adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.3836, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.4564, 1.8486, -0.022, 0.0952, -0.0708, -0.4444, -1.0735, 9.7846, 1.873, -0.0611, 0.0708, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe06da7ed3c076434da0ddd05725752256b438ee42c514ec09db985302cbefbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc898600985dab2ae06cf8d6f4bd21da2e65388589f17463126d35dbe4483502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e72a0cd08b5cf879798ea3b2e06c6600e95fc5850af1b334be140767a10565f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtHikIla0N_O79SrtVqGQ1qYI4Niy9g2BAxWDae3YQuxP_PP2ARnrW2sHlgOV84Hg_aWqBPobGBizITnPJcKUaC3UEU2OuYVXIQasMwR903k7e-j68ulf3uGF5y6QzcRDL3yMTHRDzI4FqiVIWxqQjnDdaTQfBjBGSlzbv92e6_l0qKKi-8XK57yejUDjjlh8wRS7OLpPy2uLxKI4vcLQtl0qLEyFsdi5bmDyKUpi5wP89-lk-p3_Z-SdKxS-evcexamf1Tk0Tyho9KjjhTKXyKVXBcXApG_C316iyVyQNPCXX_6qCo--T4Q065ubKnh2kOdb0K_KObmwK7636_YqlCZqPNRcrWKNzh3GCNbOTRYyPpJQq-DVrMFmpZCX2PBWPIx6DaBEN4HXYaWY36bOD9daL45tAUuihfWCjI8Q-TbD6wi6xPBtp8E_GazC7EosAcyNy8bJlWdG5ZFQwL6AZkdRUdIR3L37unRnojOuREqgwQs0YrB2GHSh60niu8nK-YlH0SB8OcCayUFSIO2AgNvcunZ5AHiVYS5vaMkTcfD8Dc_yjj0xQYyfdUweruhH6ucUBTT2F1N52rlmc5XSK7cmXrkOyJGqdGIL16ZEibKLH53EDYGz0_K6bRXF-_bdkWWxzGdI6Y4ySvWghIoiHuoz39mgJMAl2wm6mb9pIv214kSJVQOcgMmN2cZr1PY-Nw8V9wT4aDt1Z9dxCN1ETLZ0aqS2C9fryQyW6Rh19QdRSiHJ7quN0mk-riG8Rn7zCuRJuDnhXKfs-6xbXBFOboHvOr60ekR06pRoG_hO8gV2dTJOX8GlRaeLLQerVlji5-5lTH80EgaVMAPXNvYoFBhv5DDUlfUPjzRcq_NgLoLfWlUWOtMsqTNpezNcNVqD0ztz9QV13iHc3hxhvgRV8Lg8t_jxr6OF2aGVuOgACdAR1E23BM75tUEaINXGHRiAHKD0qf60J9QZSp7v3hWBmQf7PN91PyYQf3p-S_C4yWi01cj7nxaW76--q9DyiNoVVS2ajRICrZkzgKLUVA5qkAMs2DHdQhE-wiqDkhU3cRqvgLjMbJB4HpNk6bP_lK1Mvr_3b5PTwrSMpp3YM_CmYTXv7ej8vj8iOtOQwDphbOM7IQBU6TNbBvO8NEhYfq65XC7DW9cDFVvdLSTZJIK1GZJOHC1uA4phHVo9mvE9nBO_pM28MvVyamY-aurdAZLNK9FHOo6LoRyrbdYZ2veRqs0bYS1DLx7X1zRpaG5E7Ed4a5fT5tUL69gkY9xfkViO1FPfqcxi6U-v2lGGkWdl59bbaqXkotcNHdLOdk11_FLhHUw68mDx2qBuclWX08nJBvKyR-XMQhuGmd4jd4nP5PXEyjdboGCcE3Nlxq8Nn-vPVsKJ2SI7FZUnhIsjJ9Z5PgM8HtEr13x9U8ObpadSU1zZPRGRplRYxCQ9M3wdVIX34CNOE2ZW_MR6EUrEpdTJhxK1dzxUrQkfBVJvZoBNojHQuqRLzEkElL6BVhVm-FcWDJBINqIMmQ8IvSEe35QCD7PN3Bg4yBnQd61gIwmfvGBYZjt8Hj9hva3GsM_ytgVLqYOf_0ngjS_5Pzgz90vqnlRx2qc-aKJwcQrzTbMSywtm77T0D-9gN0L9hoLc30OUOzeDFlaypXcOLInsRxWzaBA5xjXsBOtlnwpqZ2zsJZFCFrtBzYvf3_KDRB6NVqtRltrug04l0WYkr3f4NYzBnCzg2DMCkZ6WQE79GUfmgTF-Rob1_bmSE381JSErzKqnjHTbAgOVkhmhJENtkl1rtgxPgQme5SY-ow6eSMTm5a6X4rvQ-yf-UezcvP5UTXXk5liSJSipGchxsRKfXPMgO7f0Znqfh0HTHfq_Bm494M4G5bhbrjSs7Q4xMNKT3HL9L79KHs2xiJvSwInNHAuWvtjds5lFOPYGeEnfZWgPSw4BV17w1i4_JZ3r6J9RxfQAhQGJbrpJ7oth6XRfHNm7O3tYyXuN5FiQRulFAiqJaVEOA_DCaLuvR87RP28BAcPV4SSxnxUprq82ILRoTyzgdj_xUkksSSSwb-crJ5HHJEBCP1GLeU_YZFVt4zY8DS2iuFfgxA87Xb96stuEKPW9JPO12-cxaIR-6tCq4Hvz8ZXUonKaNN9a06pUgocEyQVJhjzGSoO3LWQiapa_1wJANoo3pOhX4g347qtHMzV0Y-vCgSsIUY-hegUoaM1JMnxOun_xKRtL7PZDZPslYR9YL_aecR50qyd_gcFM4qirZgU40FpGwvM4kVJfktBhEXvBnnAUNX4xbhfnTVsoOJ2tUzaRJUID6dh6gapRXQfyHOI8TQL_7WoSdlE2knYp-BpOxRLd6uE9q8Gb8eF_Lqc91Ilz0_oe3KJa7KsEeWNNoGURXbwWn2oioHwG4CiMjqhK7c4TWsNC3roImCaD09M9vy_T3-WuGU-30NSIvUU46cShPqr3Um1CnRYzU5AMxRZF7Si3fZqIP4rpYTcfbAjKi56mrAcWIuDFjDxxC1wfgM2zErNUQMlMZOWW6m-yUfIgfPgZft2mIniPV4plx13AU98lyD1-Es134L7nA5sRJ_JwatC8CpF9hgsyOvEQAyYDD8zxsqgSSnVTuA_5NiV5ezk7xvcj9-Ou7CRrmx_UiYxsEVDthuyx9wO0g14Ama6IFXxzr_COklFtk_bnkBQiZ8glBtosHfaeP78bpjCiwScOqldBb0C_Q7yxNKDvdOEtM6zpQ7HiSgHFnOQyOpVflMh4Sezw51JqFGjm03nKWGQoul8szNbSzDCthCqTNhb2NPwbslELdLDXzJ5gJz4GqD0ZYRdRfqGHMvUpOFPzbblm-YzLrZ9rK2BVG3R4mmjhv-RjeNvyfYgfNA_9RYBlvqc0vj_MVausfXEb_fljrIVThmW_PTDQq1xL1WHIVBEF91s0PdtVSrn0H3fofO1fU-iJVSPixNT9OTw4n-EFTYKNu3UDgwFu8TSI2daAQCCGfs1R-y0wn8WdTtiwBsOw9e33jNjA8VX8SmpKWwUYSxU6D4aFuWw5o6d_WRKp-J_7a5mMn1O4lLXFjVkdHKuWtSNNnV5SoefXEOqxcWwN1VN-5tjx2iieaj1ZSqs2qiTSE4fSR90XY-frwCHUUMs66zw3ZEvoopUWzNrK4ebffaVAzhqE4nDG0ghctENhz4apA240xryn7yaMRPDjg62EWBjy",
  "id": "rs_0dff2e48894f6988016ab4789c5f2087d088dc7e9939a3a960",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.28,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The table has plush animals and long, slender brush-like objects. I’ll sort the plush toys into the left basket and the slender objects into the right, starting with the large tan toy near the middle.\"}",
  "call_id": "call_G8cZfKwxeg6wfbPAK5tflcP7",
  "id": "fc_0dff2e48894f6988016ab478a39bbc87d0a66fc430aa8089ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G8cZfKwxeg6wfbPAK5tflcP7",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0219, -0.0269, 0.9995, 1.2049, 1.5654, 1.0615, -0.5816, 0.8791, 0.9249, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1837 left_yaw=0.0016 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9995 right_x=0.248 right_y=0.2769 right_z=0.1487 right_yaw=0.0185 right_pitch=-0.0304 right_roll=-0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.388, 7.2274, 1.7118, -0.0269, -0.0757, -0.0122, 0.1709, -6.8855, 8.8274, 0.9939, 0.6178, 0.2027, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ccf2dd60bfb9c78e958d610126991900e205a55382fb78d9c9693cb92b478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0557e879cd0f62b41c01e7e49b01712273e3d5bc3015fdc29954daee66271771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f379181a713f43f86c13deb8a6a47e0558fa0efd43841034e8fd65fd00ce66af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.3836, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.4564, 1.8486, -0.022, 0.0952, -0.0708, -0.4444, -1.0735, 9.7846, 1.873, -0.0611, 0.0708, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0219, -0.0269, 0.9995, 1.2049, 1.5654, 1.0615, -0.5816, 0.8791, 0.9249, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1837 left_yaw=0.0016 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9995 right_x=0.248 right_y=0.2769 right_z=0.1487 right_yaw=0.0185 right_pitch=-0.0304 right_roll=-0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.388, 7.2274, 1.7118, -0.0269, -0.0757, -0.0122, 0.1709, -6.8855, 8.8274, 0.9939, 0.6178, 0.2027, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ccf2dd60bfb9c78e958d610126991900e205a55382fb78d9c9693cb92b478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0557e879cd0f62b41c01e7e49b01712273e3d5bc3015fdc29954daee66271771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f379181a713f43f86c13deb8a6a47e0558fa0efd43841034e8fd65fd00ce66af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHi0-_YBIvDN1k6x7ErW6WVRMe0uOBpJopOYm1yW-AXYvL7KNd8bpNDf98zG-L54BxTnitS3CFnoJdCzIjD9lpeRaTi5CcF87vmzbbZal0y_RQYjbv_CFsA4VH1AA54G0_Vpnlzlss58z2zP1dycrGkKMk_GYAlqTPBX4BpC-_fLYJhzdiEgk4xPbgANbVYpuMo5x3VE09DsO2W4W06WCtQaX5LvwX3hXPq83CqqdH4GThpXw4IasJA_mg1M3ixgn5hBmwMj6fuuyicj5tZspg_eHSZsH-_BVjSqwhwZO410K06NYjFmpsTYZhjtyz3jU8UKGM97UgDalnXAvwIlJFbnBlSGqNEL0xPOCBEcThPeYkYe-EMe_k4GwIOW02MTtXdqrR6Uf4XglOM6BOC9w_BIuFLX10EGLpS1NRULttcLLErfkX-7zD3o6uwzsohkPvIQUZwOms22bu6rv8vKze5SVysGzyCYjspvxGthV7pG--BLiJCVAv77Zpv5LtyATwGR23P34TS_JCAyh5js0KwxrqyXHKZfvGNvgqfiu8eqFkQyDhvFin7np-ggUJQAj-0LYsITiUyHT-WMAUYn4x_gZDWKeaAC54ZtLwihUU0LksY_hiMVMiMXYHIhG9iJYQKfQ8dOqyqu0OBxHgnNdqPZVXqZ9dC3R4AySUwbkwyV-3mEBEZBCD0UHDCAgyn90varTX7qT51Zx6XOBvGXkAXHlxhFnPxaiSMwKGb3J4YISPPBtULH-FBJ520orBwA2byojCkX6o0Z5kQ9YZ9bA5u_0e7I5y-4agAP7TFjwHZTmO8-JsYwgJ585HJJpH4hzcN6AFCppb77AzthZAdrN1QAa2meMngI1x6fg6pc7HlT5KfWheCLwS5FKbILDd68WmeeNCDIwG7MKI58yFCqtxAQatQYzucT_ca3daFyyzOi_ReRqKV7e6ss6k7aF-XWVctuaS2yw6HdFIpLAJjgWXfjo2mzJZ1AK8AahW-2xNVee0XZ6itiBgJI2jhKjfMOCOdQzNPGWqp1pSSTpoO4-AyozQZBTbRiwBlcR7XINOuA8zDeBfhe3ERsF04TXYLxfUvAuzyiv63JzQ246IyOGAJGSeHp0U_1na9VrYeH5YoMajvasdbnZiZjKlHtABNZVBa7hGCFdxqwSMURBkNuZ9T6g-9M5llCCGKHLpkPtJT3vDcomtEpjEmuA_wXSitQlBW7VqQYrR7pqVmTaaO5fMHCHo_6NsJNL7vyxJPLfrnTLy23wy20DwzThg6-R0VcH8j32g7FSHxv4pjSVigdjSP_nPfGqXxdA1iRC891U2HKu06TcNp_KsM4TCbMek3LUNrcXv0c2r-WoRLAdnBiQZPmQe1ZmdNi3NPLfyYrHxBi-oesgN1gnE4svQdRL6cSzhd4408NttS267-fxgbVfCGiGwBH7YaTNDjq_PsfTfHrFUZqtNF-NPIdKNZiCxtzzhAB2sAAJMvqzt0WcDb1RcTWA6-RaXnqYXt7FyJDVLoN2U_yVN2tjZ7jhzKBCcmOtfo1L4fPU0h45TpbHoJLEK7oHcCO6whAl-6Hg3vjKaN5iyqnzFyMeVWg6mzMXehewRMJ",
  "id": "rs_0dff2e48894f6988016ab478b2268087d0846df741c229a0dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.29,\"right_z\":0.035},\"note\":\"The large tan bear is centered beneath the right gripper, with its torso between the open jaws. I’m lowering to grasp its soft body.\"}",
  "call_id": "call_t20Lk2imCVufjjeByWJGyiyJ",
  "id": "fc_0dff2e48894f6988016ab478b33de887d0b810f3b2932c9fc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t20Lk2imCVufjjeByWJGyiyJ",
  "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]: [-0.0181, 0.8047, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2209, 1.8027, 0.8761, -0.1291, 0.9081, 0.944, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1824 left_yaw=0.0016 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2522 right_y=0.2953 right_z=0.0536 right_yaw=0.0106 right_pitch=0.0042 right_roll=0.0077 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.5932, 7.2547, 1.707, -0.022, -0.0366, -0.0171, 0.6632, -5.5726, 3.7812, 1.0037, 0.1685, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc283a2fcaad6b1ca2b3f6fe483196e0b1a3cea1cdfac005f6de0ef83068222",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3230a7aca43aa945b89f3c7035db81fb17511a5d2699d91f0bd1ca9635ac741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd73de2011f0e7f5ff7afa028ff4b1d4d8a8bf8f9624cac7e9adf55e9b2b596",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0219, -0.0269, 0.9995, 1.2049, 1.5654, 1.0615, -0.5816, 0.8791, 0.9249, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1837 left_yaw=0.0016 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9995 right_x=0.248 right_y=0.2769 right_z=0.1487 right_yaw=0.0185 right_pitch=-0.0304 right_roll=-0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.388, 7.2274, 1.7118, -0.0269, -0.0757, -0.0122, 0.1709, -6.8855, 8.8274, 0.9939, 0.6178, 0.2027, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8047, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2209, 1.8027, 0.8761, -0.1291, 0.9081, 0.944, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1824 left_yaw=0.0016 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2522 right_y=0.2953 right_z=0.0536 right_yaw=0.0106 right_pitch=0.0042 right_roll=0.0077 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.5932, 7.2547, 1.707, -0.022, -0.0366, -0.0171, 0.6632, -5.5726, 3.7812, 1.0037, 0.1685, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc283a2fcaad6b1ca2b3f6fe483196e0b1a3cea1cdfac005f6de0ef83068222",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3230a7aca43aa945b89f3c7035db81fb17511a5d2699d91f0bd1ca9635ac741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd73de2011f0e7f5ff7afa028ff4b1d4d8a8bf8f9624cac7e9adf55e9b2b596",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are around the bear’s torso, and the descent has stopped against its stuffing. I’m closing the gripper to secure it.\"}",
  "call_id": "call_emMw1h4hEsi4D5yTSMx5Yiyr",
  "id": "fc_0dff2e48894f6988016ab478b78da887d080d8f39cadb98f4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_emMw1h4hEsi4D5yTSMx5Yiyr",
  "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]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2201, 1.7988, 0.8776, -0.1123, 0.9276, 0.9321, 0.1122]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1823 left_yaw=0.0016 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9995 right_x=0.255 right_y=0.2961 right_z=0.0592 right_yaw=0.0062 right_pitch=0.0278 right_roll=0.0125 right_gripper=0.1122\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7021, -0.0171, -0.0708, -0.0122, 0.0205, -7.8017, 5.1761, 0.9451, 0.1978, 0.0952, 0.9548]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be422f24421eb78a740881c9b4a78c49befe5c8793a8fe23c3516cdf35202b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5490ffa126ceb35658ba95cc1d5e4eac2ec984a8d0bd6f24cd67b3bb11f58e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eb3caa3a63dbbd7d3623a6d50eeff221d3844f0535e8c4ad1b6665acccddc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.3836, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=0.0008 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.4564, 1.8486, -0.022, 0.0952, -0.0708, -0.4444, -1.0735, 9.7846, 1.873, -0.0611, 0.0708, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8047, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2209, 1.8027, 0.8761, -0.1291, 0.9081, 0.944, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1824 left_yaw=0.0016 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2522 right_y=0.2953 right_z=0.0536 right_yaw=0.0106 right_pitch=0.0042 right_roll=0.0077 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.5932, 7.2547, 1.707, -0.022, -0.0366, -0.0171, 0.6632, -5.5726, 3.7812, 1.0037, 0.1685, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2201, 1.7988, 0.8776, -0.1123, 0.9276, 0.9321, 0.1122]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1823 left_yaw=0.0016 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9995 right_x=0.255 right_y=0.2961 right_z=0.0592 right_yaw=0.0062 right_pitch=0.0278 right_roll=0.0125 right_gripper=0.1122\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7021, -0.0171, -0.0708, -0.0122, 0.0205, -7.8017, 5.1761, 0.9451, 0.1978, 0.0952, 0.9548]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be422f24421eb78a740881c9b4a78c49befe5c8793a8fe23c3516cdf35202b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5490ffa126ceb35658ba95cc1d5e4eac2ec984a8d0bd6f24cd67b3bb11f58e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eb3caa3a63dbbd7d3623a6d50eeff221d3844f0535e8c4ad1b6665acccddc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper has closed on a nonzero thickness of fabric. I’ll lift the bear a short distance to check that it is secure before moving toward the basket.\"}",
