwk7z-PL77t1MXbd1dtIGz5nv69Mx9uk_pJjcWOlaTtwWhGHdg9k2ET4jqAgju7AsBcBs-3QJEyLbcm-DYCKZF7551zLx0oE32ambW8Z52rErZAunGQFYnz_Z_1pHh5RzHWRhOPdh8gIB0Yk9rNjYJtFxIfuxWtgMoXmLc7V5_iuNXoBy7QfDsm_zAqhioFcHCvsfDJ0_28U1LyYttL3WhUhdHZYT9a46QejbbQM8VlqdrizUDmKnSd5o6t-cdebTKEW3jQfljvUeXJl4EV5qxRBm76I0787PALCwUu7OFWG-whFa5N-RGbAL3Bov9uoMMuwbty8UdyYODE9LJYNbCkhqqsyHqolcPgt9iyfbIY-gZMptk_yOVsl3CapPb3dIlwV2FVyQdUOwu2MHdSLeuaeFGjBbVFzS9ek6eWANvjHTJeb6j-eC0IHkZdI0y_hORz6tefgBi3C9JENwDSHIOLJ1_1JH-P607teYLP6tYA8tJZw9DV1x1OurSNSjN1mJvs23",
  "id": "rs_08627449c1fa9534016ab47742c8c087d08f0beac9bba40f4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.585,\"right_y\":0.16,\"right_z\":0.27,\"right_pitch\":0.4},\"note\":\"The pen is clear of the rim, and the first pen is visible inside the right basket. I’m moving the second pen over the basket opening at a safe height.\"}",
  "call_id": "call_pTABw1b1009duvxYHBO483Hx",
  "id": "fc_08627449c1fa9534016ab477442ba887d0942616a085dcdf96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pTABw1b1009duvxYHBO483Hx",
  "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]: [-0.1593, 0.8387, 0.6533, -0.3538, -0.2535, -0.1947, 0.9967, 0.3134, 1.9324, 1.4761, 0.1787, 0.1532, 0.0502, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0007 left_z=0.1985 left_yaw=0.1454 left_pitch=0.0451 left_roll=-0.0292 left_gripper=0.9967 right_x=0.5735 right_y=0.1613 right_z=0.238 right_yaw=0.1412 right_pitch=0.2976 right_roll=0.0206 right_gripper=0.1581\nstate[joint_eff]: [-0.1026, -1.5795, 7.0222, 1.7118, -0.1343, -0.0366, -0.0122, -0.5402, -10.4547, 10.4137, 2.1661, 0.0562, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc40c0aa25a43b7670d07535d442a90c61026f89399e2ad2f4bbff66f9ccc3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61aae7431e8c44519c00bbeeb9c7a3c31691c531b6b087da376e44a213fc8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beccfbdb1b7a59b26a8110983bb9b8c1ed67ca2dd834d7b1b4ef83f2f263d7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.836, 0.6537, -0.3504, -0.2539, -0.1944, 0.9966, 0.5682, 2.1002, 0.8898, 0.709, 0.3653, 0.2512, 0.1529]\nstate[eef_state]: left_x=0.3064 left_y=-0.0007 left_z=0.2002 left_yaw=0.1456 left_pitch=0.0514 left_roll=-0.0306 left_gripper=0.9966 right_x=0.4553 right_y=0.2201 right_z=0.0189 right_yaw=0.1166 right_pitch=0.1049 right_roll=0.064 right_gripper=0.1529\nstate[joint_eff]: [-0.2256, -1.8803, 6.7761, 1.9316, -0.1392, 0.0024, 0.1245, 0.1162, -9.8393, 5.1624, 1.6581, 