  "call_id": "call_q23OZY9r3or36H6EkfFwZDzA",
  "id": "fc_0dff2e48894f6988016ab478ba762087d0974493736155b9e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q23OZY9r3or36H6EkfFwZDzA",
  "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]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0223, -0.0269, 0.9995, 1.2182, 1.6642, 1.0279, -0.4377, 0.9001, 0.9279, 0.1151]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1823 left_yaw=0.0019 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2519 right_y=0.2941 right_z=0.1195 right_yaw=0.0204 right_pitch=-0.0089 right_roll=-0.0203 right_gripper=0.1151\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7411, -0.0122, -0.022, -0.0122, -0.1846, -9.6479, 8.9504, 0.8523, 0.5934, -0.0073, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ec11bf645eaef15a7e685b2b2ff47deae1c836c33ac2c9b579dd52c6abcb6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2233f1b7675e4878e5c2f88fd1d4d6e664e1b9be7d13512e4eef15d87eaed51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf676fb2ae8c79348e6de17b8816afd39370de35d31caebbe73b34f505dffa45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 13 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0219, -0.0269, 0.9995, 1.2049, 1.5654, 1.0615, -0.5816, 0.8791, 0.9249, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1837 left_yaw=0.0016 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9995 right_x=0.248 right_y=0.2769 right_z=0.1487 right_yaw=0.0185 right_pitch=-0.0304 right_roll=-0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.388, 7.2274, 1.7118, -0.0269, -0.0757, -0.0122, 0.1709, -6.8855, 8.8274, 0.9939, 0.6178, 0.2027, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2201, 1.7988, 0.8776, -0.1123, 0.9276, 0.9321, 0.1122]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1823 left_yaw=0.0016 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9995 right_x=0.255 right_y=0.2961 right_z=0.0592 right_yaw=0.0062 right_pitch=0.0278 right_roll=0.0125 right_gripper=0.1122\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7021, -0.0171, -0.0708, -0.0122, 0.0205, -7.8017, 5.1761, 0.9451, 0.1978, 0.0952, 0.9548]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0223, -0.0269, 0.9995, 1.2182, 1.6642, 1.0279, -0.4377, 0.9001, 0.9279, 0.1151]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1823 left_yaw=0.0019 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2519 right_y=0.2941 right_z=0.1195 right_yaw=0.0204 right_pitch=-0.0089 right_roll=-0.0203 right_gripper=0.1151\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7411, -0.0122, -0.022, -0.0122, -0.1846, -9.6479, 8.9504, 0.8523, 0.5934, -0.0073, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ec11bf645eaef15a7e685b2b2ff47deae1c836c33ac2c9b579dd52c6abcb6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2233f1b7675e4878e5c2f88fd1d4d6e664e1b9be7d13512e4eef15d87eaed51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf676fb2ae8c79348e6de17b8816afd39370de35d31caebbe73b34f505dffa45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHjDS-xcUzuI2TUgxBp7FoEVRJ56_6loo46rULBDX6umodo0ZuRilOX0EE1I3ihzGLGqPLdqV4UX0PUvqRMHR7aFi4qAYDxflB2NiUW4g3rkmOuf8kIPKwrUUM2UqnEXSOi_vN3rkSqrdLr726ZgueiM1_VnPFHyCu0c_5OOU8h1s5hLVO2ST97Z-hjmaY-XM2QtHbiTKIj_My_IaXBWwxh1XxicK4ijZaZWNoBrIAkzoRHQZbElc3DRQ4vjvNptC6QQyRVqfw1M3q0yaj0fjzNVPbc7WQxuPo3yIo3FJjiBR7QxYBuPo0gNyBnk3vTVzUdTBwRgwT7F8ZxOytu_NmVVrJpiDzyQ9Cy4711n9iNIKzaFVro623Nc9813Aok74Nhi67fCJHuK8UPi7wsfMwuNum-rNb-GbhjqiJP7xCR4Q-5o2EoAACQutoCVvi6_mVJNLzh-SzpvXpo8SHbnBjCuu5nICOH9Fmbei2RKvbZDqyQWZwA5F-yPYV1sanf7PlM2KoXwtFTt4u8Hk2YXfJMAb30SurFGu9dWP9nxeHwiiiS-xq9RV5t63khknDMYbKHptO1pLB-2Ny8fhh09VjJ-EriboNHlrJi2g1TklcJpdfc470kuTfi9tfSLAy_zuXtl5ZIrDHeFgMYAhLiR4GmAEq2JvxOjJbOSJjOYWu4MUlQ8YK4OxOTb_mzXm-9NtxjKjKJTX-SDcS9V_0_Bab4ZN2bwhoIsdPa3ybpkf182et598PTQW_kxf7J_EnjrFNUcOVpkFhpiyNSVvegahKjAYHOEIVJpOPZunmjgL41Y4nOTTw0NnzEfZURwEWE9Bxj8VYNFBapAs1L-FmRVlZMj4SNtLEfHFKRDIjI1jB7ghx1vI3P4c8Ri7OuWT7MWyDv_w2qG_7yeNzdLSsEf5G8_UxXsX9EBWcUlgoI8czg3sHmaHAE-CSNsaZabh_xpdJMwbHZwdrjyDeX3SRVufI0xm5_Iof_CPOG7oPrvQHemG4yl6WMDW2rk24PF9cejNR0_uPPXWcNpaSNYtdAr32MO1oIl3dGep5SjmHHCo5U1CxgMbbiT6-MJtjpy1zEgmom5T_YNy_6RpeV-Kdj6m3X8bxXIxEQS9RX1OOhE28U2La0oNk7-36SLOudmvsiaQmAQj9RVSKqGw7ojCr3xiXN8E5SomPlvVEFK5IynE0WcfOwIh7ceVGe_tZMsPHVizLcw-LMF9P0lz7Qbv2CaNWV9sj3rbGDkLBJJrt2ECaeKGx_WkQ5tGlO2hs58Po1TC5ndG67XaSOc40vlU0TdOGXkitNL7tut-c8j3f5Pm10WnDOdOq-4DVlX6bp3hsnjXCUPDWxu9wxGWNMxx6gyRFR5UHdkgNLusScGijOMHKhyTYl3jDyqUVCLP5o1uH3l6vskVzn52zx0gZWzb4lrx4f9vPu_E-ix2dTjaQWfMXCzpl69PRdwubOmjsbZpIaw8qMGsVFA18tkb8DhOPEzYA-QTlXZPIu-6jxCNZKqwwTNo3mRL-iBuofvidb_H0YzHRlBUmkdQ6ZWu8NYoEi3WPtI1Yki_nseJLkWDVZWhFBeqy4siw-_RdcDRhfrqtDgkwGFLEb3hlL6LolJB5XptL2jcqQLOgK1adgwB-mB8ElmfkN_5FH40BThmDEHqlGnR1jh9hrqWW9kMRQ6VfhSBr5WYw265Q2vOM7889UBqZ3dezWPQ41hmSDebUS5ZwFdTY4wLzprWd-NEDQrdE7qGRRrtOgOrWWenQm0X7-Ivw6Fpeyo3zO9uoXGl_rAru41b4LazQIuoLPsI46S5_SBdHRgLWxnHsNG5i4HLKXnDRd9o7aZ5LrX0pYjhl6SBepwIZIXaz6VMSF5gDOFBUlAhxkk9GBgbXOAOjWSRBv3c0db5XWY3j7CbGG6Trvluu155yjXLKn8OMu0WsGI_3LHib_pDGVfUuqVOoJ_Td8b9YCZj_v2tnb_gYOW9jRz85KmLMBFqHkoApjGtcyt6RXm8tdqFomulq-EL0q-oWTBBz19FvgD4lGZXMCq5xXyY1Z6g_Uy_GGTu5QpNO4PhjaEDNpyyQavZ-G0HwhjA7JbF37xiSY8QHgAXyMOwkUUZ2ljzroidzh-th9xAN2-dkVIqCuFW-W18m4X4X0Vk1ORW3HVRp5_KpQ2_VtZNNjYROcWZX5M-C-DtBfUbLvgcZEkl-yXSW6q2rk7_QUEJrazT33RXQi4bxj4iYAB8DOSO9nNfqOTIWz089GismWFaL3k8x2mtqtx1diMfVSlbVZXlJfUBr_By4v3SqWPn1sOQ8DjPKthALuvL5WZG20xvaLwFHU5OQFAHdXfPLhFImbf6W3AiUoOZ5IM1Aoee_BpqfVDouWFluiCU8C2Vwh3B8TmMoj3VjRuPDbjoMspC0_QMC5E5Lk=",
  "id": "rs_0dff2e48894f6988016ab478be97bc87d0865344e7bb56c086",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.115,\"right_z\":0.25},\"note\":\"The bear lifted with the gripper. The right basket is safely reachable by this arm, so I’m reversing the basket assignment: plush toys on the right, slender objects on the left.\"}",
  "call_id": "call_1lwZjx27sEnGBAJNdFY9maoG",
  "id": "fc_0dff2e48894f6988016ab478c2f98887d0babe3d47890565ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1lwZjx27sEnGBAJNdFY9maoG",
  "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]: [-0.0181, 0.8101, 0.6151, -0.3809, -0.0223, -0.0269, 0.9995, 0.3584, 1.5749, 1.3201, -0.4187, 0.2996, 0.1658, 0.1149]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1805 left_yaw=0.0019 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4479 right_y=0.1159 right_z=0.2235 right_yaw=0.0086 right_pitch=-0.0697 right_roll=-0.0422 right_gripper=0.1149\nstate[joint_eff]: [-0.0752, -1.6205, 7.3094, 1.707, -0.0317, -0.0464, -0.0122, -0.1709, -7.7197, 10.0171, 1.7216, -0.0513, -0.0024, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1643f44b77bef55411fbcec948d1239bf19c3f0fb9781dc22f9e706a94d38f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d85fcbfffe7f5b064d7e9662377772c0555317e0398e62056efa4f9d7a4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abf24b90d1c989e1eec758aef5dca6a74b6a821633f20b30b156cc03b3e70c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8047, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2209, 1.8027, 0.8761, -0.1291, 0.9081, 0.944, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1824 left_yaw=0.0016 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2522 right_y=0.2953 right_z=0.0536 right_yaw=0.0106 right_pitch=0.0042 right_roll=0.0077 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.5932, 7.2547, 1.707, -0.022, -0.0366, -0.0171, 0.6632, -5.5726, 3.7812, 1.0037, 0.1685, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0223, -0.0269, 0.9995, 1.2182, 1.6642, 1.0279, -0.4377, 0.9001, 0.9279, 0.1151]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1823 left_yaw=0.0019 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2519 right_y=0.2941 right_z=0.1195 right_yaw=0.0204 right_pitch=-0.0089 right_roll=-0.0203 right_gripper=0.1151\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7411, -0.0122, -0.022, -0.0122, -0.1846, -9.6479, 8.9504, 0.8523, 0.5934, -0.0073, 0.7057]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8101, 0.6151, -0.3809, -0.0223, -0.0269, 0.9995, 0.3584, 1.5749, 1.3201, -0.4187, 0.2996, 0.1658, 0.1149]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1805 left_yaw=0.0019 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4479 right_y=0.1159 right_z=0.2235 right_yaw=0.0086 right_pitch=-0.0697 right_roll=-0.0422 right_gripper=0.1149\nstate[joint_eff]: [-0.0752, -1.6205, 7.3094, 1.707, -0.0317, -0.0464, -0.0122, -0.1709, -7.7197, 10.0171, 1.7216, -0.0513, -0.0024, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1643f44b77bef55411fbcec948d1239bf19c3f0fb9781dc22f9e706a94d38f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d85fcbfffe7f5b064d7e9662377772c0555317e0398e62056efa4f9d7a4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abf24b90d1c989e1eec758aef5dca6a74b6a821633f20b30b156cc03b3e70c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHjSBW-wj4ITF9jVFqnaq2WBFfvzAvMwPiEfGqYcHaXnrqrbiv1PE5z6frq9UGnUdZzn3v4kDTJWIEHXPuS-ieGXR59-iqfV8e5c2H1N4_YMyl37DFzOkR9HLtHGnhmKuJqafS_7PHUXvn_BBbaPd-DgsSDXwn_RCFAy-YEXl2FVO51cIXFTcZv0iyqT1DYStCK0DnZdPmVQHRfNSKtfCbJw0isuR_Gy3ZG_RLSpstIDmAkr29AST2Rm2xMltO8_LUdTYj7JShb-Wqt5C__9VMwDuByXA8UPPd3FuATd6WlcBKOGb4AP1lasQTAhxjZJN4Yiv0njoZguLFhNcBGTLPBUB4i4y7EbHC70OFdJfBcvz4mJKowtsWugQUrM0nHCmtj5JMHN0I2thzPqlaClD47w0K5wgMN_RG9cy-vEkoNCdibNhc-HtoqsAjRwkWDwGWxdUgTPrho0wDJhKC76y9xZip_dunAUYFFttuQw196uOPvSQyesrHTz3RnWeOX-eweoGP84lKGaSueAbGY26EdWsl3ZwACnHxb7uib14SEy1gLqt1mDOBW1GF5pvkw7VGuSPgqkULyqDJdcLJeWeKYOcn3VXbD5BJNCI0qp-IA8-HoQEZxVfpKmdPXGV8RD1e2DYAfGRjtL8jf423w8vbepiI4GdIZC41ydyfw1Bjz2Z0mWFUxCJwG3Shkn1_t0cLrr-ibU1z8n1-VGUIs3LDR0ezmZwQS5inMo1w9KtCE-9IPHIfoxQycUYACYqCuolMJ6Vx07ozbH_ZiFJ3tZz4s2Dfs4CxNJTpJxYUYjfmQs2klWEHpV4aJFjbq7l2sMc56NKD3XHpEFDuemlUyYNRUMDDApTTDeO7eQYHZN6K-oOeIM6N_yOeZT1HS_o1PKqAfSv1CnxlPdG_GwWaolkr0pxcx_DC5DwR58KMQl0hb6manL9k-qCpMbyn0PFPGZT1JU3RSwvSSOn1rXPaH4_ejM3hoMzwiSmeIhgQdpvOYJKETHedfuOR4T9bHYFrBC7cYCEAqenC9P5gkeOM9I46ZKv-1pX8bbxP1ddDrJ5g_nPtphuqD42YAioM7xRL135zm8gT_gJgfUOTtfSEpCAHy-n9HH9PG9fS69nJE_F1m_TEvKueu3U1HrSU3SayY2FzxWg47CbjbOhu6WhIm7ilHfXNqW3xKlZTCR_GFDVlDpbEQljVcaSPVnuyb4FGF3OqUfVo353gyIW3yZvGMqZGtz71wVzPvWBZoFFxJbX10QST7EYpC-LNKySjRQ3lvtauhCwDP-BFWi4PbtIcHnSjrUf8l45Lcz1RX4kmGXcEm78D_pnI1Vl65Fne7e1c661YyBFXMSO49hMiVlivFvuHKP4dCN0YnTXRa49CCsNhvdDbiu3oi6GxCMP5zAGT-7URug-v1wskAEbYdygAKsl2PXXHynDYoY_OoZKDEhIKV4MTU=",
  "id": "rs_0dff2e48894f6988016ab478d0683487d09bff7233c32094cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The bear is over the right basket opening. I’m lowering it toward the basket floor before releasing.\"}",
  "call_id": "call_sU70aPqDaskBkdbs2qhuWZt1",
  "id": "fc_0dff2e48894f6988016ab478d15a4c87d09e1c04fc77491ebf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sU70aPqDaskBkdbs2qhuWZt1",
  "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]: [-0.0181, 0.8108, 0.6151, -0.3805, -0.0223, -0.0273, 0.9995, 0.3523, 1.6039, 1.1191, -0.2386, 0.2981, 0.1566, 0.1152]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1803 left_yaw=0.0021 left_pitch=-0.0149 left_roll=-0.0005 left_gripper=0.9995 right_x=0.4415 right_y=0.1109 right_z=0.1567 right_yaw=0.0071 right_pitch=-0.1173 right_roll=-0.0656 right_gripper=0.1152\nstate[joint_eff]: [-0.1573, -1.388, 7.1179, 1.7314, -0.022, -0.0708, -0.0122, 0.1983, -7.2957, 6.2974, 1.7949, 0.0659, 0.0855, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d250edc9b91aa3053ce10af16ae099f4e9a1b93401d6d9d1c677925b641e3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2813acd99d2400f5627bda7047f558edf65369b3b48a6ac55aec4762c63b745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7597e79100fb5f2abdbcbf1e1e21d52d5f93cf9fbd426dc95f50cd303a7232",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 13 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0219, -0.0269, 0.9995, 1.2201, 1.7988, 0.8776, -0.1123, 0.9276, 0.9321, 0.1122]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1823 left_yaw=0.0016 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9995 right_x=0.255 right_y=0.2961 right_z=0.0592 right_yaw=0.0062 right_pitch=0.0278 right_roll=0.0125 right_gripper=0.1122\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7021, -0.0171, -0.0708, -0.0122, 0.0205, -7.8017, 5.1761, 0.9451, 0.1978, 0.0952, 0.9548]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8101, 0.6151, -0.3809, -0.0223, -0.0269, 0.9995, 0.3584, 1.5749, 1.3201, -0.4187, 0.2996, 0.1658, 0.1149]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1805 left_yaw=0.0019 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4479 right_y=0.1159 right_z=0.2235 right_yaw=0.0086 right_pitch=-0.0697 right_roll=-0.0422 right_gripper=0.1149\nstate[joint_eff]: [-0.0752, -1.6205, 7.3094, 1.707, -0.0317, -0.0464, -0.0122, -0.1709, -7.7197, 10.0171, 1.7216, -0.0513, -0.0024, 0.7741]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8108, 0.6151, -0.3805, -0.0223, -0.0273, 0.9995, 0.3523, 1.6039, 1.1191, -0.2386, 0.2981, 0.1566, 0.1152]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1803 left_yaw=0.0021 left_pitch=-0.0149 left_roll=-0.0005 left_gripper=0.9995 right_x=0.4415 right_y=0.1109 right_z=0.1567 right_yaw=0.0071 right_pitch=-0.1173 right_roll=-0.0656 right_gripper=0.1152\nstate[joint_eff]: [-0.1573, -1.388, 7.1179, 1.7314, -0.022, -0.0708, -0.0122, 0.1983, -7.2957, 6.2974, 1.7949, 0.0659, 0.0855, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d250edc9b91aa3053ce10af16ae099f4e9a1b93401d6d9d1c677925b641e3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2813acd99d2400f5627bda7047f558edf65369b3b48a6ac55aec4762c63b745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7597e79100fb5f2abdbcbf1e1e21d52d5f93cf9fbd426dc95f50cd303a7232",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bear is now seated within the right basket. I’m opening the jaws to leave it there.\"}",
  "call_id": "call_x1GxY9q7FUjVT9mnDpUDtOx9",
  "id": "fc_0dff2e48894f6988016ab478d3aa8c87d0a8fba81da7e8e9d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x1GxY9q7FUjVT9mnDpUDtOx9",
  "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]: [-0.0181, 0.8108, 0.6147, -0.3805, -0.0219, -0.0269, 0.9995, 0.3515, 1.6039, 1.1061, -0.2272, 0.3016, 0.1532, 0.9952]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1802 left_yaw=0.0016 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4407 right_y=0.1096 right_z=0.1534 right_yaw=0.0053 right_pitch=-0.1181 right_roll=-0.071 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.707, -0.0366, -0.0513, -0.0122, -0.1436, -7.8154, 8.0205, 1.4969, 0.0171, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88969e57678223dae660a240eebee8c762e84341ad741021fcb8d3bcf0f595e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8f73a6c396b34635c3f25c8a9393ccbabad45cdbf8d65d69d304a77f205a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98228b17b86ae025ca0709f571b340e70ac59bff3ee9179a559bac063d5b5f22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8051, 0.6159, -0.3805, -0.0223, -0.0269, 0.9995, 1.2182, 1.6642, 1.0279, -0.4377, 0.9001, 0.9279, 0.1151]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1823 left_yaw=0.0019 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2519 right_y=0.2941 right_z=0.1195 right_yaw=0.0204 right_pitch=-0.0089 right_roll=-0.0203 right_gripper=0.1151\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7411, -0.0122, -0.022, -0.0122, -0.1846, -9.6479, 8.9504, 0.8523, 0.5934, -0.0073, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8108, 0.6151, -0.3805, -0.0223, -0.0273, 0.9995, 0.3523, 1.6039, 1.1191, -0.2386, 0.2981, 0.1566, 0.1152]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1803 left_yaw=0.0021 left_pitch=-0.0149 left_roll=-0.0005 left_gripper=0.9995 right_x=0.4415 right_y=0.1109 right_z=0.1567 right_yaw=0.0071 right_pitch=-0.1173 right_roll=-0.0656 right_gripper=0.1152\nstate[joint_eff]: [-0.1573, -1.388, 7.1179, 1.7314, -0.022, -0.0708, -0.0122, 0.1983, -7.2957, 6.2974, 1.7949, 0.0659, 0.0855, 0.7937]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8108, 0.6147, -0.3805, -0.0219, -0.0269, 0.9995, 0.3515, 1.6039, 1.1061, -0.2272, 0.3016, 0.1532, 0.9952]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1802 left_yaw=0.0016 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4407 right_y=0.1096 right_z=0.1534 right_yaw=0.0053 right_pitch=-0.1181 right_roll=-0.071 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.707, -0.0366, -0.0513, -0.0122, -0.1436, -7.8154, 8.0205, 1.4969, 0.0171, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88969e57678223dae660a240eebee8c762e84341ad741021fcb8d3bcf0f595e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8f73a6c396b34635c3f25c8a9393ccbabad45cdbf8d65d69d304a77f205a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98228b17b86ae025ca0709f571b340e70ac59bff3ee9179a559bac063d5b5f22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHjqxNNS4_duLAn7EIFIMXCIEhjJGo3mPS4Dw7jCd-N873gk3nnJHkiM7RDgOfxyiXJzPsg3bJuSTT3Vk_7JwA7AXCicBf4_8N1Efii6QQIkFbIo41T1F4QWmXdfb51s7fZ2P_vdT8FnV6MFjBwev1vwhVRp_Da0M4NvL5PoBOBDSd1sizHX7ND3AiXoOIf7akeCxqnEtsVPtUJvkeC_1LvIoEBIoqRIi9qWcc3NC-i_9blAs5qHehdj3sr303ou2h9KDyOZ0jpL_uzYSCbqovK6DY1gDoS3dJH0pbPxCtQDHRxF5NecjObq4i6umCAAdQAIXsZCA8TLzaS6FefgKTkoOXoQnI6iWdYJgzFCUhkd3uloPQKpyGaxU-7nD05FJKrbuLIBzh2AN5qLRyXB1dUHK0qa-by2rod2zRFJJYlfUB6rw_Aovj8vbnfcph8IkiU2Ye9YWiu8JW8JTYObbT35GtqBk9KR3d7bhjDZFN2lSaFzkYEAXQIqyLzLJY1NvAlR3NsFV87CX9dtNIOzbTezYng9f-BIaMl4ta4as-Bhxf6H9SlsV0hHc-DfcAiGStLooNged92DE_74VVZIpbZ079DzmTOEmxXxkQBP2IhEBOKaP_lLqUHDLZdpkkFgmWqCKHnDQ4l7ZdGQoJzoUSxYccuvXI-7BsQXfuMp7DDA5PhAEBJc41IvM6Dh46w5L41NxrCG3oRs0U6BHb2Cq_ZpYeuc9TkhRA_dosZxAKqfEU5lpdvH_jRAyXfLXpsVcw8Le_cKOQxvuVNJE8OhvWk_efiBTErB2CnTnSd6edDR1RsWudx3yQAphRBgeZkn05g_gUXuu06DZdjRe3McGLhPm6jGtg_JZeKgxqhiRUPXthJA_pzjbvrtTBrN3T-26WkIv2gHrMRaU5bE4LNrpQn5_frz-mw6P6naTtV9pS2yIRS7c56lCfYR_yAOuHuePRF5sYifjDv8tT8UCkyod0pnFR0gGofojMrab6imj7IiqCkCE1aayFghLhsoaEjDVItKZ9ZHuc2qF-rDZoZcU-kEEF9oI_gGcGmzAIfEu3Wbu89PKyAA-2t7JOXWCaaWnI-Q249A36zlkpQhKJhxGm6HkjCjCV9cp-08eSqSIUwb_KNiJTQ9ybLAFubRFTdP7u7S3UtSufDH-tbewYUimSDn8BYXTQo_DcnCdKrHZx05qvaTWW7hoZ2LIIdg6dse_qBmIzZog2zj2knbIoQr4Bk0ZhAMYEhtdrHEjSO6VAikvkkWRNaeKsXAsJKmB6OirxPSvsZ3tP_nEmRkaHMAqKvCQ3pHfg-gC6UrbYf3EZ5TBSC9Yo7UsKHfX0Di6CcU2x0wbMOVYJtkekhydmyV4KRicvaJnqqcAT2nNjtoYxR3OwLWnbQGPqZCpqBZZVT2ZD8BM-wwtrZDift0LJbMRxmI9WO2sYnZwkymsB7NFAk-2THoLIWdsR9V0rLwP7I7lMpVdMAyCwPvADZUMPN8gjtGiZMfvyy2Dg1QW5H-wnXmUPUb7vIueJsFLay2kt0WmLF8ylh1SRG4NBu5t4xM4BbGZLvHkAB7zEnR-BFO0f_YBMYgDthiPO6GK0qhYwkvhUPXd9Cgnoi83SAbLWbzCFxFMcMjmkRoFi4sqmAvxMnIxkmybylkGY7eV2T7iJ1VpPomkWfdrvIKwTArIkNXkh87ZLACUOj_kr-UFBnpde8evD7VnDHCQAcSPDhS3m17AVHr4RKwBjOICealZ21beuA2tx98iXFj8MafLbk3kEhyOtiyGS4_ldQXq2OnS3rahoT7oUxacvHwlAl7zIQWbcn0wV6G1QhX8DWaOx_px72SyFCEhLAqzU7xz8EeDlEASlw9TCFrKhab6QOQN5f6kdbG-A8jvcYlDDNFdASCZIXjscdRSwmNbSjO_1z8nOd00TnYd0l0nsCn7OcDO_xFOJXPywuQsNMc8FdmqnRFXt0Y5CdSx86IZRerfqasdLRBj22xciaYhwLug0guR2fxGnLa-s90lgkdUPS7bxtZLsYaAB5T-SuGeQt8OtWK_rB5v9QZSh_HaJcNsOOBD8ZXoRTiKdUbVwoRKl_QvPW5RD1l7zJhfKyeU1JqerWfULzVqbgy1acRDF-Zxd0guDArUOCSFNkIeSJqLLiAjRg4aL4JlSddEYaL9NxKnTucMVnfyb1H70g4qOV1DNTxd1gtk8ADAhT1P8I2a__4btTq5GRW0MU-bCFHi9R6xytukNt2qQp9MJeX4SH28NFtl58Hpjgee0Z7o0ErmggNSFgtDH6ur-cuaEDjXKjIOAxvE_T-DrLVYl4HeRX2BSbtorndZghQSChms4e6SQOCCyMRil2dvz9obmR2hR_FXlc5BF0MYme7_P1jqk4EUcCV0qsAo5cVrI2qCMxsK3ez1Ay677ghmgv7dWz7X1oOivcxySWLTAVGZsR2VOl5iHyNiGbh5theONE12jASd7Veq7RQpe_j37CHyLaxVNSRaYa7cZ-X0x30joUb9p6gth1kJsbhtgKG5pyDLyxWU-Puj-LkTP7V6DPcz_4jRkETCuH0afzl1nM3Me_pGwr7TMGSocSZOhCFrKAW8pu5ixLC2RIhpQgfxcSnYShchcV73PhRJpSt4wLlfGmb-zQaBznYlkp--KSbGlzDKqnR9u-yBMsQhsf9AS62TTtanc-u3WwalURKR4pwKiLku6Frpf8Q4wI6uTF9-B6T1DbJ2LLYRLbGM-qCTctZ0KbpibkbjccEhk5AcFQeCsDV-0cnXpX6giy4tH_QE4Ta9Ds5u6c5XRHUdFVzbO9xqPR-5XYn_cG_fETWSY98QPOiUPhQmh3IGePYZAc727g-P13YcmV6jYoZL53-VAmHBpc7VBGjTX7Eb9ZLr4ax62c8Ce15gUSKeEXSyViz01mYDlAgZjqFNfjdewl2Oe3hEE9sGLUxDN80453MOD2lkmP0YU0klxZvXU7A7T0jlZfsxizMqKWxoJ8dmTC6vVgEl4b6LrZp8-VDEWbPyFzw4zRQ9wDuXMZl4ZZIlX0nCG6iTixWg-NP7X-WHxyzX02goZF91X_W25iaxzNotHoei4ko2eTwdR2pP8jGDDLR3rgzuuxbzqdLoZ9kXqa-rekxjqI3RKY_MO1c_dvvtP8bgoHsIjOUy_0FDLhvqLq2mLLOLpBpxz7gbf40i4zzVcEsNqvN9JjcaYfHtR2EzjMTeo-2-4Y_kgfOC8ATxwFLp019J9VpRVZMsXGuzaloF-l3TAdOfBJDZiNwftyd-pXHgTuY9b4I7wyJSAZaR0u1vPexzZTXsHdeBwwAj4gPXhGBCQvehNxVvAvEVEV0TgaRNySEv9VmphFfhdwPfbTuu4xRwlsan0JWW32O9dNc7AtqD6NemQlSoqJD3wrzRPNiJfxKT0E2-nVwj-eSydIusyU3W72HH224vpxpRNYPJbD93xVp5Y-kcsLS95_GdQKymUSo-BIj6ygkyNPGsM4sRsgRn4TH-2RImt-u1UMfCniEqtZi_ND9-PVh_GOYboP6qzjhrC9M0BjgfClvlI6GfTV6KP-9QdLx1SvP1wq0jhsAVkgCgLea4b5jVduTuGzpf0kOOKTU8awmVJLA5ewca-YwckqmQCGZC4vM1amOzbGJ-VUFnHhxWVhjLESqYICCxHb0RZBz5r0-E4kdArnZOx3pqsFBgN8TDeMZuKU8jKesXGusd2eGqlPAplDJhPwLn_k12uZY81JeiF7SUAx1JI3VN-EtS9emj8vgzmxqwYxxTDDL-XaGvclYlltOFAkFi93RezT1pk5gtwf2SXzMNYMXJiB7t14MbU_rYY_1Er_VLZ4HF_RpzGy1ydFf4LRtZXpP7Nq7dxtTCp8NSjmdEwNLSKyOnV3cVCGk6FCYOl22baArALcrXFURJuAIEJZsh_7v7uhD3z7mofkSkCLfz77lgUIdsUDwLPZykU-ybfBgdeb66m1HPD7JuFIq09q4ckcnr2nUN-dxqi-DxGzgIQA5Jd-8FIGxd1wCgSt-rsfT7DW-jUgYE8I-DTD0A8oVa8Xb0S9lQS2vp9m_BCJigAXfPkyoSTFc_u5X7E8x0IehFdQXE5D6h_k0cyGNZ7U07nfMFFVLSGLfiN9ilaerPaupUCnIT172ZPO4AIxzfar7x3KGLv3dUtxqjU9Zb2JnDGNxk0LP0BAKB2AbA20u_w==",
  "id": "rs_0dff2e48894f6988016ab478d65e5887d0a5feafae5ca8213d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHjqypBl_ES5muHq0h0X2V_5glHSPaF2PAMqIbAIR89shiVRkluycZVCBnH0L3Hcu_1YEwzYRC6e2xnXKV6Xyz3Fwn1CzN8ED9i5Cydzl0LuH-HdH3xoxgf7z7yyWwrM0nYqoq92gWZtXXxVJJQv1CIavUgNausimH6YaB6ex2VlC4Hztkic1jBXdVonCHziyqW-zPoc4fa7uxuWeEOa2mIm00H_ZEnzXJU6NyB6rRVW-vQdQW4KQiosi_IwW0EqKKDv83mZHDA8jTDOWsiv-m9kxjZTWTIMeCQc2OpIG9wBqp3OUmNQL-slTP6g_SlgzA02QFHNNK3pLEgaiRRLuUvmxwWU-qL58dVS4Fx7EVsgrpBfQaTJMxNSlXcGEZFREwIYGTlOCMJdAfXsr5PH2cZQPm2bdW6-HkPTXCw0rPg-E46UYDYva0JeAvQlHoqkugF3AhVqYi35G4816ep-8wny7BZ5FSg_inuL6-Z1V_7pTiKs9zL5lj6dQL9iXMzkXLyDwlZPfUSvsf15iGcbmDyBam1clj1M8sMsSlzMasRnCT8rLY0SCc4w6gDZuHJysJ5C8j6KGk09U9ZNmiAcFy65VGrYAAXEaJtLwqZ7AiVjM8Obvgg71H8qMnuZhRWJ3Rg9-_uNQBNtZu8ppkdatYRmme9ahbFIqp0fnm8vrls4LfvvDk74BAjFL1_S4UmnaVSIffceBffIueTXvqRRww3EPumOs83H0-2OEJ2OTBp-jK4mIMIIL1N7Mu0Oy1h7z5Ayy0lWkIphlzV7MNRcz7CoTaOSVB8f6zBhY7aYgk-q0noSZdLBQjx0JwOFg8S5_sTDwvr1Di7efgMbzAQw3Gdn79rkH0jFXFk3H1Iu0-VtlrOsmUwIuB50QTFwQAg4PTePFH1fqWQtXJEVBR9UFUElnrNTSIEo3IYxGj-rCiU8Lr0sVuV6KBy5YNttc0vvUKgOfXWC1vazbPonmQuQg1sMZUIxpPBagSdCMxpRE9rmBQl6YG4hIOMjWOc2AZUpSsWGzuDb5L-tWlyc6I0YtIicA-39Sy94VQukj0Dc-IRkRcleJtfhP6gwyDF5cX0djiYO6muxehE-qMbLmOb9e4dLonEWlSH27WQbjXP-zcAzQY8hDDVMQQl2ZJbzw0tXU5q-RmSbatC6YcMfpu0o6w6EMBqoxOJGf8idUAdUBy6dZAzbjbgjhyzlDvc7-AhI6qpxsGAsT0um4XYfj1jL6AOh7rlIyN-W-LvCJZrFEEFaoEKtcJBPJxwY2rHfw-f-bDLnM6zDUzY2zG0x2MThJed7CbP_KbhIbUOrzPtmujKDfZyU52uqMUv0MaXPZ0axm2ebP9Ev7hGugdUy354EBN18sSTwnR3fVhTlBDBEBdVrSDHbCzbyIm9eTtMfSR7_cE9zQ82B8VAsY3MEUripKZG1h1RdUmdn3ATPoVNuZVpE6WTVfAlKQYEXuioEq8R5XCwzs2ezsVrSNkR-Tq1KBPGU7T4vI3o9w695ekE9B9TKsFbyUDR2UP_yh5Zi87oGz35EaCbrXi-SUksni8BHJGCYa2TBSAtUfZmL5M1kxEqOgoRDQZohI1-EiybYxQZDv51GWQkDKTrvlS8n6z1HXholaYGuCeRzT8AXldx7uC32fT177LDaoQ15veUpinwk-85wtykJhj5nIGhEdWAAfCX2BDMnZZ1-kBUPcQVASSUQIzeTsDTHihAcPcJ2IPuZI6zlssZ9GGO2H3KqqGt2hY9r1k-pm5SWhifxcgTbCxljIU36G0jftt3xORt9H5euyDZ3iYCgSvNO89o8OFvrcq_WG-To-Xae71lc5xth9Na_4-FHFHo_ZEXDBElSm-UZ86rVYlJtpJ-mkFpfph_EXc5TlRfQuVs4n_bX6qZPTKIPHpavKrT2PmrZGukwPfUKNVHv1H2-ruZ5cCQ09lj3ZivZkW8oq0JFtKOI0irEA4wuuga7Uhdxw9-L7uFWOyUIc7Jo6e46i2XViaH9kNo5mi3bVovnjtRCP4-PkYYqEGfdTL43JYTW1uG7oOzMDxZlXpmB3Fnd6gkOpNhF7z2-piNIC1eqfgJkrr_pAb0j-4pNktrz5Bo80L3qCn50uQvzS7b_z2MCF06zEKvHRLilXt4W1cst9n8s6ceI4-kgRIUOow2Bi414Jmc99OAHvD-xBNw8wMo8KT3Y-gCK_HEP6QZsAYgXAwbCFe5N9VQalwmF3LkegftGEwUe6XBFU3P2y_-tnaRZkBwf9LRAwe7V0b6LhfSDGk-f_Br6gCcdVmtm-Wa4rMSC4ynnoYlb31t7-0uwjmSPJdP8FGJhTj8_bn0ixOcILevTPvbVQ4_PqFzCS6zUshI0BR1lxwRhOxESSiOVVkN6bnAzAtXf1nFwP1TFiCkvwomaFjKZQ7iIF6q3a4b7ce0ntNhXYqEvB1vNC7aEAlO1jcHRh3LIZo-RXThEek6vzonyfOJKNj7ailc1boQyuT6oXCfshaQIOc3ajzBAoa9GZ0LS7rcW12_V_o_XO84gshe6qPiCkmpUvylmCdT03cEA31Xd2leh-7CLYDl5ihCLtep-b0eyVm0MXta8DjlsQ4j8dqq6-yz3Q1UPh-CR47iVlke_t8s3xOAtx-i17iwvB-QXlhIrpayM79cjCf1_aCTbRf9JiiSW_d9DLuz0qXYtALtVtzWBT6LydBhapGe3LFmuyEWJ9OAIe3js9d7oWXlFNFPYhYQACe6Y5XZCAPiyMsp29BynX7kAambDnmF5brnwjhOF75713Jq4OsP8BVytGbD6G93GpzVOEnH3QTX8Xbrgpj_qX4fvR5AuIIYtDzF5nZq-8GbY9S-OV-mw0dLO7WLAnRyP-ktS6rbVQvM8R_x6vwyhg5kL8C-sEuVS2eMXzywpqSgEW5rr_ZZEyGIWttLcQyhU8Wqu_SjfC2sr2dtq1Axh1AkTmr6WniW8H6-3RzV0y7UDL4aIZ0gCAhKq2qyq_ISgzhaRlFG9Uf48o9l6sKgcx4iWuQcHmU8J0nktgdeLiyt8oix4Oko81ht-IZm8xq0ZafWQxC-3nWe2kLziRYijN74p6mUAH4StmJ2c7mM6uHVY7amddnn3j-BwGrtHuSVNAZQxPW7d_eegPghdcs4nVSiFzelEpGRLI48RojllPgyE6NUsweHyF6SD5IzdaNjhjTt03-Xrbfiv1s4nxuie57nkqlEHVlxP18Ezm7M54OCagkEmpQXXpxRdgPtQvG7NQJmVWCxjZxu3iytocnxGzJq2n5FL_McciqdQ1GbdpVRw0lO9LERcFU5uhckszv4CRv0j2hRDqJhabLAqC9E8pAGSZyBGs98LwHxxESmynliQ1jbDalZtpBrwlJHSAoslU1ESjo0dWU6BhyUvq8HWKYp-5qzHyiFGyy5Kjt8BFJmgOedR4chLDcFCEe-vQef8Kg-6X2IPnlnWPX8tpKVrxu_jPu7O_Iu--0mTPZFaSYh-dncEiBe-fFgUcIna687Mo-FYbMXKNQDud-ImWjs37fAb59VEDl6j-vFrRAulqK-g177U5Bl4-wa6VTSQyEmfKK4jgzIaX1kOpwoQr7QnVMJT3uoKpWKpGgsxOdtRzYmqDEN561IBqg1t2bZ5EMsWOLmwAFPUroF773EjlcHnDWRuUTPgq8t7i0WZrVmgiyvnhhbcOjDnH273eHYHiI7Duph2Zmuzfc7C_Cau458FTBhsnUR2WbzkX-Jyi0EdWW6wB7xQVeeySZfnBmAwD0zvC30kkmbW9v7mAoh-xvhbr2t4eYPH1VCt44ZDzIKfERjoi-k0w8GtaDX31dGwE2UbwlXzHtyLUmjOn99IxOrQWyMqM6Ll72qAcH-0E2HD8VrvoirpcMkw0xOYqDZsASjcYq6WWoTtqsl8QzlFWHPfOzeqDeF1qXAnRp2dyf7eT7nOH5QprVM5-XhtBAROHe7p_wP1PPdUVy0acMbPTFi1Qef--y3vBBvh6cgvjLorGQk9Cw0YrMnv5bUU-8LWcSXJEnJD3UsbirI4nQNx_KUpRmplsDMm33Uuj9uh_gV4K2dz5mIoQQ==",