0.1441, -0.0317, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1589, 0.8379, 0.6533, -0.3531, -0.2535, -0.1944, 0.9967, 0.5682, 1.7042, 1.3327, -0.2031, 0.3466, 0.2432, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0006 left_z=0.1989 left_yaw=0.1456 left_pitch=0.0466 left_roll=-0.0293 left_gripper=0.9967 right_x=0.4548 right_y=0.2235 right_z=0.2124 right_yaw=0.1386 right_pitch=0.0348 right_roll=0.0343 right_gripper=0.1581\nstate[joint_eff]: [-0.0889, -1.3607, 7.0632, 1.7656, -0.1343, -0.0269, -0.0122, -0.1299, -12.2872, 10.0855, 1.6484, 0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8387, 0.6533, -0.3538, -0.2535, -0.1947, 0.9967, 0.3134, 1.9324, 1.4761, 0.1787, 0.1532, 0.0502, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0007 left_z=0.1985 left_yaw=0.1454 left_pitch=0.0451 left_roll=-0.0292 left_gripper=0.9967 right_x=0.5735 right_y=0.1613 right_z=0.238 right_yaw=0.1412 right_pitch=0.2976 right_roll=0.0206 right_gripper=0.1581\nstate[joint_eff]: [-0.1026, -1.5795, 7.0222, 1.7118, -0.1343, -0.0366, -0.0122, -0.5402, -10.4547, 10.4137, 2.1661, 0.0562, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc40c0aa25a43b7670d07535d442a90c61026f89399e2ad2f4bbff66f9ccc3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61aae7431e8c44519c00bbeeb9c7a3c31691c531b6b087da376e44a213fc8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beccfbdb1b7a59b26a8110983bb9b8c1ed67ca2dd834d7b1b4ef83f2f263d7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHdIhjcbA7d9nsXYZGeXqHyNZ1ok5S3IDNA3pHJXqLd5cG8UkTsW3q2HeGc5iwpD-ErkCkWpvI02frig01DG_tl3ge5q7-32dppIOYy7Nx3kwL_bSNdkhOEjudWDItWDC_xI759UqE2fbvaCdkQi2FCRe_Ao59QbAM_IqeTmAMFi656Z9jxfPLvPo6qtW-HZNXV7HsU0yLvvivxEDFQGRR4s5Q49qBJ_D54rh7POmpqN2ELby6Df0AVPigG9SeUsCVKdrvgeeDjHgmxmsWLawXPg-PI2AIGK1jSZX9kbrNoyaFJaYw5sIvaaqFHyCTsTuLkcDHCSx2xVpTAQGzMU9xOca5u5WswI2do5YzPkx43MSzK2Cbyz_iLTZYWw3A91l0F-Nv7dYaKI36fxIiJtpraoWZATHWMsj7MmoFLYxOSmmsnrg7j3aH5WA0yJjSmCRLkUo-hShPyiSTj2r2hGbRIP3hkqBmariyCiFhpL8B3v5YACSB3qRT0-3CLHPeLXetct08fUhXYdch-8-DkdO-057CJngvIJY9Kmlc7mN_3Z1GgA1uoFxTvJPNG9-XYqcAcedmrp9ktI-XOSvuCggwFHmysrzuxUqA_YDoggqTMaXc7xIuzcX_E1hUv9gUUTY2FfjFpHnFaRx9bMw_s206_4itqTWHr6HeL8oYUjwTvDW1-ikN01snMxD1BcQlXOmphYd2og_aZ1V0eTy9Ez7qI6V0iIMYM668zO7lTPOiDDvt1yu1UVD1DVzGvFHCwsLnS4znT0Fg_xv5EMcY5FpBFgk94C-p_zgiMaxx1X5NYVezKXFv-Us6m0H82ugcR3Jk_tpT_PWkK04QZFDXX7WIPl2UDTNiFLS747Ge0aKuPJPJh7Xv_yFXyA5hv7mBzXNScSfJpG4Rc7bXynQfpP9HfBDPVQEOePgKGppVeLWd6bwfzmGm1RIXxIQiubUoeXiOKo7nWnWQYNEnlilpIfLOlZoxSsPh83URXDQ_EtJsWXC9lNnYI9UxyMLm2xC1-0jqUUA-nm41w3Bs7tusKx3qokRtf9zDNpRvLIu_h5iqAZy4uVuU3Sr4aT3RCKASDYV1z1q5TDFkzI4h2Zys3I8_--FGNxowCEls3Z4Bzuy8ICZmfCD7OWTWQWBVUctP7CTaGlHEjaaMYo20z8fJQRfldjw5IdvsksvfVKYZktrcY4lJ6QrPSCowXrtVB4uVHWjebgltwTBXx6XxRkAO1hepf_Cg==",