  "id": "rs_0dff2e48894f6988016ab478e0058887d092bdb299682c25dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.24,\"left_x\":0.245,\"left_y\":-0.035,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"The large bear remains in the right basket. I’m lifting clear while bringing the left gripper over the white plush toy near the front-left corner.\"}",
  "call_id": "call_WUNBPtuvNfwUyZhwgcV2Yowu",
  "id": "fc_0dff2e48894f6988016ab478e9596c87d09db05a992d5aef6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WUNBPtuvNfwUyZhwgcV2Yowu",
  "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]: [-0.3668, 0.5652, 0.2352, -0.3088, -0.2554, -0.1898, 0.9996, 0.3511, 1.6009, 1.3739, -0.5137, 0.3012, 0.149, 0.9963]\nstate[eef_state]: left_x=0.2431 left_y=-0.0417 left_z=0.0872 left_yaw=-0.0633 left_pitch=-0.0538 left_roll=0.0062 left_gripper=0.9996 right_x=0.4454 right_y=0.1112 right_z=0.2182 right_yaw=0.0069 right_pitch=-0.133 right_roll=-0.0793 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -0.1573, 7.788, 2.0244, -0.5055, -0.1197, -0.0659, -0.3214, -9.6752, 9.1282, 1.5263, 0.0855, 0.0562, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1c7f1c4393b5ae8fe5cb54b29dd011a78594a5be906747fc9322215e65d3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d260e5d80a33ba76d51ba4c09b8cb1ede9b97e5b03a93c9ed204c96abd8edac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13300c506ff65632028ddb9206c533e319bb52f9d43c7794167cab05a40767e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 27 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8101, 0.6151, -0.3809, -0.0223, -0.0269, 0.9995, 0.3584, 1.5749, 1.3201, -0.4187, 0.2996, 0.1658, 0.1149]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1805 left_yaw=0.0019 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4479 right_y=0.1159 right_z=0.2235 right_yaw=0.0086 right_pitch=-0.0697 right_roll=-0.0422 right_gripper=0.1149\nstate[joint_eff]: [-0.0752, -1.6205, 7.3094, 1.707, -0.0317, -0.0464, -0.0122, -0.1709, -7.7197, 10.0171, 1.7216, -0.0513, -0.0024, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0181, 0.8108, 0.6147, -0.3805, -0.0219, -0.0269, 0.9995, 0.3515, 1.6039, 1.1061, -0.2272, 0.3016, 0.1532, 0.9952]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1802 left_yaw=0.0016 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4407 right_y=0.1096 right_z=0.1534 right_yaw=0.0053 right_pitch=-0.1181 right_roll=-0.071 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.707, -0.0366, -0.0513, -0.0122, -0.1436, -7.8154, 8.0205, 1.4969, 0.0171, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.3668, 0.5652, 0.2352, -0.3088, -0.2554, -0.1898, 0.9996, 0.3511, 1.6009, 1.3739, -0.5137, 0.3012, 0.149, 0.9963]\nstate[eef_state]: left_x=0.2431 left_y=-0.0417 left_z=0.0872 left_yaw=-0.0633 left_pitch=-0.0538 left_roll=0.0062 left_gripper=0.9996 right_x=0.4454 right_y=0.1112 right_z=0.2182 right_yaw=0.0069 right_pitch=-0.133 right_roll=-0.0793 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -0.1573, 7.788, 2.0244, -0.5055, -0.1197, -0.0659, -0.3214, -9.6752, 9.1282, 1.5263, 0.0855, 0.0562, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1c7f1c4393b5ae8fe5cb54b29dd011a78594a5be906747fc9322215e65d3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d260e5d80a33ba76d51ba4c09b8cb1ede9b97e5b03a93c9ed204c96abd8edac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13300c506ff65632028ddb9206c533e319bb52f9d43c7794167cab05a40767e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHjxAj1r6DW6X3NFdwMVEVLvhf4sVxWyfdaiaQVtm5S1NGlZnxQh50CJJi652MiAR7iA4NMhGFBjL0vsfNJgPUpb0n8NYt5kgyo_-NoGXCtskXVq66ZWoOjItbZOJ900NBMXNtW2XFXSS1Hme09ks5br8pEPsushnm-JNE2EWuo-FP-vbUhuirB-nRFyB88lXQwVJN3GClijzSopivMdxr_MFCBNfBr8zLkWKeybW3VfTK0Q0aCAxRpk3gvx9bs1lZY5baQSqnVe4lKZIwYXeZgpr_ZZBgeVCIGSAeADiexyhyf09ZDeLmXUWyF1GBBwY6-NVEOjs7g5XYqsg1LiIgbfbI1IRB7P1oZ5iQuWAVLGGM4h8leszZs0BKoVLjynxdDVqgSR9h9k5NN4-E2XSBSi_k6gR--QCsGFbpRXffll09OmWiYny9mygsUVwvWJZwetnjQDLMEolM8K6M91aZBoFajIIOQPWdx4sqQ6OUOzQEnMVmfUSkT2tiQ3rPM1LRNdS4Fr5UkfpO_HJZjObciHq5TUSZHF9xsAsdwi-HC7rpYHbvnSYN72_rFTkrfapcSZvNTC7KmL7a-TSxMdfgu-OUaIiLoMKbcO_1nAeBAFZhV7vhnwrS8j7aNHOJNq6-nLLMhFQNOAMv04Cb0L3LBK6zMMI7YwKDtCFaBHiVUmkiCYCxINajjjHjkSeSPITNSdm-jpRprHEwZx9ZG7PIU9--bSGtSwHKzXmLFm0pGFKIQlkKHpgcDjvRW2RW3OFcjp5CCbNFMhXM-DCvh9CSt1Uqj0H3wADmWjT5A06kF3aXfkPR-Qg6ApLkNPX8qNxBcomuQJSSpgafRpY35mZFTz-8-Dz8zfu9AGEhnFREzWYhn9Js32aGErMLNYcrfEi46pVDiXxKggxd4_W-z7oveACYyObxHebmCq6o0P5Ys8J_VQp9brB5WzhcqfLwVla4ancv5THO4sYEdVoKvEHI1fRZpUqKdg8IWqSSk2a0fdzPBXMi-6WcLWcRav3sUz_qFxR1BZzsBVmdJp-_fJes3LMJevBA86ugsIhnjDy4BAE7ji7_kCGpvGyNHZVkqCePJFW-fYww2grPk1fUM3aEgMMjiNgPfkMlijNu2q38S-uMaTnh0HH-V7Usr-rU_tp-EC_EkORQbjywwGTgQyHus8euyg-PWCOQ2ZVOCjxRbPvu63slxX8zNdgCRZ5KEQREntXnkGib4TJn9ip5hOHU8QwYC-CYtzDX8c0cKJ4UImy4bprxQXBQvCxw6GNt5Uxu3YcEpnWhdrxQcYRo39F6apWzlVFPQdrHq6ndswHtJ223qyMfhp1CaoKz4ufhPjqFuelNMalPFG_vz_lhro6mLsdE1j1tXE73D0gA8i21FgrixX2pgx_eo6Ql6zzkjKNn8pS81eRmiD_MSii1aNhrq_xPONZ5wg22ODiqXdAAwUhHAzAZqYCaM6cicZ5Ndz27NVk5dQ9u0HOT0dE9bPZq5Gh2SGqJ3c354MJthmy8DmNc_Ffb13vvDo_-SmETvASWBdgc5F48Wx4mVP3nXco9fVxRbU62GnRkVIMadoHYPB9FBj-7GahCJvAMAhWnPNKUOrobGuExp6K3Qr1pO-qHffp3O2ipfjymDIWyiaH9ye-0gCaptnDnVNlwzSSrEr1fEo2IKw0G4T5M5QGfdt30Vt75RfXjIFRcFKAPrwKsP2OCAIhWLIMQXsRNCk3BurjR0xnPtib6gGVd9LeMdRj8aSXKqe_QixpaelYzs_mtWY2WqUS41UsJ-4Ltegvsfr38bcIQ1qgxGEnO9mYGcwFE-8mjJ9qUIMJbQLwQ0qFdNIIC1BDBv16ESDRg1deeCj1y9fji1YLY8fs88BHTWzgCVI8eI-4S6xOXvMbtnM-WPn7LM7hgG-S6zbCEM8T1Ky4Jl21Ww5S7EpOVSwN7qcZEMeQgxV_4CDNWWfwHP5sjw6HtpqTetUobGBIjAxtPW-etsH7BqDCILI3Va6FjNJH0SdF4UmZtqmxIA551Y7eSLwOw2ssY6tfp-2XMsb7ygWKOh56JtLWPL5Jv3H8ApFd6WVlElcv4YEVdCEmp5Ub4feRj9pTY8dwkFRZ2QUpwKB0KJVW9_6raEIRJhJCltFRGJrwBmhyeObeK6racU-cs5S8zd-2gp9--bhrwR1_eQb1Cer6nwb7aKb3SJQJJrX-eJgYy_B8ElupHLAhXrizQ7l_Xs-UG83Vps1__ZKicH9hs37_t7M6QndoUMGF5opRYV5QKUQ74526__FJFYOPt750AWcxsueRLn8I6jT3siZsXth3DQjQaWD-M7YPE16ClykbymnFmxHpRMHSA_JZU8v-8E0pVP0xQarbwhahmPJcUdyMBL2Q0fwwl8y7FSe7_rQWRXfRf4boWrx_vgLrvpitFY=",
  "id": "rs_0dff2e48894f6988016ab478ec77f087d0809e207cdcaf69d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":0.01,\"left_z\":0.015,\"right_x\":0.45,\"right_y\":0.025,\"right_z\":0.075},\"note\":\"The white plush is slightly left of the left jaws, so I’m correcting and lowering onto it. The right arm will approach the basket’s outer rim so I can bring that basket closer to the shared workspace.\"}",
  "call_id": "call_LI0WzLWkhvTQn2H4R86uNrgq",
  "id": "fc_0dff2e48894f6988016ab478f084ac87d0b91f38068edf430a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LI0WzLWkhvTQn2H4R86uNrgq",
  "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]: [0.1291, 0.6956, 0.0345, 0.1314, 0.1116, 0.0959, 0.9995, 0.1062, 1.6764, 0.8898, 0.0612, 0.1131, -0.0051, 0.9964]\nstate[eef_state]: left_x=0.2596 left_y=0.0175 left_z=0.0542 left_yaw=-0.0296 left_pitch=0.0345 left_roll=0.0376 left_gripper=0.9995 right_x=0.4464 right_y=0.0312 right_z=0.0807 right_yaw=0.0038 right_pitch=-0.1521 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [0.1162, 0.7726, 3.9316, 0.8132, 0.2027, -0.232, -0.0269, -0.6769, -7.2821, 6.0103, 1.5751, 0.1587, -0.2564, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08b2ab27484b5e1d70c409d940e0d003cbe44e3ac16ae1aa22651b061fd6fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8274bcacd01058fdb5d9b222802f30f193c75af3109cc1cf22dd969b2cd1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb5ba755f62fffabf51742dfa880a93c50f7ee0ad69f90a9907613487d7eaeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8108, 0.6151, -0.3805, -0.0223, -0.0273, 0.9995, 0.3523, 1.6039, 1.1191, -0.2386, 0.2981, 0.1566, 0.1152]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1803 left_yaw=0.0021 left_pitch=-0.0149 left_roll=-0.0005 left_gripper=0.9995 right_x=0.4415 right_y=0.1109 right_z=0.1567 right_yaw=0.0071 right_pitch=-0.1173 right_roll=-0.0656 right_gripper=0.1152\nstate[joint_eff]: [-0.1573, -1.388, 7.1179, 1.7314, -0.022, -0.0708, -0.0122, 0.1983, -7.2957, 6.2974, 1.7949, 0.0659, 0.0855, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.3668, 0.5652, 0.2352, -0.3088, -0.2554, -0.1898, 0.9996, 0.3511, 1.6009, 1.3739, -0.5137, 0.3012, 0.149, 0.9963]\nstate[eef_state]: left_x=0.2431 left_y=-0.0417 left_z=0.0872 left_yaw=-0.0633 left_pitch=-0.0538 left_roll=0.0062 left_gripper=0.9996 right_x=0.4454 right_y=0.1112 right_z=0.2182 right_yaw=0.0069 right_pitch=-0.133 right_roll=-0.0793 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -0.1573, 7.788, 2.0244, -0.5055, -0.1197, -0.0659, -0.3214, -9.6752, 9.1282, 1.5263, 0.0855, 0.0562, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [0.1291, 0.6956, 0.0345, 0.1314, 0.1116, 0.0959, 0.9995, 0.1062, 1.6764, 0.8898, 0.0612, 0.1131, -0.0051, 0.9964]\nstate[eef_state]: left_x=0.2596 left_y=0.0175 left_z=0.0542 left_yaw=-0.0296 left_pitch=0.0345 left_roll=0.0376 left_gripper=0.9995 right_x=0.4464 right_y=0.0312 right_z=0.0807 right_yaw=0.0038 right_pitch=-0.1521 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [0.1162, 0.7726, 3.9316, 0.8132, 0.2027, -0.232, -0.0269, -0.6769, -7.2821, 6.0103, 1.5751, 0.1587, -0.2564, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08b2ab27484b5e1d70c409d940e0d003cbe44e3ac16ae1aa22651b061fd6fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8274bcacd01058fdb5d9b222802f30f193c75af3109cc1cf22dd969b2cd1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb5ba755f62fffabf51742dfa880a93c50f7ee0ad69f90a9907613487d7eaeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHj3Fsf-L8vKdElv1_H51JFNJanIFdsIWOeZMXC-EIY6TkrUkNVAWddHzfANTIDtYRF19w2JmjGuRUyfx5W7PKpi_qLPwd74FqLXsa9BZzpbIVFp2MoMxAViMH28TT-4SMHdfUL-hEEzXGGv-OxYm23VfwBPEG6blyrv_AusUYchZc9xiQdzOnU4EFGOauoRMq4ro_OuaU4y_uzieKJglAn_0zq02-xMg2j5_vL33bYAzlJBAFJO6oorsQXBq2C2dHyemiTtryO_4jGCBMi5qRqogB5Z9pHbbDp0jVT1LTJvvV4FS9r4jxSscL7Tj-3KRibAtjr6R0bTr4SqBWAN54hUtiGswFJeYB5dSTDkrS-l6rwQcMBqertcDuZoLzkVNTGNWqtkvmcTu20C1iKEr4JmUz7_4RfHziou0Ak5UqjQyO0oxVDBWMwUhg1YVpPBRJ2Ts-fKJrtf9-aDRhi9LS83ryQM7Rs4E3ZtuORvx0fafrKvpceKxLe55j5skz6IMEJ3dp3vJOQR2LkjATYqSdPUZQ_WdxtEkve-FFGwnpoas6wy_2biKGaQbVbR_SzlEOYOvowZR5DwGrZ4VkaAXBECEMe-2b8HwLMlgVqj1EOJpqFgSqPe3vHFyDKQye8CKvkEYJTUl3uTqUtgA_NzmsaENBcHVWMhHCz-sibsnU8nIJIwajccBfI5Y7MZjFdjh8Mf7eDl2qZhH2a_g6qmPLaZozC_n7KPZZBP8x6Xo9ph2lSqbl-jV5uxMnhNGU6N3nf92chtyMXD2zduQhKM34V7aQBQw5CuZHhXh14J3V6LXSgHVpLfir-e5wuaPO2ZH3tFOuIiN8inqaBpWBrKvRXiyIF8JK0zuBo02_Uw7f30eJyeUI51glloWUHqEfhQxvOybAptfemfGo41f5zNtho24Z-VRWN0tXHccklNvqNj4zn1jbE8ronrgqB83FZW_LAlLzCoGd3SsGb6MIkNHgXMKq2BROB2XyebbEO0p13CESq_RoXXxGCFVQ5WQ2oA7aIEQLQazupLpt-mGtJTuRGhfG0vRrmjYbMNxOaDvmrsfkEnJVZfG4Fg9XLCMTzrXSX_2mdqoQPAjxeF-LfbiKOJYASmJqxNSt8JcemsSZy7aHVraYehcXnAeEfID7SojSs54RvxIktdu30JtAjF25gmKo2TMsNpoogRCnSM2MB0Ft4gNUqooSI7C4L4bwrSg7jTIRB_YrdlYb5FdBBKe5ewjdHKdrL2G5joFXDOLeyrLXsFdUVVW5vKNpoePUolJY7mNaA7v0bPDinz6cDgofKtNxfnA1fA4Ux0gL7hi7lXmK5tSYiGigya7xHOpXCrHfVpOFJeGDn_YhC7EkUqPMOZgk32WYS_3_F4dtFJfb3dvCj-Z03xJj3CAuiJEPO9KSOQiUrRsRKSc0H_NJdgl8NZN5KHuyAvuvy9LHkPXFXxWF8SrMdcBLqbTmt9nV5dB-tRy7em81627RnDDWB8FzeUXMAby0wAjkx-zLr-qns3DAuXGlW789-3qccwXi0AJP99Uxf7HT3I_iJ-vpp-JakHbH6MKRB-4nQnf8bZvHDxHWQdc0wbFRUUHbv_tQyntTmeWpPprYws0c2UnZKsCE2tf9uQARrr-Z4ZsDm7Gtlwt33COHh60mtIIF2o26gYHjXhPpXg-8YHJCvqButNDknaJrOhNNyVJy6u-2i4NQ-iSGHXITWoW5EuDhWcr_De5uDUCF12pfg-19w0OTUOw77_v54pUBZSd56JoTGJ-VdYI1w6u7xDdZp8XSE2DoC5JdZONH70VJyLc4LGdOx4WIBqmD8aLlnq65uObmWUQSfurOgk-o-ACrH8Il5Kn3Sv-de0LBgYQ6SKQRLel9TZKt60GGRdL2nOaZwWTIPO-D0lIq2iNK8Py8uldSwMInIhXjhD2Gk37fOA-Xn4BaRWyASZRF-G-QmwxXbSZJ3qsxTPIgsJzpAOO2fl_BZZolhWK17LdCS41pfA-NmVsCROdxGJIyAoRi8HFbR2b40X8WMiLbk=",
  "id": "rs_0dff2e48894f6988016ab478f41a6087d0842a09c455eadba3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The left jaws are around the white plush, and the right jaws straddle the basket’s outer rim. I’m closing each gripper before checking the holds.\"}",
  "call_id": "call_y2NLPHzE9JrXS2yxCJ5ubGJh",
  "id": "fc_0dff2e48894f6988016ab478f6f71887d0aa56eca1242ac5bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y2NLPHzE9JrXS2yxCJ5ubGJh",