  "id": "rs_08627449c1fa9534016ab47747e12087d0a101a0542fdb111d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue pen is above the right basket’s interior. I’m opening the fingers to drop it beside the silver pen.\"}",
  "call_id": "call_BuiduAVy0G9uDS93Hfwr679d",
  "id": "fc_08627449c1fa9534016ab477481c5887d08cb03e940267bba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BuiduAVy0G9uDS93Hfwr679d",
  "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]: [-0.1593, 0.8387, 0.6533, -0.3531, -0.2535, -0.1947, 0.9967, 0.308, 1.9434, 1.4773, 0.1696, 0.1471, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1987 left_yaw=0.1454 left_pitch=0.0458 left_roll=-0.0294 left_gripper=0.9967 right_x=0.575 right_y=0.1595 right_z=0.23 right_yaw=0.1456 right_pitch=0.2785 right_roll=0.0129 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5658, 7.0359, 1.7558, -0.1343, -0.0317, -0.0122, 0.2256, -12.0821, 7.1179, 1.9805, 0.0171, -0.022, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8a2e8d7e980dc32ddb74a74f68d50d3e324f660f39e10c92ee8952cb6a4f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fa59939e55adace781d7ac0e39f7c85e5249e1b56eecec120b773b38d9968d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433734b0e8ee5c482f763be4b273b031dc6263afef92dfed81c06633676cacdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.81 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8379, 0.6533, -0.3523, -0.2535, -0.1947, 0.9967, 0.5682, 1.9041, 0.9375, 0.4431, 0.3546, 0.2474, 0.153]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1991 left_yaw=0.1455 left_pitch=0.0473 left_roll=-0.0299 left_gripper=0.9967 right_x=0.4519 right_y=0.22 right_z=0.0762 right_yaw=0.1285 right_pitch=0.0829 right_roll=0.0558 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.2513, 7.2, 1.7851, -0.149, -0.0806, 0.0024, -0.253, -11.7675, 8.3077, 1.7118, 0.1294, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8387, 0.6533, -0.3538, -0.2535, -0.1947, 0.9967, 0.3134, 1.9324, 1.4761, 0.1787, 0.1532, 0.0502, 0.1581]\nstate[eef_state]: left_x=0.3062 left_y=-0.0007 left_z=0.1985 left_yaw=0.1454 left_pitch=0.0451 left_roll=-0.0292 left_gripper=0.9967 right_x=0.5735 right_y=0.1613 right_z=0.238 right_yaw=0.1412 right_pitch=0.2976 right_roll=0.0206 right_gripper=0.1581\nstate[joint_eff]: [-0.1026, -1.5795, 7.0222, 1.7118, -0.1343, -0.0366, -0.0122, -0.5402, -10.4547, 10.4137, 2.1661, 0.0562, -0.0904, 1.0379]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8387, 0.6533, -0.3531, -0.2535, -0.1947, 0.9967, 0.308, 1.9434, 1.4773, 0.1696, 0.1471, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.3063 left_y=-0.0007 left_z=0.1987 left_yaw=0.1454 left_pitch=0.0458 left_roll=-0.0294 left_gripper=0.9967 right_x=0.575 right_y=0.1595 right_z=0.23 right_yaw=0.1456 right_pitch=0.2785 right_roll=0.0129 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5658, 7.0359, 1.7558, -0.1343, -0.0317, -0.0122, 0.2256, -12.0821, 7.1179, 1.9805, 0.0171, -0.022, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8a2e8d7e980dc32ddb74a74f68d50d3e324f660f39e10c92ee8952cb6a4f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fa59939e55adace781d7ac0e39f7c85e5249e1b56eecec120b773b38d9968d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433734b0e8ee5c482f763be4b273b031dc6263afef92dfed81c06633676cacdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHdQD_p-X8AgGvFMEB4upPos6FL7wPdSZ9VLalMbfQj6ZFAbhtB35k5ygfuGQMe-ixAFHk4SO2pOEAu80m-6BshcaiIlW3XEHGjaT-Z8mkX5KRzwTn0VfhWc-AqBKo23yvDuNmf6oOwi-_cevFMa2Tme6HaNquddmaJ2ApZCCIlnDeOrjKITgK12eAF5v3ujESuvVse8RTHSWJS8n3xMuom5Vl_qEpSO6X9XXLPVGTtWpJD_U9CzY3HprGlkJ4LAlcKay0qQ7T2Fdc5R0-b4CY9hQm-FA1zkBn9ybhUntDREtLiBncTA2rL0bVOKnuibh4kUqelY_E7tjoVRlaF4YbUbFtYAvO8Lib7H1C6Mca2qIFyi7rW9W_7EWaqAqZiD4a2xA15sA5a99EiEdSnU5UlfYTss8gQ0SMMfI9C4hnBcVBsWSPdekIe_mfoFTdpObLpbkn8ws5mP0RXFYRPaOMiIRe38VruaQEMH0aZylSyeYPEnESBO7lV1xTrfESOeEfCeclldhagVosPl-6q7Tz4lkaNvpiBj3cPDRhxkZIefqq48Jn0to6r9oQCdxXQsNg7DfCqncNNmVp6EqpyWQzq7ASKv-1O1G2H2L8uk24c1MCHFTjbUvs4NY8-V5kUJAR60AbBHuE6wT6j_o7uiQdwUGemiwIOs52v4wwSbsd-cyFIzloNA_Wk2JQBzXLE9NSYYqc_kvB1XnyeH07bSo7z751NMm96P9lBFiMTIHJFoeD2BAcBT3MWdIFJnNMYmDmzOClL2BNGCF4EF60XZvUu6P-ufmgs24CCh_iPzMyYmpIOeymb6OTOSXBIEmDDQXPbrEOATKr-GlYeuVyXFPn_qDQMVUhVJ1R3lUZ9nNL3z2_85ccrTYQrstoFUuwkKKR6FaXOptFiJVsz_rzRhkCnNm6eLaqgHEdeC6sDGbSuhaMXgaBz72ituQoNyRmWROlb-_CKOtQ7AxvUHDCF_e_0ytxlhlzgA0MMMWyuCOIpGnoO2KlZMads98IAbzj6wC73HL9xU1OV7uA9eDofHlI9TZo5E2sKaM1l2pfblloErtZzWrOGAP269enBVys8Pdcu5UImt3JhZ2WyI6j1gh_4RtNDwE0ZZm5sgBOjwxUOGnjNJ1dc8aLzH55buNFZ7x36Da1rQIuYf3u-K-YgXi9IzRgqkFMAiSzxERBfhCnoufCqxaa-KkRxyEmEnD3iZknZ6uQV0M4zRzq_bz53OOB9aiShEg6tPtyCzkXYKILnFt1WNZyarfpkCUSgKXGhc3wH7zMcX3ZPdvOkph9EAzd5L0Nl7oNarSEu54edyGKNqNbblJMd3sHD0D5Wel0zdeZm70RvE6HU0zTGY8SjznvCzWqE_jyzu9L1dcJskcMnO9xiUhzOdE-aTKvCei3nUo1oviaC--c5iMDv1lAT5m5qQcW1DzWexqoiy9d6jYCsXKLBWXiXFHpznopHnc3vaiWEOi2yYBEdwI9okxOEgkcFcxxTXKjx8L9zSX63UGGu8p63IFtcExWeqNq-bf86AIBdiwI4iroXH9vmcXtwBcWUJ4cXl9Q-kqiBFJj2U5KmZWsd5UcP8Paa7eEuDJO6vXndGIXJTtaHb2_8zn3ADgbwtPuu1D_p5WGsbJjgnmhKI5La2jhJCYB3QjjNwa69dh_ZHxkKk-nq5OTTb9XdxkkFN2OasymcUBco2lcET_1ALru9EoINVRYrxW2Cv87uVqk1r_7FBkzTV2ixTyZjo9gHH3xTgvxWnpbaFYE7-ALd93qTXtZ8EajXt577WVVId0TXyF512xnckZtygz5aHmXw2WY4x0sacyqIFyXtO2CxeGxTOz5ziVKma6mlf2aELu1pcenLnMfSUbe5-otzd3ncI_XnKvw6uynVdNAeFhYF9xuWhqfhJIGA9l0EnBlp6_To8LezLvRdECgb3ElwfKeNcT6eJ5RVPRl3URzObZxtBGVowRV5sOJqJkVu2QVxsp79B3wVMxHyG0M1pJI6bvUT_Fie2cJZKGBr6lQ4Mx8cRmHWJINe7PGdU0AMSQbHxFFY3M4WkGW-_TTd2u0Drk1S8-EQ5PFz_yO_QslOps4RtNr74Uqj_cUTyEk_rKBPL5KFREmzay25O8zi54bzIT1t5d_7XjLZYGvh5HqN2-WA4uF-cTTNiHWjnbG6n3CWk3tiKJh2c6-uqIkEY7JWPLt7GJJdRudMhbXLKKVfrMXNi39lbxDmZyF46y0vPbVLW4cMtdUH1_jWvTw3h7cSp5fzEnqX9Y8Z4DT-iji3AeHT2il14ROdTmrhGOvvCfLt5u-ELbbiQ2RFlgY1XY7wlPBDuMWxgulVZikZy7oaBA4_33nBnKtqyqv3xRxY4blQZmRdTrpCx3_B8zrR1X4Zdb5pk4g==",
  "id": "rs_08627449c1fa9534016ab4774b28f087d0b42acf04a7070d0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Two pens are visible in the right basket and the small brown plush is in the left. The larger plush toys and yellow pen remain unsorted; I’m parking both arms safely before stopping this incomplete attempt.\"}",
  "call_id": "call_1lE1VTe0u4KDC7Y7pdxoTvZk",
  "id": "fc_08627449c1fa9534016ab4774ecdb887d0932710fa409e53cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1lE1VTe0u4KDC7Y7pdxoTvZk",
  "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]: [-0.1741, 0.8291, 0.6575, -0.4549, -0.2626, -0.1947, 0.9967, -0.1501, 0.8474, 0.7059, -0.4038, -0.2153, -0.1547, 0.9964]\nstate[eef_state]: left_x=0.2926 left_y=-0.0013 left_z=0.183 left_yaw=0.1381 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9967 right_x=0.3066 right_y=-0.0046 right_z=0.209 right_yaw=0.1055 right_pitch=0.0405 right_roll=-0.0108 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.0171, 10.1265, 1.6679, -0.2613, -0.0513, -0.0073, -0.335, -1.4701, 6.7897, 1.8632, -0.2271, -0.0708, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50279982e513e65cb8875efca2fd24d91dee291446f73672786caf6f9b7c1491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b062d2cbe9b0e613eddc6f6c6c863c5a176e835d3e625ef7085b00d485391b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a649884bbc63cd4618778321766fdb357d2dc0515eac8aafed68a4cb42e7ce35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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