  "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]: [0.1287, 0.6926, 0.0315, 0.1703, 0.1089, 0.0971, 0.013, 0.1043, 1.6924, 0.8764, 0.0902, 0.1024, -0.0078, 0.0196]\nstate[eef_state]: left_x=0.2637 left_y=0.0184 left_z=0.0619 left_yaw=-0.0287 left_pitch=0.0727 left_roll=0.046 left_gripper=0.013 right_x=0.4466 right_y=0.0322 right_z=0.0737 right_yaw=0.0125 right_pitch=-0.1533 right_roll=-0.0648 right_gripper=0.0196\nstate[joint_eff]: [-0.1709, 0.212, 6.9949, 1.3846, -0.0171, -0.0269, 1.1306, -0.1299, -9.2376, 7.2684, 1.3211, 0.1245, 0.0073, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f77947d4f655dde67c4b945dd9ca8521d6e75610e1c395d874d092cc74efec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f990442aeb7b57559fd6381c51e115cb7b259bd59d3debd2b8a2978305d84646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d345eae21f2c401705f01bdffe17467079d9615e046220fad63874f219289d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8108, 0.6147, -0.3805, -0.0219, -0.0269, 0.9995, 0.3515, 1.6039, 1.1061, -0.2272, 0.3016, 0.1532, 0.9952]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1802 left_yaw=0.0016 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4407 right_y=0.1096 right_z=0.1534 right_yaw=0.0053 right_pitch=-0.1181 right_roll=-0.071 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.707, -0.0366, -0.0513, -0.0122, -0.1436, -7.8154, 8.0205, 1.4969, 0.0171, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.1291, 0.6956, 0.0345, 0.1314, 0.1116, 0.0959, 0.9995, 0.1062, 1.6764, 0.8898, 0.0612, 0.1131, -0.0051, 0.9964]\nstate[eef_state]: left_x=0.2596 left_y=0.0175 left_z=0.0542 left_yaw=-0.0296 left_pitch=0.0345 left_roll=0.0376 left_gripper=0.9995 right_x=0.4464 right_y=0.0312 right_z=0.0807 right_yaw=0.0038 right_pitch=-0.1521 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [0.1162, 0.7726, 3.9316, 0.8132, 0.2027, -0.232, -0.0269, -0.6769, -7.2821, 6.0103, 1.5751, 0.1587, -0.2564, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1287, 0.6926, 0.0315, 0.1703, 0.1089, 0.0971, 0.013, 0.1043, 1.6924, 0.8764, 0.0902, 0.1024, -0.0078, 0.0196]\nstate[eef_state]: left_x=0.2637 left_y=0.0184 left_z=0.0619 left_yaw=-0.0287 left_pitch=0.0727 left_roll=0.046 left_gripper=0.013 right_x=0.4466 right_y=0.0322 right_z=0.0737 right_yaw=0.0125 right_pitch=-0.1533 right_roll=-0.0648 right_gripper=0.0196\nstate[joint_eff]: [-0.1709, 0.212, 6.9949, 1.3846, -0.0171, -0.0269, 1.1306, -0.1299, -9.2376, 7.2684, 1.3211, 0.1245, 0.0073, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f77947d4f655dde67c4b945dd9ca8521d6e75610e1c395d874d092cc74efec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f990442aeb7b57559fd6381c51e115cb7b259bd59d3debd2b8a2978305d84646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d345eae21f2c401705f01bdffe17467079d9615e046220fad63874f219289d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkAKwo5jz9fo1yM17dK3vGgAN5QFfFuGz2dA4NROK8RnBWSwZImFxR-OYUHxNOzrfTGV2A3F9TcOdLA18yY4L8dus84IMTUbUHYaU-SMbNKXaP3u-qIhsXxsEllj7yNivs6PVEnsJbIOXB6hw_Gstv1r1pjQM-QPHjciy-2Fn5jg8oYVNP_m-NNp_8eQqYRA_aKm1U-90uOjndrxpheMejhpO2E4NZiP3sMwXtIJ9E1A-XVZPCesC6h3FPfWJe0PeXQjoN4AnvmRui3bNBZOLvhXKn3JvOKdCzMlFgN_676H_PcDlV-QRSAshUz3yCNwnocfaFSp8o5CoRs3isiT9xy2wLQDNOphaD8kwoP_WlbdfqjgGwdTyqs8iLin-iAC5o92zlhHSKbuWOBXmVpADr-qCAm5JIN0NM4MwwOVPB_yGahyqp-yv_Oc5E51WhbsKZWFX3XsuNTiCGBpw3Lv3thyuu08ICqyLKUkTXM97Rk2dY7gnAJtw71PSKcSYd2owMRojQir50OKtEgBLwn75kvFbs_f0CZfggo5u8-jz2L2F9y9HbjlpZS9yL1yvL14kTYZGAo_FSFjPC3EeMG-96YTm5hJgoSu2wZ8cWjnHGAPjNnEN4aueyq_deOvXtUvUyb9e0HeSMKYNV-u7b4unPgqmYTM312Pcu6R1o2IvQtzG_b2zNplEpICvyJj7DNMOAx7b9tbnYn6hgxitQwtCEyu4-KTO--hUScImP6JZQs8sQ1qBq0i9-AkCpBybhitc2-dTdchEG-e22gGi2Um5ZQGVtbG6FAMky6uK5tiVT5lUvyRlnuWt102Wk0N8MUUDt62c7vIw0RGdER11fp-Ps7JxTTDdFOtJWkws2HO5A967XJfhCiXVeyIZ4cc0QHC_q8sl6Z-9DRyveqygKrSVC7iXQOWDPRJ4JOlYwz835yoAUh3en7OGIjjJ6FY6CHvsWxBdQzDt50eJINbJVC6qmMUt4JNu6M7jGymmIe2YV3_Y_qgLWvr11XlQ2XUouJuJkj_raNM-_vQPZSthLy0bvrszG4aBdwSW_x0UQRDFklz_360aRRgSe1JVSucSoSSFIUyzpBzUC-1RCsv0auTki4j-H1Vu3Pxmk-W6srvL8H0xYDMkBKoCYoVTpqbgVvA2b_aFzY1ZdWFhZMO0hAtA0onHQjwSCXiCko_rVHG9Yh3jA2L1OdgCnSLyjrqUEHSIzDjjbRefsEdYR5Y-5SIYtdOSrID085cSHGcXfF05MGAgz6nFp-MlGp15xW0O54-5Txk8baSfqo2wln7lNEd7YXHXSBV2PJ52lLov1uvV3nWwq4ZMf7OA54rNuHj210qyXQA5m25wR8-Iuw5TaV3HIGGUbtLgbRirTC11vQ9OmIZPXbxH0gOrLmA6J4xqFUh01xy1IDpc0rsGB1UJKeJGYDzPnMEJFKQ2nGeZLzI5h49z3jpzrXxAsqyFOG8VTPqzqZHADQCYn3FtXy9lpSkiEQK1Y--qlj9pjJtzftZ0OcGhGnoRhzGL6h_RSIDGEZMfLX40GbH_-T_xeRj7i7ktqMuma6klZTQyf53RBfIN5pzc4EubbhAdAeiYdMX1sKAX0gjogemx1cOKYK_VRVdK_ZYfaCU-RmAiQL-XSa-Ctwbp8DGnFdecZwZShtxEkFxZDXvN4jq-e3sYC3psV6vgiJteRF-Lwu9Gi30fKJq27_dzrcEBNTMoeQaDrVjxIb1MAdMB-x8zO9AN0b1ulr2P0YwiBmsghGIlKR5a7zsDx7kQDjEbNOyGHE1S-l73eHk2bT2rHZEHWwYHAepWUgWaLUb4kHj6GVDl7F38sVmFDWr0Ca8dfVT62iVDYJesfwHVyblJFvSrczVn_B1gYJx92Xxur3nOwOCvhtfcwf5vDeyUb5NTjVW0Rc14z0MaDr0dNn5sfIcsQUt36F60flyEzj7N6poW3yyFv-4LOhmRxTuF9u0gamPX7DmX8SXJhg_Ha_zkGHOawWzXhzWHLnayiw4MGJt_W2QSMJPrplwDwh1GX6jNHIJJLtNbBvzbYw0Es0xTlQZ6Hu4QfqvVaWN1kWOGpPsJw5r8dLZihBsBV77OUj_JvoZPiCl3t7AEhhfsBF3yrq196ryh-f6mzRfBQolf262utU1fPKt4OBHbQfib5V0DvpIfyFvlYFenqKmMkcsNyG3D77TPp1AKZbwvWteoeqTNRoeYTFSZY9CV3oI1ggFF1LkwoH3Fiu5M7HyOufH4r7TcIXN-RxjZMZ9xwsHT9nHyG81G9ZTCqQFlSy4XzgdjeIRPy16NXG5L-KYIOL6RPm4E6BJWUbzTIQSI0RRxqhabmOJr2OqZdtBNOCVylcrJSvXMGNcgdhbcr__yO8-QZpovE6za43h27EYxfymDwuynn3UhtrsReRuTzlCZf9z3Qjv8KxJc2T3T_PWYZVNNjlk2OhYfVWTc5ii4DxI3HP9_6T-oQMx9WOKuhJY_vjEUcNS6AJAEhckPLFYOcsOFpSOl2UStYMc7J0SvuXGTZMVebMIYPzkTfLqMS7HtcPqvfSEKPzvoXubl6IDnT1QoxIZD81MmJQdbDNM-xadg==",
  "id": "rs_0dff2e48894f6988016ab478f9efd487d0b8ab833e826af3a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.255,\"left_y\":-0.005,\"left_z\":0.015,\"left_pitch\":0.3,\"right_gripper\":1,\"right_y\":-0.01,\"right_z\":0.035},\"note\":\"Both closes were empty. I’m reopening, tilting the left tool to reach lower around the plush, and shifting the right jaws outward and down onto the basket rim.\"}",
  "call_id": "call_7nUvk84eRw6EVBXEKne27Rim",
  "id": "fc_0dff2e48894f6988016ab478fea5a487d096517e1143122156",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7nUvk84eRw6EVBXEKne27Rim",
  "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]: [-0.0963, 1.676, 0.0254, 1.2694, -0.0711, 0.0444, 0.9951, -0.0067, 1.7535, 0.8192, 0.2993, -0.0242, -0.0841, 0.9937]\nstate[eef_state]: left_x=0.3169 left_y=-0.0144 left_z=0.0341 left_yaw=-0.0725 left_pitch=0.1786 left_roll=0.0817 left_gripper=0.9951 right_x=0.4606 right_y=0.0048 right_z=0.0641 right_yaw=0.0504 right_pitch=-0.0661 right_roll=-0.0429 right_gripper=0.9937\nstate[joint_eff]: [0.4855, -4.0684, 0.7043, 0.9353, -0.0269, -0.4664, -0.0366, -1.7026, -4.9299, 4.3419, 1.1453, 0.4322, -0.1197, -0.3004]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41d81bfc4a562ad42681d16093c19118206321aee85b8ee61ae6ba5f2cc12f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a01891b83a15da576c11003344b110f9d4110c3d7d214b830b83413f7342a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65180928339fc45dfb4900aee3d2f96df6fb68e76af158cffe3efa0baf6382a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3668, 0.5652, 0.2352, -0.3088, -0.2554, -0.1898, 0.9996, 0.3511, 1.6009, 1.3739, -0.5137, 0.3012, 0.149, 0.9963]\nstate[eef_state]: left_x=0.2431 left_y=-0.0417 left_z=0.0872 left_yaw=-0.0633 left_pitch=-0.0538 left_roll=0.0062 left_gripper=0.9996 right_x=0.4454 right_y=0.1112 right_z=0.2182 right_yaw=0.0069 right_pitch=-0.133 right_roll=-0.0793 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -0.1573, 7.788, 2.0244, -0.5055, -0.1197, -0.0659, -0.3214, -9.6752, 9.1282, 1.5263, 0.0855, 0.0562, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.1287, 0.6926, 0.0315, 0.1703, 0.1089, 0.0971, 0.013, 0.1043, 1.6924, 0.8764, 0.0902, 0.1024, -0.0078, 0.0196]\nstate[eef_state]: left_x=0.2637 left_y=0.0184 left_z=0.0619 left_yaw=-0.0287 left_pitch=0.0727 left_roll=0.046 left_gripper=0.013 right_x=0.4466 right_y=0.0322 right_z=0.0737 right_yaw=0.0125 right_pitch=-0.1533 right_roll=-0.0648 right_gripper=0.0196\nstate[joint_eff]: [-0.1709, 0.212, 6.9949, 1.3846, -0.0171, -0.0269, 1.1306, -0.1299, -9.2376, 7.2684, 1.3211, 0.1245, 0.0073, 0.9353]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0963, 1.676, 0.0254, 1.2694, -0.0711, 0.0444, 0.9951, -0.0067, 1.7535, 0.8192, 0.2993, -0.0242, -0.0841, 0.9937]\nstate[eef_state]: left_x=0.3169 left_y=-0.0144 left_z=0.0341 left_yaw=-0.0725 left_pitch=0.1786 left_roll=0.0817 left_gripper=0.9951 right_x=0.4606 right_y=0.0048 right_z=0.0641 right_yaw=0.0504 right_pitch=-0.0661 right_roll=-0.0429 right_gripper=0.9937\nstate[joint_eff]: [0.4855, -4.0684, 0.7043, 0.9353, -0.0269, -0.4664, -0.0366, -1.7026, -4.9299, 4.3419, 1.1453, 0.4322, -0.1197, -0.3004]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41d81bfc4a562ad42681d16093c19118206321aee85b8ee61ae6ba5f2cc12f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a01891b83a15da576c11003344b110f9d4110c3d7d214b830b83413f7342a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65180928339fc45dfb4900aee3d2f96df6fb68e76af158cffe3efa0baf6382a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkFQC87z9IgxSBI-bu9ntHfzv22HncbTnGifa6x4hQbyytgJ5szwlrD16G-9WkfC9yFrP1dnHOx1TaBzPIqWpOSpjnrwpwRiQwzbN7KTw9nH18t4yFn2jCPWGaUQkJJZT1Cvq_eTy7xqMWipwi-HpiRTly_YSUKyhZMNyrs8WbM0eTToBqL5_zmuvwQjnBz5t3pzio_rSkm1koIPveq_o5B65zpQbHoqS2FmRfESPSJuGsa2MeODy0QAeK-20LSpa1_djJzWfXxY9HJ1yp_JVr45pPqpEzP31lwLV34IweHxQInzZtOa7LYR7PCEAZ9AgBQCXZiesx1AXaHCHxOptoN7lVJAqVNg8hR8GLcq-7i09qQyAO2mMd_eJy78m8fbEG6-iymRSN2shiU5RL0k69HOFCh1E9XKTo3nN85UoLG33Ut7JQmrT1PYJTePPruDspyeKF1d24z6qsl0NZZHYEpv1VA2jnCWMBzLJFu67VcaFoJ3TlBKQEyrMppGrb5xwANIcLxqluWf5sDHrH8EsiDpO6Ly4gIqbzOHJ-rsgqrhKAKyG8hwRFnf69z4LE96rbPdkARVl5Uo0M86_2XtyUNSuNvMMN4iTDLcADKOJmLfHVrY7PF6o0HyRilCySpYmfZwkR3DAk44rNYVBYmHaD60Ou93Didm-UFJPHC1gzsOQe1OrD26K_mpGdixlvpAqJk7Th1KpCRVc5FwGA3aMp2XWMJdgqz4ybOBk2wZKfceyOmk7gmj2eLiMINHjxsoRMUSOLBckXCBNAZfQh99tg-WospcXSPu0RuUx6ba2RADa4uqd30wGvjSUlfUVNJvuI_sX31n8SBBKM39LoGW4S0yDfA4pKhZRqWoycAAonYdlcCCgWXqZ5ZvY_fYQLtLsgBNUPWX1KccfoH_oBwXFVjXySx5N3O2_MUm6d-eEJ_N_UbmHpkownszkw2ypYRK88iQbIZEy1ln7k-E610m3Ms8ZfczLBib4CsjTYGppd0E0nCwEM9czZvu_DmvaTHIkNLahZpDJ5XZ3py7-GtKq89gus22gzs56tadXyXCdyQ93lLpG3Sm-gOO3wxb3MU_so7StdADDEHJan6zgWq7sna4ankbKsGkH6rjkmFh1WJ1u9TDXkztcSQQxUArW5kQhTYymaxJ9j83HrHNPWqnXpu1Mh62rXLV7PE9N9E3HHrl8ERuN-oj1p2wBX_3QDFjZ_MBYNwmtQlAEoaKcaEeuf6B7TjDDvx7JE6I9ygHJzuOmdXex7_8PFN_1CLfvbXGZuXRu54WyYseLoJsEmRf7pqB94lxrvL3VRkPgRyomRi6vgRSrxzvheDF-icAN9LqVpcgcwePOHFxWnSbAgP9f5OvursIRROSbVcg7Ae0s92u6fsDJlNCBjGQm6alqEHnYHr4-314Fv4DfAG4wRls8QzR2J3XeX4O3NVPIXTYV8adeKI6ke3vEdmZH5JES_IMFvmsw6ZXAJ5mb2-aGgB62cMzPWQU9UnBX5BW7ogXqOdE4UN1g6EvDp4j-BQh5YLeTjjCLpugrbziNeKZOANMYIE5S0YWoUeXrC25mzSTmBIlZMpe0H7DYadUjLSIzMUbj2i",
  "id": "rs_0dff2e48894f6988016ab479027c4487d0832c32565f8cde43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The left jaws now surround the plush’s upper section, while the right jaws are lower against the basket side. I’m making one corrected grasp attempt.\"}",
  "call_id": "call_tjliknirjdDTTCcZDx38ATuD",
  "id": "fc_0dff2e48894f6988016ab479043d1c87d0a9230ef05067542e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tjliknirjdDTTCcZDx38ATuD",
  "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]: [-0.1005, 1.6829, 0.017, 1.2633, -0.0792, 0.038, 0.013, -0.0078, 1.7561, 0.8181, 0.3237, -0.0372, -0.0898, 0.0403]\nstate[eef_state]: left_x=0.3129 left_y=-0.0139 left_z=0.0285 left_yaw=-0.0664 left_pitch=0.1576 left_roll=0.0793 left_gripper=0.013 right_x=0.4636 right_y=0.0065 right_z=0.0674 right_yaw=0.0632 right_pitch=-0.0451 right_roll=-0.0412 right_gripper=0.0403\nstate[joint_eff]: [0.1573, -4.7111, 3.2615, 1.9267, 0.0073, 0.0513, 1.1502, -0.1026, -8.4991, 5.9419, 1.4628, 0.1392, 0.1294, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeeb732e7976c10c67452dd24e7ce2b505c7d7106bada587fcf9982fe9244810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b00ffff86c8975bfc044341274c1bc85c6bde9162b636f5b55015dc85b3bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a9bb417e982feed919af905b2ee4701999ff5e7b8f3315517d9a9973b98bd1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1291, 0.6956, 0.0345, 0.1314, 0.1116, 0.0959, 0.9995, 0.1062, 1.6764, 0.8898, 0.0612, 0.1131, -0.0051, 0.9964]\nstate[eef_state]: left_x=0.2596 left_y=0.0175 left_z=0.0542 left_yaw=-0.0296 left_pitch=0.0345 left_roll=0.0376 left_gripper=0.9995 right_x=0.4464 right_y=0.0312 right_z=0.0807 right_yaw=0.0038 right_pitch=-0.1521 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [0.1162, 0.7726, 3.9316, 0.8132, 0.2027, -0.232, -0.0269, -0.6769, -7.2821, 6.0103, 1.5751, 0.1587, -0.2564, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0963, 1.676, 0.0254, 1.2694, -0.0711, 0.0444, 0.9951, -0.0067, 1.7535, 0.8192, 0.2993, -0.0242, -0.0841, 0.9937]\nstate[eef_state]: left_x=0.3169 left_y=-0.0144 left_z=0.0341 left_yaw=-0.0725 left_pitch=0.1786 left_roll=0.0817 left_gripper=0.9951 right_x=0.4606 right_y=0.0048 right_z=0.0641 right_yaw=0.0504 right_pitch=-0.0661 right_roll=-0.0429 right_gripper=0.9937\nstate[joint_eff]: [0.4855, -4.0684, 0.7043, 0.9353, -0.0269, -0.4664, -0.0366, -1.7026, -4.9299, 4.3419, 1.1453, 0.4322, -0.1197, -0.3004]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1005, 1.6829, 0.017, 1.2633, -0.0792, 0.038, 0.013, -0.0078, 1.7561, 0.8181, 0.3237, -0.0372, -0.0898, 0.0403]\nstate[eef_state]: left_x=0.3129 left_y=-0.0139 left_z=0.0285 left_yaw=-0.0664 left_pitch=0.1576 left_roll=0.0793 left_gripper=0.013 right_x=0.4636 right_y=0.0065 right_z=0.0674 right_yaw=0.0632 right_pitch=-0.0451 right_roll=-0.0412 right_gripper=0.0403\nstate[joint_eff]: [0.1573, -4.7111, 3.2615, 1.9267, 0.0073, 0.0513, 1.1502, -0.1026, -8.4991, 5.9419, 1.4628, 0.1392, 0.1294, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeeb732e7976c10c67452dd24e7ce2b505c7d7106bada587fcf9982fe9244810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b00ffff86c8975bfc044341274c1bc85c6bde9162b636f5b55015dc85b3bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a9bb417e982feed919af905b2ee4701999ff5e7b8f3315517d9a9973b98bd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkK3Qy7A-fGhrVVTxjZ1XSW4hQpyuR6stQP-ngVaVx-NM23dVJFsTUZ9SbYL-RXt6kVWenH6wxmpzgsbpfXqSpGpEonUZM1mGyTfgrMmRQeCktjeG8Z4fcZ6jHyW5OLusVHG2n2I7URRxgiixiKnZYXpvgMkzq7cS2kBzi0ytyoObCnP9ngvqyYRN0Av7PJENcn_cXR9csqvbMxc2BIVSK3pdF8M7VxykvCAkRX0FyT7mugYOu8qhieHUNKjiq-kMrzdUTe2F_Q5z8_IAH0GyvhmkXkvrQGS5_22OCWojEXR-lzUDbkqj25RC7KoDLY3ugu4ChCXFJmj89xA-eYghC4Z_sTQJsZa75Hw9ayBtvbjS4a0novtUuJAvZYXf02aCjRLrpXyufukpM94NiOgntl8Gej0Kc3RWxw1jNSXMMV5X7tLIRKpGRYUkkkc1sqOk8S-dhHj1B5SVKPhqZVAiBAj5GUkbLmOjFGQirNbW70YH0XuFJkmytz_nv89VRf4TvyVt0lpwbfBvjos-GhPCUrB_AeTNi25qqCekfSyXjlz5moZn8x80iRthKTtz4BQtKTHFBluW1Y59c5jWWdpEpklJseu_ONjjOBihx9jzsqaozzhqQbS55W3VE3yfRTjrjZ6KtgQ3J5JK6tQyBTyoo3r1C0py3WPDeFGpmKqvCk1T7YuXhalRCO4C_dGAj_W31snVSNCCttSsD5sKFSrNMMJEM7UBeoMO719lbzAtSLaP_fnjxZtuQ_iKvMr80AW7tbhMs9yy1KKO9SyYLXMUMsWRxeivc5rts_Saqeac8IwitOu9kWIcOdQXbS0Hu6tW4Nv0SN73TG7Y1jjW2KUrssLfO41FObn4Iy2FkURetP82yOwxaQrSLix4jo5JOljqG1gIa3gZeHU2ixAeg4j8YyQMZ84EAJz1ip3vcbvn2_FSDMkrHi0ReLQmLoRo2ue-C6iEYJm4dDaxV8zP0DogH6ijcfn3BE_SLfvKCAj1kz6GKbiMn1EfjQSiHApW8sUNnApnZ_RKxDj0TSv8wDk3gRQna3-qJnr1QSPo-kW-zFV9k4h1bSW5U6Z42LV7bS-BQRRkA6oWcPGntAHtIsd1kso3PgeGgIEJJznkP0a7V1WpdovxF4BbJ_KzZhXVOwaYpgAK-3omeZMCGgdY85YtId9w8YJbVkOy_8erA7aFNaMPDf0pO4P7ON8DFariH-ETYhiV3YEB8VveuoNFu5xK06cYlKhgUSf3ISjIygzeUqsUaAnzHJ4Zx4TIyE1fFCeuzaV5ZjJr07k-ga6VACNT7EZDO8QSsUT791amJguGEchnld-GcevJPcstM0FV7lmKb-wOgMTPokmfASXQOngOnqghou-stQuGEtFBBohRKuaLOpbo0-m8SqO_18ZEQ6-FqJCFLoEjTnikL5Q-o27oskMti2dDx3Gkz1A7YNKK8lxsRCxxc5Geo0DG3ewKQ2sbROFkEkERJXqrwJUW5yRWx0iL5gzxJv7kS87dQnScnN7IopydJ6if5KPjV_hj1DnzioKTj5g9EYm5w8FWXJrIe04Dej8ITN_lkEe_PwLIW3wijSgkn9FG2ShtwYtS5qd5rce2dJDgucEm3vpdSDxsP6R0LsqwILtt9ylndalh_vQX6hqIGiEGkjQLxMM1WA2F1BoYm-8A1mzF1-re0rUG8o-xmDzcac4TDGkcjcrLNBXMCeYU-WX_BK_eOKhfA7v6UV4dUBtVrEByqxuChjKkH36R6YbC8VJDO0Fc9yaVtDDIl_VxifHTBq-GnfvTnZZ44r",
  "id": "rs_0dff2e48894f6988016ab4790735c487d0918f77aa3ba2cb8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.09,\"right_z\":0.11,\"left_x\":0.265,\"left_y\":-0.12,\"left_z\":0.13,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"The white plush was not secured, so I’m clearing it rather than repeating that grasp. I’ll check whether the right gripper can draw the basket inward while the left arm approaches the yellow slender object.\"}",
  "call_id": "call_j4cIRmc7bBRz7jHRV1bXU60m",
  "id": "fc_0dff2e48894f6988016ab47909621c87d0bed1a81a5332d5fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j4cIRmc7bBRz7jHRV1bXU60m",
  "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]: [-0.8005, 0.9508, 0.4446, -0.1436, -0.6037, -0.366, 0.9953, 0.2359, 1.7313, 0.9142, 0.1406, 0.1482, 0.028, 0.0418]\nstate[eef_state]: left_x=0.2707 left_y=-0.1298 left_z=0.1303 left_yaw=-0.1219 left_pitch=0.0388 left_roll=0.0468 left_gripper=0.9953 right_x=0.457 right_y=0.0867 right_z=0.0819 right_yaw=0.0866 right_pitch=-0.0997 right_roll=-0.0607 right_gripper=0.0418\nstate[joint_eff]: [-0.1026, -1.7436, 8.1299, 1.3309, -0.3541, 0.0562, -0.0611, 0.2393, -11.3709, 8.8274, 1.6581, 0.1099, 0.2515, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143f43706957da3df64b1d750c094db417f1460a3742fc0f202d85fba3889e7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7d10363e6882a7e40c0f283f7bfdd9eefeb6c873718ecc43f1ebe9ad017a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1f0b664f1fa4b3048ccdfc54045338dc507677a81dd79e79b6d75951f35a9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1287, 0.6926, 0.0315, 0.1703, 0.1089, 0.0971, 0.013, 0.1043, 1.6924, 0.8764, 0.0902, 0.1024, -0.0078, 0.0196]\nstate[eef_state]: left_x=0.2637 left_y=0.0184 left_z=0.0619 left_yaw=-0.0287 left_pitch=0.0727 left_roll=0.046 left_gripper=0.013 right_x=0.4466 right_y=0.0322 right_z=0.0737 right_yaw=0.0125 right_pitch=-0.1533 right_roll=-0.0648 right_gripper=0.0196\nstate[joint_eff]: [-0.1709, 0.212, 6.9949, 1.3846, -0.0171, -0.0269, 1.1306, -0.1299, -9.2376, 7.2684, 1.3211, 0.1245, 0.0073, 0.9353]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.1005, 1.6829, 0.017, 1.2633, -0.0792, 0.038, 0.013, -0.0078, 1.7561, 0.8181, 0.3237, -0.0372, -0.0898, 0.0403]\nstate[eef_state]: left_x=0.3129 left_y=-0.0139 left_z=0.0285 left_yaw=-0.0664 left_pitch=0.1576 left_roll=0.0793 left_gripper=0.013 right_x=0.4636 right_y=0.0065 right_z=0.0674 right_yaw=0.0632 right_pitch=-0.0451 right_roll=-0.0412 right_gripper=0.0403\nstate[joint_eff]: [0.1573, -4.7111, 3.2615, 1.9267, 0.0073, 0.0513, 1.1502, -0.1026, -8.4991, 5.9419, 1.4628, 0.1392, 0.1294, 1.0085]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8005, 0.9508, 0.4446, -0.1436, -0.6037, -0.366, 0.9953, 0.2359, 1.7313, 0.9142, 0.1406, 0.1482, 0.028, 0.0418]\nstate[eef_state]: left_x=0.2707 left_y=-0.1298 left_z=0.1303 left_yaw=-0.1219 left_pitch=0.0388 left_roll=0.0468 left_gripper=0.9953 right_x=0.457 right_y=0.0867 right_z=0.0819 right_yaw=0.0866 right_pitch=-0.0997 right_roll=-0.0607 right_gripper=0.0418\nstate[joint_eff]: [-0.1026, -1.7436, 8.1299, 1.3309, -0.3541, 0.0562, -0.0611, 0.2393, -11.3709, 8.8274, 1.6581, 0.1099, 0.2515, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143f43706957da3df64b1d750c094db417f1460a3742fc0f202d85fba3889e7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7d10363e6882a7e40c0f283f7bfdd9eefeb6c873718ecc43f1ebe9ad017a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1f0b664f1fa4b3048ccdfc54045338dc507677a81dd79e79b6d75951f35a9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkUQeT7HDrfs8TdtwBdTC1BPG2PahdB76GtsizbPt863hR_P9ou2AuX4Z0Vj-kyk4WRXRln0gGm_svsc_jgyPzqVVnAZMo1z9oNd5hCDM2oDpCGbg1Yo4MWmPTcyWsG8yfN7raGumUeeO2br-srmSpTfQpxu69U1NcU9ToXcvFVulcZHILfWPGCyipulRIjjVfgQmrsTWR4jdNI_FUwrYL8EV-0mCZSiDCo-dY283M5WikBteF3Ap7tTcL6yXIjvurZw8BNlWms7YU0uXymzud8XUdX1lk_Kg3oGVhxWpozhTkEB68HBgoqU4-l-7g3-5JB7UJfubyCsLZj2DAc3UnhPsLf3Q5x15imepV8EkU-hW4FCwSRXI4-CZbySqE1S6XZons37d9eDCaaogvfjhJ1WUgRg7RY2JM2qKYQ0jjKiSsfwD5OZvDeqQjER-yoK5wGHTDnBWOFubXHLmpNIhi1yPByFR3K8d_LJL4TzfpB-e_G0ckhkig21YcWKYIKs-1Wwhqxp8CkJ9XbnH6uy5GWhp3CzWKQWQFUTaRtRkEtSCqFfI2gtxylc62TiG1C4pqAGXRbH6-NVpcUtVvZ7t1PVkUdIr6ONKEptdLWRCbFUitAuUv0KE9e0-KaMlKWza1wK0nA4ijo5MPqSJk0ldGtK9ETib5YtbZ4gFFG-BJb_d-HC09D8pxsRbtCBmeYdrIknLFiuD4S0kUzAZk3Iyvw0LBE9I8_zM31xKaVYasP5onZL1IzRvrjmG9RWuX2ceWthQQ3angmJGSQIscesiCYe-03lYy_2UXrjiCxj21nLdz4_CbUGDjdQ0yysYa51e8aJG5vkpIHfU1NR5diTiIavr7U_Jrj_nc7Wnw_FVpZEL482_hRZYPiBXXvgBzzcRUD_eDVQp6zCjrl6gNkTsH_FoWhyyYun2SxWsGuH6RxnAqtMXaP73c45bVy_Bp0ZYYnuMEB6u2yMyYthikrwUVzkfg6obInvXbeor5jRRubfY2LM3Ua6gTymNfMyky2N2LglWgD9vOsrWQ22QaxuVIl2NOn-_Mxna4HrCoDv5r3wa6Fdo9F-r2PbeVpeM1DDPDeBKBtNLQKw3BIM1kHlRAuAoF-rpU8-NuOw4Lxq4N8O8oEeVN3M5NcBUK7bM_Wx9J6GssafdyGP17C8aKwoFbo2siGTjAPhEVN4xzAQukZSxfpmZWqfmOJAxCeIZ-Fe7EIJf6Kp4TmWTxcbstNGysYHz83zP60eg0bVJGIGwCMRsNfL2yhxGlg4i-NPEHlk7js8CAbEGlXVlff_QjT5y8JQEwY-l0PhOB_bme7h5gT2fUmHcUeJZDuxQ0LX-LDRSm-Gjk6ZsK-qE1Lkm6MgjieK2kgvq_JOeI-UC7gNzuo08Ldgi-UyWAvzdp5RHiJiLm3-ZmzPEgCskNrHTCkTwozAFmkpY3_0rOCDvAcdAqBivKzdnN1SiMeB9yEg_OUwPEtm0aSDrY8IZI9MAa-jUScYw9l3LCz_Gp26xjX_civD5zMBp6z-YTl1AMBhSFNR1t_k9rMTd_V2vQDLp2TGtQBsDAoIon0jQzphyc0niiIOVg_CCxOu8rUuGh6FxuSA_T--efeMIdWJ4cf5G_AboClfcxxXsMiqFhVWuKuOa6gfh9dpb3mngJ5Z_m-2mu7YG0WLG1sSqgLAy9G_bRO2J9cuE2F5VWeQqv6ThPM9AI32WFms9lI_tf0C4OuhThf5JHw__dIlQ9gnRh7fSpbRixlD3sExHV59L3eJ4EpDL4WOGViTdqLqm4aWBYfDjRsjlvd6P_YOjZOKPAzH8g0VlaoQPHcyd5tvqXu-Cd2I0HJ1As7Omz9eQmvX8THKiJyLPbuWQ3EtXS1K_3TjW28EU6FjJ6fhHbuFK4Aad8-QHQ-9OvM8e_OpCKYUj7olpmxj-Z7UwI0PWVl24uqNAlECKVy6UXQbg0L71A22vkfvld4icUTE154gzqbglTABTQWWBSOmDtXHtiKv_OIW5xerBMoKiiHnWlaML-HkUZU4TjagExFvWHlKjnrqi-uiiu-EWANq33F43vjl_09IxJgH5YNE6qFp0tPkzCwGeRchw4sOIrWKHblxDoIXA02wBP42Z5z91D8Zz9tGzH6-7ih3gfAzG317-pU_OdmI-bEeeGm_izoz8wuUBk996fWP_5egGZPDqrI3V12mD5SPP9EGtW3MK174Pl6sOKuoS9oZRMt6zvhy-eStDHp0P_Vzo9GJUO8flixfImEOkFNPPgEkjBlXZp1MDO1hT4CJf0Kz3Z0SqAlWC5hLg9poPcMjUtK4f8gMyzmt9Pzf6fIE4vY9rZb6jzdwvGUWIjSuJxerjeny0rzCOKz4V5t2t0MXWXP6b2vX1hxGQBh1yPimEF34g14UdyuQmSm7ZWeZ01zbsn5zR9_l04by6jvKQCZPSBORXnfk4CaO5Z_trhEZK7D2bWlg5AZ1R6GmqHZI0RpXfDZnnt2LRUAmI-3VF6RFuDO7tVmvWC4vN33YalPIuJfOMWQAFW8Xz9rRZ8Gl5bj3mbMGhtp6KWc1IOIzcziT3d_SmrbIIjV6pNpOygqAaIdFafbAtsz2rSyPv0h6cKGxRhF5hiLqcFnbkEtFz7BgprbAjXHHNTN6nY-_Oiv_jGHdOPHtvOvhI7oRSnZNgF9rEpiZ8nIqXABngO4X7AUGHA5FRZUu7In3lYQyCGbVjlgzMtTQXFuHJXCEQhNNNE7shcwY8SfC7UGeXe2SlJ8kTY1R4BchyH3UekBZY0-YGb2VmOoq0jlnteyZ3IYN1qieOXTgTPwef9-8wKjW-0YaR7LY0yY7LmrSVP3ygWkAENMNmLapat7sY5hndwdwcEtzITauboYay_uk3n5P0-PspTol4VwM2r2y91PaXTiOtJVrf218stHK1r1yVNRt-59lprYyfu5byUv8Q7GyK5uZncHShdHiFQAtGaibGkAkZMP76O9tAXhbUVKU5ZASrq7yi5nzZ1m_CTOmS6o-XSgmk95vyh57w7nmMvmsdh3t5mTZsoVnQ==",
  "id": "rs_0dff2e48894f6988016ab4790d120887d08551d7ee958157c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.19,\"right_z\":0.07,\"left_x\":0.315,\"left_y\":-0.1,\"left_z\":0},\"note\":\"The right basket moved with the rim grasp. I’m drawing it farther toward the center so either arm can place toys into it, while lowering the left jaws onto the yellow object.\"}",
  "call_id": "call_GJNI4NxXQo7vMH0EzagnRBDD",
  "id": "fc_0dff2e48894f6988016ab47912cc0087d09297e6651ed29bcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GJNI4NxXQo7vMH0EzagnRBDD",
  "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]: [-0.5259, 1.6901, 0.1997, 0.9588, -0.379, -0.2459, 0.9967, 0.4946, 1.8675, 1.0454, 0.1081, 0.3393, 0.1722, 0.0445]\nstate[eef_state]: left_x=0.3226 left_y=-0.1075 left_z=0.0162 left_yaw=-0.0894 left_pitch=0.0709 left_roll=-0.0166 left_gripper=0.9967 right_x=0.4547 right_y=0.1825 right_z=0.071 right_yaw=0.1076 right_pitch=-0.0981 right_roll=-0.0754 right_gripper=0.0445\nstate[joint_eff]: [0.5128, -4.1231, 1.4017, 0.4615, -0.5153, 0.6569, 0.1294, 0.5538, -7.7333, 8.253, 1.4335, 0.0904, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ad31aa7a7b5b9967a4d73f45f46794a8dac7f93a4c374cfbee599828b41f75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4789488b4196f18dd6d656ca65a4ceec809ad7454fd7e9c6e8104a4aa86844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d356dbc4ffc0b045a01871246fcea925fc56b5c392f6031e4c19b00c2246af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0963, 1.676, 0.0254, 1.2694, -0.0711, 0.0444, 0.9951, -0.0067, 1.7535, 0.8192, 0.2993, -0.0242, -0.0841, 0.9937]\nstate[eef_state]: left_x=0.3169 left_y=-0.0144 left_z=0.0341 left_yaw=-0.0725 left_pitch=0.1786 left_roll=0.0817 left_gripper=0.9951 right_x=0.4606 right_y=0.0048 right_z=0.0641 right_yaw=0.0504 right_pitch=-0.0661 right_roll=-0.0429 right_gripper=0.9937\nstate[joint_eff]: [0.4855, -4.0684, 0.7043, 0.9353, -0.0269, -0.4664, -0.0366, -1.7026, -4.9299, 4.3419, 1.1453, 0.4322, -0.1197, -0.3004]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.8005, 0.9508, 0.4446, -0.1436, -0.6037, -0.366, 0.9953, 0.2359, 1.7313, 0.9142, 0.1406, 0.1482, 0.028, 0.0418]\nstate[eef_state]: left_x=0.2707 left_y=-0.1298 left_z=0.1303 left_yaw=-0.1219 left_pitch=0.0388 left_roll=0.0468 left_gripper=0.9953 right_x=0.457 right_y=0.0867 right_z=0.0819 right_yaw=0.0866 right_pitch=-0.0997 right_roll=-0.0607 right_gripper=0.0418\nstate[joint_eff]: [-0.1026, -1.7436, 8.1299, 1.3309, -0.3541, 0.0562, -0.0611, 0.2393, -11.3709, 8.8274, 1.6581, 0.1099, 0.2515, 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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5259, 1.6901, 0.1997, 0.9588, -0.379, -0.2459, 0.9967, 0.4946, 1.8675, 1.0454, 0.1081, 0.3393, 0.1722, 0.0445]\nstate[eef_state]: left_x=0.3226 left_y=-0.1075 left_z=0.0162 left_yaw=-0.0894 left_pitch=0.0709 left_roll=-0.0166 left_gripper=0.9967 right_x=0.4547 right_y=0.1825 right_z=0.071 right_yaw=0.1076 right_pitch=-0.0981 right_roll=-0.0754 right_gripper=0.0445\nstate[joint_eff]: [0.5128, -4.1231, 1.4017, 0.4615, -0.5153, 0.6569, 0.1294, 0.5538, -7.7333, 8.253, 1.4335, 0.0904, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ad31aa7a7b5b9967a4d73f45f46794a8dac7f93a4c374cfbee599828b41f75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4789488b4196f18dd6d656ca65a4ceec809ad7454fd7e9c6e8104a4aa86844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d356dbc4ffc0b045a01871246fcea925fc56b5c392f6031e4c19b00c2246af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkbNzg8o040NL7Yer5qh3a1CYU63JVSlCgcHZWO6CWZlCPjEhrB2yjC-V1_O7PQPq7m5ggUHwi9HjkUQ3nMifKG__oq9huyyLRYjenndpx4p8JIvUNfvuVqeGvlqq0tkBfw372q53hcnndu-x-djsgBaa45DOGIUCBdRhWj_orOWTBYyCjkmZcNms6twUO_Bl6JlOp-RjcurUHp6uCRU8Sm9wks1DofnzsHqP-LHEy7xCgvD5nAmL0FRl4-WW_iyyP1GLd97qJ0f44cbLspE-8gDh3IPx4f0eMFFUbHE2yYzip-4J-WXRTV9k1lv0HeGRbOhG3pmslN9T6aGZQAHIB8oC_bw-rHWpDGi9Jdxd5iOV-ieVaRGqCXRQ-LeGg-1MCmlm7WwSwIRBEnWlXWFL_bpAjiP3mY4N1isvt0NjZkjTf_5xXc3k5W6DKHRcGEJ0kWphqAnOUUwA9fk2jwY95DAAA_fKkVqdQBLebRxpNVrjxjfbXWC_sxn6ncvxqij_z6zs0m-sv61xGpGzx8OyIoofARxQ5Lwb87nLxILD1xl-TyZjN8wV-uWHvZyEioUPcxjNMT7CPgnjdOFQq5hzXVU-MOF8bI5NZxilEGtZ9mqo2oKTDZyJBym30uowEx6JGiRn0kwpO5dtABOU8wwBTXhLDa2Z0XrtJlnegHcJ7Wq_kngMPaj89WG_mGBssJN8Mw2gaGVBpU8kSRbmT0CqDBq9ApcsUMTkZAMXDriDNPAlARr4z2cW2ZEI_fktaieEl4wOsdUJtqqZ4FZMnTeTumQ5L8H3e2LkHfwUJQF4FDExkDeRCwAGgJ-5b3qthmHIvuizFKTVsT_TeWQJzT7LwjgosPtQse-sY3LB9MudBBKgm3RKWyT8_h3s7dRoh0xiPVr2iEG5qE7DxIdTne6CpgnwOub-ApInw1JUgH_mxlqc_HWeukwOzUK9RzApe2pJgm0mvPtH6rywaP_gKgpZQN8wlg_16ek37mjjOiB8AhlvvvbyB3pRrFScbEusnYbFR9btpDO7w4HD48ZC_zyjRifOlAfgmIwn28tNeSqQ4NX_K4OvLXVgkhLD_bog1eb7JLkFMeBNpAXmlVo7RqnvoOHDYA3ixkoZetuelLKFv-STQMsyk4ONooZiKVfJz02bOUYrTe8z0Us-7nO1qgP13LawbpB8m1UbrrSEzEg69Q6uJlT74LD3gwXNn0wGlBBEFAZIT5gxTmlA-BwW6zHLQrse__n8LgYgWdlcjJkrHrUDR4GCJf0vKXUu-FKwb8T_EbjkUF1sD-aoFDg1qOCQjDU5sM18gp50tEKsIm_NRd4lqPAVtes3PnFzRVGhVzyQvqUp9ofFyGDeF6qGeUyz9IPGHSQFZZ0QDwbCflU-10DNP12vLiFvAM0Iv6-UVu3tsolhPz_VGOY64MjRiywgek1-EY19-nuW21jPa4Nm9i4BgcA9lPh_yE1m7oWdRU7OE_PALEqHhG_1yL9W4B13r4d4T89KHwmBtQdEbhyqF49NPxwfF3UzM8G8_CK4u0ynIQehb8QmTnqkpCvBE7OXAhj8pY5xtboRjypIVGKdQbFt2KyXOnjGE1nEDsoP2DnRQVLS8IWV0Ly_TGAjCpFZhBhlHaEmvq96mXqEoSaE23dFTHwY8ZDfmg5P1SRYJ7XgfIpuDomz7kG5lFObR4LWfg4sSL_6BeJGV7zeahf1Ew2V-NsU7hei88euoLggYMmlh92UCWTtjd7ozCSjJtLaBt47a1MiCBoSCW9rTFKS4Ur8Uq2Y_8CmvZ0pPRhqwA61IdOE41eACwAwrJkFvsArzHPIC88LSHa_tngxCMKazn3kuUPsUc2xu_pxViOzVbgO6YidXGUiVZbimGy8D6MfMsUQOVCUXGvV495qMhDD52wD5Xy2ZXwh7_h2QwSVHXsTWPje9AKuifzKBfZfmO0jeVYL_rpRjtSFJLy6DH_FBibwHT7GaGFvvJGlXJrVrhzraIcdKpn0dD9ttSa2tRHCAGH0v-6RtNA74on8Aw8aHuezElQ2JPjoommETj9u7NUoU5ljsV02ZO4apPJwSCT9dW_b1AkLZmxqBCiVT_Qet_LRt9k1Hl8WscWa9eQGsaG4oJfNg0616bedP2M1LDlnXGmTM6tcLwCVFVe9z3ZR9f4f51jzfhviZtMzK0KOl_MY7-AOetoNnOFmmCuxKhxLyffpEvaNK0LEg0oEzKmQ9MT0Xw3kBi6tu4_NFDZQ3heSx0OqcH6Lwq20Msd1kBa06U-6VryEU1TSbXwUggvKsuyI5_AkFILFZk7CZbFqvokXyNHubeREgTqBTNkMbGj6GucZC4UoEYkysYGHXXDxmCGae1YFeR0gY1PxANM_Es9UHW",
  "id": "rs_0dff2e48894f6988016ab47916463c87d0846b8293c3001492",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.3,\"left_y\":-0.07,\"left_z\":-0.01},\"note\":\"The toy basket is now nearer the center, so I’m releasing its rim. The yellow object is just left and slightly behind the left jaws; I’m making a small final alignment at table level.\"}",
  "call_id": "call_6BbyAe88AgowoyPgcHCJyiTm",
  "id": "fc_0dff2e48894f6988016ab4791a54ec87d0a3f4b103cdee8590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6BbyAe88AgowoyPgcHCJyiTm",
  "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]: [-0.4, 1.8992, 0.0704, 1.4475, -0.26, -0.2317, 0.9969, 0.4934, 1.8774, 1.0512, 0.1242, 0.3393, 0.1654, 0.9944]\nstate[eef_state]: left_x=0.3178 left_y=-0.0812 left_z=0.0203 left_yaw=-0.0645 left_pitch=0.1906 left_roll=-0.1096 left_gripper=0.9969 right_x=0.4582 right_y=0.1838 right_z=0.0715 right_yaw=0.1105 right_pitch=-0.0874 right_roll=-0.0764 right_gripper=0.9944\nstate[joint_eff]: [0.4581, -3.0564, -0.1026, 0.5153, -0.1929, 0.5348, -0.0073, 0.0342, -10.3179, 5.6547, 1.3211, 0.1392, 0.0904, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a56b337d7c79e91737bad7bd58ad3ea324d182f055a4a24bdc75373cbe66e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6d4b8b55fb045c59655b684db757bd1aaf0fe97b6cc04e4bc2102232344c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a55317baa27ead276e87170b17997b5b645b00eb76b11310489f8c99a674d52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1005, 1.6829, 0.017, 1.2633, -0.0792, 0.038, 0.013, -0.0078, 1.7561, 0.8181, 0.3237, -0.0372, -0.0898, 0.0403]\nstate[eef_state]: left_x=0.3129 left_y=-0.0139 left_z=0.0285 left_yaw=-0.0664 left_pitch=0.1576 left_roll=0.0793 left_gripper=0.013 right_x=0.4636 right_y=0.0065 right_z=0.0674 right_yaw=0.0632 right_pitch=-0.0451 right_roll=-0.0412 right_gripper=0.0403\nstate[joint_eff]: [0.1573, -4.7111, 3.2615, 1.9267, 0.0073, 0.0513, 1.1502, -0.1026, -8.4991, 5.9419, 1.4628, 0.1392, 0.1294, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.5259, 1.6901, 0.1997, 0.9588, -0.379, -0.2459, 0.9967, 0.4946, 1.8675, 1.0454, 0.1081, 0.3393, 0.1722, 0.0445]\nstate[eef_state]: left_x=0.3226 left_y=-0.1075 left_z=0.0162 left_yaw=-0.0894 left_pitch=0.0709 left_roll=-0.0166 left_gripper=0.9967 right_x=0.4547 right_y=0.1825 right_z=0.071 right_yaw=0.1076 right_pitch=-0.0981 right_roll=-0.0754 right_gripper=0.0445\nstate[joint_eff]: [0.5128, -4.1231, 1.4017, 0.4615, -0.5153, 0.6569, 0.1294, 0.5538, -7.7333, 8.253, 1.4335, 0.0904, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4, 1.8992, 0.0704, 1.4475, -0.26, -0.2317, 0.9969, 0.4934, 1.8774, 1.0512, 0.1242, 0.3393, 0.1654, 0.9944]\nstate[eef_state]: left_x=0.3178 left_y=-0.0812 left_z=0.0203 left_yaw=-0.0645 left_pitch=0.1906 left_roll=-0.1096 left_gripper=0.9969 right_x=0.4582 right_y=0.1838 right_z=0.0715 right_yaw=0.1105 right_pitch=-0.0874 right_roll=-0.0764 right_gripper=0.9944\nstate[joint_eff]: [0.4581, -3.0564, -0.1026, 0.5153, -0.1929, 0.5348, -0.0073, 0.0342, -10.3179, 5.6547, 1.3211, 0.1392, 0.0904, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a56b337d7c79e91737bad7bd58ad3ea324d182f055a4a24bdc75373cbe66e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6d4b8b55fb045c59655b684db757bd1aaf0fe97b6cc04e4bc2102232344c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a55317baa27ead276e87170b17997b5b645b00eb76b11310489f8c99a674d52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkktEzHjOsGsYbbEqcfURhu0B4kQ5kQZvtKBUrCmB6Vc1D-mrAbu9cOJPMT4PeCqJKaYp9Q4me6nEk50IN6e8DwhOuUm8OOgcouj4LyjlGAlf_QSXTdLX6LP1XdMMoY5_bR_CEwbixVKrnfpM6fHypaCSnOz5bE8SZpdZ5TDV4j0F7k_D8KbBE3n7gdNe3eovpANf3ubA8HgtpUOYmL672wN3Eep3E21x3joo3INC-XXRn9HOQMrUA7iiADWSveFVVQWwz5yHa6j-Sy0ceZN76NRBm8Zdk9UcecbIGxlYcJFGHefvHrDqAkk5HNPo34niRNCvBUNoVqsU8HufKrROHm9D5FKbgCRYpzqY4PYDiIpR3VhRNKK-ZTqrH4igq1TSg83Hsz9jTgCWoy0PCZOG1azpB4N9qSmSGc4r7B3NOsups1DnxDE2GHwOjIE2ds7IeNOXSmSR9Zdc3h4tqjMoJkv3Ix7FZVRAOn2xSGn1HEPwAL7_cvMrlXS55OpEJ5fwE9G-hc5pTMquL_qFj2GDx6U6wF7efonWbP_3PAJs22pzxeOOtNgZXLQIQ2Ph4479dQU1c7O1RzECDxWnpHqPfA0AYAMUOS-VU48WdAsDaUB0h5FzMX6G6sthko29bF6Jf7RcNsNRRmYLTXOwzPkU3USTzWKe4PIGTkUtaQ-P27wyZMgTUIeaTUd6lnrETY7qKZ_RwaySS80HICHDeTBU_clypzQIZKgFCr-uTodCS6PimO7v1K-ndjzXkkvGOqH1ZvdktXW4rdce9TZEFm8l6LiJUm1dSERoyso-oBg1HAUlENDnRcufnHPg7VyF57mmyjwtAfYHcGwVr80_vjQzdO1gURZcJYcVQ1_JMFuGZKn9qAMjv0DAd_Dcl7zR2vXm69wVqnU6BHBa20y9kYAGnEtb8TmEOUK3sHxQtMU-em48HNOAtyNIcLviY_H1hSkImM745dQE91gDhXebasYjoMtbZwrJwRk42Qd4BAQ7DylHQxEBo1uHK-N5SmzM-0Ilz-uHP2bdaOQB4PSnePxbOGgzFr0xeOHQe7HEcN6r34BbtA2BVYP7Rs_CcpG8MIyuzv8-hcB-B5uEKRcolNzPLEH5gY_SYVvBKxw1zj2aJjdUBKEDWbGo4UsBsVrfdMwD4_yBYGjvCif0HCJcvKczjekvJJk-WXc_drWqNyP4BkLdpc4_eyOun17Yq-jrMoRkeeiFiVOzHbL6QVVWcRapDI3enxUUG29-t0RNqIkdAhaE6mNJEDKs_4w4OP05bAFRmyOjyhS0dr_2a46jN0h_tZ_Te5hgApLruLKyg_4Hcso6b4tURm3CxTGVHeNfIJNM6LftQYLmHb9Ad_Ex5_owZgiw2VaABM9d-aYbD9gRx48jUiFPVWLCWB3hs9UIo_MfICfRRhorHi6qjZP2Oj8AsWpRUS5D3fSmC00_KkNQl3rumZGHlMzUU5ogqINE6ndLxEHMFBMhP-SYXeJ8k7Xc72fjWlVoEioC3Re476P1gWPk5KW3nTfVRfUKMOzt-ReMdyppIkz0hS3j-mcxXLU1SJbRMw3PKFiBkzGgT2plTdHKDzslcltxxd_4D43RSF47KJZfsMD-AdAw_Ujm7Y6jzLcSCYCDvq8SkflGwifew2Dqa5JfKJQPEIV71DigUBDTfCfMm3CAjR1PLykBD4vHqadlXY8lgAgQXDRUe4DizuxGuND6db3oKf0uFLv3t9oUPzYmc8njd-1CFtJWMJrY8YyMLWmymZVlCk0Wk2g3sTGoethATZ89zoW1vgEisOKxgQtP3K5amxONayU2g8Uukx0r09zMRovtpTA-CHYEs8x7LuY9yfsvJHFy_F_1CTnUVSH-Ft5HUzihNiVs59HBfbOM7zbmLJhku9iKa4Q9hQN0gMQY_LNGX2m9SFYYKZ4yFtN6Ayy2zUZT3MzrXk-yYNHH00hdOcaf14MQnyCl5ApjSvpme1ARNaBK_Xa4awKge91I7-3yRMP0Fqn1XiSAvvMoBsfnbJGIaLHa1cbTcFeg4_hHLO2jFMSIcKr01keLYtW3BcFl7qRNt9yfyC1tIMYe5Xz1Osk4STMlquzS6CLi8PhP_GOjK1yJcJf6jY_2wyQ_RwMoF89CD2S7Gbpitr2wcNqG4O0nwyeQZ_UNy2TAGlxL1eA_TpNi4rnGUVE7OcWKWEzpVZkXocqUnbN5T30y2LYT1aQsQFAKCCmnv2d8HYwCVUXruP6DXd79s5r37GW_QChVXmtU-jx74wt3QoIfR_c2SHbo2l5QP0tXmkukeuLc1q1nBNlhBswOxTf2AKQmbcIfWItYDDwx28Lo2z5GNmygt0CQb2tCRtHky2kLGUcV_eI8KYl5GJBUSVhKe7ER0tJVuLiFuUk4K7wSglDRS2-h9ljUmtOIyqS3CG9i8ntSkPTB8wkZ4eiC4oErB9oJ_WL8z46ddZcKxMV_6QnJWVRpCjPb2kDk1iipdDiHrOkkjWRJqgYWkHE3N8vn0eTNZ4QX4uc7PZkaHfXGBYSVql_FwbzSbwyikKG0ZSvOKYQyNdW-bryOcqCADha9cZmS5yYuH1q19gPMiI85XPo5iUQ63O2zD9coitOq46_tuLQuBFT6_wYLnv8NtFiAn9g96aut0VAJshu4YocuOk7NjoC7g39ZvfS--4oGSnS3LH0GR8mkOl8VSGT3mrA9nqSSujA_t62CqvCmdLRPcfJA==",
  "id": "rs_0dff2e48894f6988016ab4791dd42087d0973241fc34c60170",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.055,\"left_z\":-0.015,\"right_x\":0.28,\"right_y\":0.09,\"right_z\":0.15},\"note\":\"The yellow handle is still slightly left of the jaw center, and the left arm is not reaching the requested height. I’m adjusting outward to improve its low reach while moving the right arm clear of the basket toward the loose gray object.\"}",
  "call_id": "call_1XFNfEis8UvpblTtemuU9PSN",
  "id": "fc_0dff2e48894f6988016ab47923247487d0b932f8c761141b87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1XFNfEis8UvpblTtemuU9PSN",
  "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]: [-0.2428, 2.0518, 0.1322, 1.6123, -0.1017, -0.2279, 0.9969, 0.498, 0.9424, 0.6018, -0.3073, 0.3328, 0.1654, 0.9949]\nstate[eef_state]: left_x=0.3443 left_y=-0.0631 left_z=0.0212 left_yaw=-0.0427 left_pitch=0.2479 left_roll=-0.1787 left_gripper=0.9969 right_x=0.2937 right_y=0.0981 right_z=0.1574 right_yaw=0.1217 right_pitch=-0.0386 right_roll=-0.0525 right_gripper=0.9949\nstate[joint_eff]: [0.6359, -3.2889, 1.3333, 1.4579, -0.1245, 0.5299, -0.0171, 0.5949, -1.7436, 7.1316, 1.4774, 0.2808, 0.0513, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fbe3e2f0f7a9672316682e291c7c9ca517ea06463a1c42a3151ed47ce1e164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9a1c6134ab69c6fecb4cb14042dd1438314ce62f41f9d097be8c7c0f41c1487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6614ecf2cdd9a389123c8e5c8d4239d0eb1712e46a28c2a51f105f33ad849df1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8005, 0.9508, 0.4446, -0.1436, -0.6037, -0.366, 0.9953, 0.2359, 1.7313, 0.9142, 0.1406, 0.1482, 0.028, 0.0418]\nstate[eef_state]: left_x=0.2707 left_y=-0.1298 left_z=0.1303 left_yaw=-0.1219 left_pitch=0.0388 left_roll=0.0468 left_gripper=0.9953 right_x=0.457 right_y=0.0867 right_z=0.0819 right_yaw=0.0866 right_pitch=-0.0997 right_roll=-0.0607 right_gripper=0.0418\nstate[joint_eff]: [-0.1026, -1.7436, 8.1299, 1.3309, -0.3541, 0.0562, -0.0611, 0.2393, -11.3709, 8.8274, 1.6581, 0.1099, 0.2515, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4, 1.8992, 0.0704, 1.4475, -0.26, -0.2317, 0.9969, 0.4934, 1.8774, 1.0512, 0.1242, 0.3393, 0.1654, 0.9944]\nstate[eef_state]: left_x=0.3178 left_y=-0.0812 left_z=0.0203 left_yaw=-0.0645 left_pitch=0.1906 left_roll=-0.1096 left_gripper=0.9969 right_x=0.4582 right_y=0.1838 right_z=0.0715 right_yaw=0.1105 right_pitch=-0.0874 right_roll=-0.0764 right_gripper=0.9944\nstate[joint_eff]: [0.4581, -3.0564, -0.1026, 0.5153, -0.1929, 0.5348, -0.0073, 0.0342, -10.3179, 5.6547, 1.3211, 0.1392, 0.0904, -0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2428, 2.0518, 0.1322, 1.6123, -0.1017, -0.2279, 0.9969, 0.498, 0.9424, 0.6018, -0.3073, 0.3328, 0.1654, 0.9949]\nstate[eef_state]: left_x=0.3443 left_y=-0.0631 left_z=0.0212 left_yaw=-0.0427 left_pitch=0.2479 left_roll=-0.1787 left_gripper=0.9969 right_x=0.2937 right_y=0.0981 right_z=0.1574 right_yaw=0.1217 right_pitch=-0.0386 right_roll=-0.0525 right_gripper=0.9949\nstate[joint_eff]: [0.6359, -3.2889, 1.3333, 1.4579, -0.1245, 0.5299, -0.0171, 0.5949, -1.7436, 7.1316, 1.4774, 0.2808, 0.0513, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fbe3e2f0f7a9672316682e291c7c9ca517ea06463a1c42a3151ed47ce1e164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9a1c6134ab69c6fecb4cb14042dd1438314ce62f41f9d097be8c7c0f41c1487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6614ecf2cdd9a389123c8e5c8d4239d0eb1712e46a28c2a51f105f33ad849df1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHkurSDIr_RtJBk1tNaw1zYp0bpPFVkTORna1pwug3wjuWU7H8t4aRKVlOgEahT2cHJWKM9KAIcBsOUwYEcV_eOsitljSGL2bacyLmPIjDmYjpk4rBhY6QpSoJU-IM68r1H5bBowGJ0lOGHja_9KUDmZjNIQhaXwIG3uHY2h3sdBC0WuUb8_3G1lH2DeKlSTsGdBhlekYdNmXEZpW21T33Oy3fYqFvqFBs3-OhRG7nbwIbBoEdMDGHHRJMT1n9pYM7uCHWPr58imsWDsj2HBaGb73H85LbI6pTMYFx6O5m8NW5w5kOUM0ogqYacg_TaIeabyFVK31bacn_VBeKLlMrRRwD4IQmZRV6jL02gy1bvKzaIs5Vuzw6viyxqBD-a4waMosmuxEO2TWavUJxq5cfecoXOIYEK9fACZq5qsrRV-ftGun6ag7TQvZs6ry8RLM3cUlZPKAuxVKOAHgEbGeQnEl1vazjL4KXAa0K2cpw-C1hfFfWw4-b5-4yli4nAYiuFLc5_aKaPZF2HcQmtsN40m9TH3CfXopGC-X7LfodFnnyzOhnEZtB9WEoazvwE_G0x-oLk1vhMdbMSYquGHQaboF2ArIQs-liwsobcS-p8xg2gcF5EB2VU-CNaDEtZjkC7XCw-s7E0DDBjYkB4tlFjzY-0d4cbu_0ZP9oYT1fZLgMNHVyEAMdB_IscJvd2IiOXFZrMOXbbPRa6O5LzzcPAdbotDWilf0bwkI7OrfjNiPOlQ2RtL0xh9nc74Ual1FD-0ZleemjON51Rf-ihM8D3K4cXZ68DXIPLaj8cUoAbYSX5AR2fC13rcyzk4N_nspVV6kVQRqLibhu9hWdGBybhe2B54wwOE4jmME2hAMiuz3fSXyDoD45NdGaj2DzcoanC5SSm7_BEv7Uo13CvoQ-Acbyt9TOdEY61M0ot3Fu-PUdPJt5HNoOnltc7F-dNdoXZNV3vNNOPhrbifxCB5wt8d-qDcvMEV_pY0YIOIFlNijx54Z1al3iYEtHWOlUI6wyNQLlPctQ4UanqcXLdlBnvalnPbc97Axs27i_SxPBewnMXpypSANxnEX4CDRKj6b5gQs_iVaWolX6FdOvlJCDGOanNdWQBjjGaoJoJ_LeUxnjEQmN78QVUVExk6aNTbBMtOoiDiqR03IFXizcRpDdtavNMgM55Gn5pqMTAoTtju7evY7Tql_YNlCfOpJ8FnyXK4IwqTtPgfnna-U_KR7RglU8ft15JkYkpjxkINDImJY0tBLT9PgtC0bJZEDY6RXOZq56-3rCz0IxlbgVgoXPn6Va_PetJ6u6baMJ0-dkSZiQL8pe0RF8GVdv5sQoRx8qG_5FZmpVJdWUciVXf5kKLCd0ywVH-5vZ882SEGmaMRZsXPDM6ojET83w8X7DmyroDiBFkKcxoJ5A3R0NLWfxFyI7n15nAs27F0CY9kHpUI5vx5evF0oLd6gVELzu6oUltM0ZbcJza5CruNRFi0vdgavfDU5uN2W74Ede3tUQ3n6EhNbSJA11EBvtYA7dIt8sZGnYQbIFOCwN9ZSZvE77M_DoMtk0necKS_0dF33iI5b8k0Qkvjx64wBH5czpp1OphCej_wO3YqU0uLm2sInob7O4MkzJF_tcV0ORTIK77Or6-SDumBPZ0ainS6zjRdWIEnN6Ud0t18lp4--q0rq2HS9Uonv8BvJkQPODaAIjFAcMjoydmJrYYDI0Ya03DAiL4BnMHzup5t-uL1JRhtT8ZV41xJX6jjff2ywXAo8MWUr-bo6ehR9Fzhp0nOor3EVUc68j-z2UE2PcqCOiRZmYuIxUBSf9EW8gleM9M_X_9vL_T0e-Q9jWhrXynB6g1XlEk03vsL73sC562Tw6poLrJ8OIkgF5FaNA44umTjXQ4XskA3o8QTFQAD4iYDW3cGEmtDS9-oASwVRDgSG5qoU-jYAUnedaSIcIutJyY2PHdQCfqyuC6bLzhMbJ-m058CS8UfDBcVzKbVSVenyhCx000wClo4AW1MTvLTgNbOrVfH9nA1XE7IdjEzr4sQUZPzfnq-kq1C0oIsRx0TRYE-bryClnTRVObrDIG2mlUyBVy1nZ4WcZLVzIZ2KfGsbgQy9mHCNZvR9zVXtTjZdSJMvpO9J1JxKNhSWZd1GqaI4bombm0i6YZrikaekbEtDbd1teQdWwAo1TOwrGM7cIMSSjn_E7khG73OiRhp4QPAopRwnSRZC1vetXKdZUcvCdX69Nmh55mCerPevzMNoWnim5hgMnSlBZVNxRxMig0Jg4iGSHq1yzcpI90aK6ofWkqtiWVV4TXCOfhvYT48XZzrAWUZUHIM9BXonxuAV9mcovsfa537zWhMoX4t4q9Cjca_zPepBhJb-0oU_6zSHscQuuMJ-NVAjcWL7kPZ_BmpizaTb0IhrlPg0LqTotU0ywfhvWadwyapkF5T61Tcq38ydCmBoP26Jl2oM616d85eKGlzXeJCWM_OPixMAO8RGCHiL8Iuvw2Ts-5Lf4lzCnbtD-sFpzwPx-6MVoiTxU6oyojHj010trJu1eHy-qIJ0USkWPt7FGtJCac_tCMtVy_BOmAOiJEfmT4IF1PU0qP9ZvC9lMkm_8qILumcNxCeoZbVW2VmbAr6-XQxkNJlZNKr7Kye2C7BQ0BKAQpDQUBV7WH1xpcmTevqboBbI5nFJmgU34HvxuLzig9kSoOHa02uvawVVm0dXSmslh7Pn3zJ81QS43nwOGjkVkf2pYm-4F1dT752r6Bu2_8b2jNWf7TY18AaoXgR4mcQseU_gjp-Tq706NdQppBUNJ58k4ZIr9_tERWoAOpgZYHiZZREZAO6OcNhp4Z3uulj0xkkC8lIWzO8JvKKl_WF9iA6Uwz6O-Bo_Gh1NQBnZp3MH039YJ-6jdR0cQ==",
  "id": "rs_0dff2e48894f6988016ab479272ed087d0a0e994dbbc0061f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.095,\"left_z\":0.005,\"left_pitch\":-0.5,\"right_x\":0.23,\"right_y\":0.075,\"right_z\":0.005,\"right_pitch\":-0.5},\"note\":\"The slender objects lie closer to the bases than my last targets. I’m moving both grippers back and tilting them toward the bases to reach the yellow and gray objects without pressing on the baskets.\"}",
  "call_id": "call_BrSZ9B4RHeWla4rzejKPxHAF",
  "id": "fc_0dff2e48894f6988016ab4792c978487d084148df64767267d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BrSZ9B4RHeWla4rzejKPxHAF",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4492, 1.2621, 0.3874, -0.141, -0.1295, -0.5091, 0.9969, 0.4385, 1.1103, 0.4393, -0.1406, 0.2157, 0.1581, 0.9949]\nstate[eef_state]: left_x=0.2566 left_y=-0.0944 left_z=0.0057 left_yaw=-0.0432 left_pitch=-0.4534 left_roll=-0.1762 left_gripper=0.9969 right_x=0.2852 right_y=0.0959 right_z=0.0673 right_yaw=0.1565 right_pitch=-0.2187 right_roll=-0.0368 right_gripper=0.9949\nstate[joint_eff]: [-0.294, -3.5624, 7.3778, 1.1013, 0.0171, -0.0855, -0.022, -1.306, 0.6496, 0.841, -0.4274, -0.3785, 0.569, -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,$blob:4e5fbba92a7850e227fe3741612aa07b538ac67317fb58ede74e96e76dff1b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4ba397eefc70995f5df299d5d07765c6ba72057ccac2a25a0d7f7f702f6ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33c7f18b4e48e2e9275dc43c34c80a9bc2764c57e6af4e0e09af7bded51527f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5259, 1.6901, 0.1997, 0.9588, -0.379, -0.2459, 0.9967, 0.4946, 1.8675, 1.0454, 0.1081, 0.3393, 0.1722, 0.0445]\nstate[eef_state]: left_x=0.3226 left_y=-0.1075 left_z=0.0162 left_yaw=-0.0894 left_pitch=0.0709 left_roll=-0.0166 left_gripper=0.9967 right_x=0.4547 right_y=0.1825 right_z=0.071 right_yaw=0.1076 right_pitch=-0.0981 right_roll=-0.0754 right_gripper=0.0445\nstate[joint_eff]: [0.5128, -4.1231, 1.4017, 0.4615, -0.5153, 0.6569, 0.1294, 0.5538, -7.7333, 8.253, 1.4335, 0.0904, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2428, 2.0518, 0.1322, 1.6123, -0.1017, -0.2279, 0.9969, 0.498, 0.9424, 0.6018, -0.3073, 0.3328, 0.1654, 0.9949]\nstate[eef_state]: left_x=0.3443 left_y=-0.0631 left_z=0.0212 left_yaw=-0.0427 left_pitch=0.2479 left_roll=-0.1787 left_gripper=0.9969 right_x=0.2937 right_y=0.0981 right_z=0.1574 right_yaw=0.1217 right_pitch=-0.0386 right_roll=-0.0525 right_gripper=0.9949\nstate[joint_eff]: [0.6359, -3.2889, 1.3333, 1.4579, -0.1245, 0.5299, -0.0171, 0.5949, -1.7436, 7.1316, 1.4774, 0.2808, 0.0513, 0.0366]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4492, 1.2621, 0.3874, -0.141, -0.1295, -0.5091, 0.9969, 0.4385, 1.1103, 0.4393, -0.1406, 0.2157, 0.1581, 0.9949]\nstate[eef_state]: left_x=0.2566 left_y=-0.0944 left_z=0.0057 left_yaw=-0.0432 left_pitch=-0.4534 left_roll=-0.1762 left_gripper=0.9969 right_x=0.2852 right_y=0.0959 right_z=0.0673 right_yaw=0.1565 right_pitch=-0.2187 right_roll=-0.0368 right_gripper=0.9949\nstate[joint_eff]: [-0.294, -3.5624, 7.3778, 1.1013, 0.0171, -0.0855, -0.022, -1.306, 0.6496, 0.841, -0.4274, -0.3785, 0.569, -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,$blob:4e5fbba92a7850e227fe3741612aa07b538ac67317fb58ede74e96e76dff1b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4ba397eefc70995f5df299d5d07765c6ba72057ccac2a25a0d7f7f702f6ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33c7f18b4e48e2e9275dc43c34c80a9bc2764c57e6af4e0e09af7bded51527f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHk4-NtyPBN_taPRToykApXv65hYkO12iFZIVO-dnbPFuNewPQK-kU-eRlvsn5YZhkNTfweqiqAM9b0xMn9ynLJ2NknzUhQB0dGmBUwHrnZ5F4ZNYEOnNgR72MhYqMp7uQpenGZOBzbTPlJ9363ham7MzRB3gRBet4qJyQJSUQF44d_g9AxpSnITRH8sQzoCAxZJisIoPfOqnCKGHGGUXwerAgTnLfL-ptqTnL0-uLiCTwoJsM5u0i7jw597FAtN0kZyu4iqUXHXMWh49AjPBDyfGBe78d9r--8xt7qYf2l2X-nh-I8xyUEGB2pOsvV_aowG1bNe5Egcb2u-KhtFfD9DZMjfp_TtqVp1Hak9JsJUjxIIuyKC9vStaBVPA4D1RCw6hab5A-cbxoK2pxLTpfPuIwupPLaQgccN560dTHkJOgdafaCYgoOagVJ3tMyYUNm_zzl08ep-hSvAG0P6-oJ-p58yNwFamDQ5owTd-r_SstXwSkcEGEO1zd6bi3DPl86YEgeu5hQE-R5TIHzes0n34SEqcGOx2fSWUN_fCH_CkUEXG9RSXOmgc_STWJMpSIOIkCABP39RC2LUvc7kpoVYHmxgAzzbpgn4KdX6qpdBul0W04g8SXHxaqrGpS4DY4vGlSVIDU0uip2XJpDLN0owO7zsxbDFz1jReA7-J6wq3r5zKhesBjNFXxi1hIW7hjJI3m-TQfzCskwuUUhvtKhPf6a2PKipOa-CNi5D2wWTvZCvgh7yVsmAJd_Oqfbtyrb6NMs8jbCSCGDpkOvesFTNNsKGBfotdGzxFC6aNV2jH9QMRi7GlhdIsJAao9K-zR0mWBT20S_CyrhUVQms1u1oi5pfMkyEzAs2WTui73kdYdJNlHnhs1-yBJ7pM49Lc8GbIbGIblEtCgi42pOJLT8_tTfW3okfCeB7e9gDqeHmzo74mw1wNsY9d3dZcWKSxLqRPezPRQJys2hA025Jqv9rpwFwfGWzYCZ3PA6CRJ3VVqg7akLyqHnWqAXFF3XWV9iHGe54lm8Kjr7sh4rBrRKbB9R59hx4uPl9W-4qsi3jlzOVAQLf7HLUmdS48iCrrs6suNxWH7ygAV5NAERL-CGmFjOqZkQ-SnrBSewIZJdya4JaesJesV2mOAE4RYPs62QDbDlzdB6aQybrNupogEkgZ6__OL_9IHt2WDyngrP2nZ2jg2eMYf7-soCCHTBhx1vdIbuotTyCfCyvHpg93zuRx3y5e3w6qYaQruC1X3ienVJ2krmkBdIuqJ9r5UEV9w9ltjwDDuTb2Ud81ydO-roMcow-O4nyiKDTrg6ihamMtba7g-vfx_Jf_8U1RNwssEo65msCKrfGSCQDgGOnznmtjQlaLkcJYtl1Fo9lwQK4G4vLt5SFfeeH-KwK8ElmEEqE7wwvAf7H-8OMg14-dDNOGL2UKMFWnIfeUq1nUkxTb5FDZLUdsiydhTxfYSofIp17fA0dauYSXKOntzKbWDzJvuyEUU9Anlm0iVB6lFZQMkveur9v0AaNwZ7Dg-cww-Zbue8bhr0tqg_jprtGWk_ymqjHSqeObP1RXYXGmake2SRBGgO5z-BrTrO_kTn0w-12NRQSYcHH9RZd63laet-kuXfsVmmao2NQjI1uO-JZML70PxO7YNbkp02UfGr8fK3ZP8A2nqigeOplNgYg9QhsgpDGX5_TiZom329FQXqjF7ljUsjvQYmhq0jZjEJQ6oqCEuf-FoQ72ieaDZuX5jcfckxl87-Oi2BBTOf9DzXy5eIEFzdXqBSOP7WSgY7_fW3DfM8ysSKbfjmnljxXX0xSfLN6W_tAJsos-H7xO_4IFPwvQhMrK80yNQtY6V43uYeuImFVY-GnTQjMxrVp1hIH-e5XOsCfIGjq2ZzUMiV1uk9rI9t2b4EcsUjvW8eqwFBD86nDY2nmVrh4K9HSCbcSX1Ibrx5e0l6GtC1gqAD2m5cxifRVDIt7GBHE31b3Dnpszwn1rFuFACizf-IR91Z_4BW36dHNT7PO8ASFinLufyUKR2UK8TsmymflsYqbcQVT5sSzfiPw2KJtgJwo1hwfFvgo-HHDNfP3PniaovrVIx1msMgmotfDn8pXMFa64dpWjZe1ECn5guer7HWnkD_h3GXXRGKSTn9QTXWq4tmRgLn3dWizLNVsVNjfp2Iz2TgM9b9W0v_sHVSI04lxJrg0QQXHjzEuy6GtkZx4oacyHoyQtSBZjZI6wkFaNTGI1Tfb_jjFDc2xmBCicGEF7fhnpF9RTFF-xozs7V2lb5S1Vawbm-9NV62KSogNabndYl1jbfJ3XmDQcdFuyJ-fUWfkG_M6d1F3fMmQhrbERAlGMBEoF2ukY3Ea_sDsmQgp29dD_xz6m-QqcRJyen9owypxiapighHYhzDBDWbexuIKLW1dSCNhvFUg1g6YCCJgqMP4ZJsFM8XZy741MlGieekBKc41TGVApKOXLToIUtJg9OzyOkVrRW-zF1FtHVm9n2rZlwjA-8XROydB-MtX2A7KnY4oC296UgyupzNXYP8sT7X7QBOjdUVjhNcsTmF2jPtc8L-YNjDDSkJUQ8PW3a0Yb3Wj9EWqcVnm1gULkwiv-6tEfHplblJGxRBfM76y9LE9OPtUbuT8ow_LpGHE1z4xvR5m9reOaZHBjv38X83J6bSdAIvzWbGYy6-neQR0fn8umcZXtb6u1U2mzV6OgI0bFnmkKrO8f2PxZqfuW86I0MKXMCt2Jqc3JUCxlIZ6F5FXYfM6jEsWkGIFCC8-Gy9yUO1xs8QMPQ45JBMW_arsHqmjO44RH1RK6npGydzKE9YyeVsU0XHxc_5ksCDCVySeOU8jeyyd-J-dU0umoel9IM8MSeps-9hlG9cEEus-hGX7fRvwLJwwSwfyE08PAYyEv54_AtoqthHrwJ6nZM_84Bzwnz7al8KtaJwh4ZRKbkR8lq6GxMdJ7eJXYtiP74Q_fslgI6sDwt8UBK92P71dl5DeAgc9evs1jd43asR4_ZqztXuR4q-VMv0KezyUch1c-VWOFwM906af-qwQB_fqQq_QcGPsazFbQEPJDAL4MGHg",
  "id": "rs_0dff2e48894f6988016ab47931e7c487d0aad508ed69a7e4e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.055,\"right_z\":0.2,\"right_x\":0.29,\"right_pitch\":0},\"note\":\"The wrist view now clearly shows a yellow pen beside a plush keychain. I’m centering the left jaws on the pen and lifting the right arm away from contact with the shifted basket.\"}",
  "call_id": "call_luWkp1Vgi5QZijLIiuMSahP9",
  "id": "fc_0dff2e48894f6988016ab4793789c887d0921e4b8fd497c3bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_luWkp1Vgi5QZijLIiuMSahP9",
  "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]: [-0.2447, 1.2095, 0.3603, -0.1459, -0.0349, -0.3611, 0.9969, 0.4168, 1.1893, 0.5793, -0.3027, 0.1711, 0.1619, 0.9949]\nstate[eef_state]: left_x=0.2622 left_y=-0.0554 left_z=0.0079 left_yaw=-0.0155 left_pitch=-0.4456 left_roll=-0.1798 left_gripper=0.9969 right_x=0.2908 right_y=0.0997 right_z=0.0728 right_yaw=0.1634 right_pitch=-0.325 right_roll=-0.028 right_gripper=0.9949\nstate[joint_eff]: [0.2256, -4.2598, 4.506, 1.1306, 0.105, 0.1441, -0.0171, -0.3487, -3.4256, 7.5282, 0.7448, -0.0073, -0.0073, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66cd4694a45e74c0d2a2b02a8624f57011fcb920d3a52f1eddeac5771e23f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3aa701146172e6a1fb9ca0599b5fbf591466fb32186823496d420c316b6a943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019857e507afdb2a94888c1665f11c5058214e385674265bb3d5cfc61d646035",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4, 1.8992, 0.0704, 1.4475, -0.26, -0.2317, 0.9969, 0.4934, 1.8774, 1.0512, 0.1242, 0.3393, 0.1654, 0.9944]\nstate[eef_state]: left_x=0.3178 left_y=-0.0812 left_z=0.0203 left_yaw=-0.0645 left_pitch=0.1906 left_roll=-0.1096 left_gripper=0.9969 right_x=0.4582 right_y=0.1838 right_z=0.0715 right_yaw=0.1105 right_pitch=-0.0874 right_roll=-0.0764 right_gripper=0.9944\nstate[joint_eff]: [0.4581, -3.0564, -0.1026, 0.5153, -0.1929, 0.5348, -0.0073, 0.0342, -10.3179, 5.6547, 1.3211, 0.1392, 0.0904, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4492, 1.2621, 0.3874, -0.141, -0.1295, -0.5091, 0.9969, 0.4385, 1.1103, 0.4393, -0.1406, 0.2157, 0.1581, 0.9949]\nstate[eef_state]: left_x=0.2566 left_y=-0.0944 left_z=0.0057 left_yaw=-0.0432 left_pitch=-0.4534 left_roll=-0.1762 left_gripper=0.9969 right_x=0.2852 right_y=0.0959 right_z=0.0673 right_yaw=0.1565 right_pitch=-0.2187 right_roll=-0.0368 right_gripper=0.9949\nstate[joint_eff]: [-0.294, -3.5624, 7.3778, 1.1013, 0.0171, -0.0855, -0.022, -1.306, 0.6496, 0.841, -0.4274, -0.3785, 0.569, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2447, 1.2095, 0.3603, -0.1459, -0.0349, -0.3611, 0.9969, 0.4168, 1.1893, 0.5793, -0.3027, 0.1711, 0.1619, 0.9949]\nstate[eef_state]: left_x=0.2622 left_y=-0.0554 left_z=0.0079 left_yaw=-0.0155 left_pitch=-0.4456 left_roll=-0.1798 left_gripper=0.9969 right_x=0.2908 right_y=0.0997 right_z=0.0728 right_yaw=0.1634 right_pitch=-0.325 right_roll=-0.028 right_gripper=0.9949\nstate[joint_eff]: [0.2256, -4.2598, 4.506, 1.1306, 0.105, 0.1441, -0.0171, -0.3487, -3.4256, 7.5282, 0.7448, -0.0073, -0.0073, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66cd4694a45e74c0d2a2b02a8624f57011fcb920d3a52f1eddeac5771e23f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3aa701146172e6a1fb9ca0599b5fbf591466fb32186823496d420c316b6a943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019857e507afdb2a94888c1665f11c5058214e385674265bb3d5cfc61d646035",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHk-axSNH0iq4JP6OFh8rq0QbLyAV4VT03-1g_qJvtm3xWT11sn1HOg8Ku9mfh93kNI2KN0SGAqP7RRtKic1RuZkFOiHtlojubFN82kaCF8DFFo2LQ1deVhqpce8thVa1SPgQnppSzJuk7QYspn6uI_uNWe9juHm1sC_0HhGGOVCc_g0XwQZlLYqqEv5-ETXbCjhGzhHeVdkZOuMkcvpzKXtfZ8kpn7PLzSHjY2tz7o545noqkOd5xMELVxj2pCIWYKe087FJ1-1F4XAVkeY9orPaDNtknNWoaftWLEqqF3lUtTCRK6ck1rUVDlnCJxLrjK8J8Jf1eT0j2MzEFlSvhRQ0H-dk5kfFDuE7gPsZg4r8_TzdrNpqEJ9L61kqI-ttwX955sA3WwjCMFwFYLxcOgjOCApSfvHDy9FUZwrYxkD8C0xd48rlBYjkxN0qN26aI_bS5KmWJ6gACF9M18oJ5R7x6obUF2QtMtHroQ5fV5rzT6KcLZ2wJdLd4HL88Agy4u9-8x_D_sdjiaijZukgY7OwTDKS-Sn-WlSDQYB4XLOksQA6rA93cwjt0oL9DTQ9BYLkRSP7gKaECf78lcF1izNtEFYGgwUCeCxw1LEyLyvPY2VVtTLYvFj8Yw0vy7WiP4F9LC3F4AFlk7ZfwbQXEOREXJsjlU4VbzqoVVZFmtgq3LG36pK5fu74_dsIOieEsd9PNe_UdqCjDIBs3q6eUwhLY6aGZVO2i2KZ-EOsjGXULsqpO32dG7k5-IjpMiwSLOIZ1Rw5AWvqMuFJ4bXyrTtvGNKMq-BqpW2NO26QItXm18ETSiZZVhCuFq5SUubdbTheK6tMZY-JGQdgoDWlasyFrC954OUbuvSdHcG2B_vmhXxnOYrv51b2nebC8YzUHkXFNFa3d-q0RfrCa-ofBhcLGzMVE_bnhX0s-IfMv6mJzO_iBJvKWhEoS93GjrKc7HflWUiofQ2CUsZjEMPvc_jKW5VMpA1Wqz7qHreVTtHEfGcQ9rxWacvRfW-aYbxToPykglyn6KXevxaNJoPaboA4rTkdl9V8Ms0Lbpk2xlo9jRsp7zyX-ByBwsOwAeHtHRGAT-B6iecZagfbIqF0r4u_Y3ImgJb7qRJ43ethbgKlSQD2bYqTesDF45suKr8GZsF-0CWi2FuJnx_Wg8vK4DQ-Xy4MYZXdxmxoEgZTO5xqCYYAQZB--Q_w3hJFTr5IV8apeBEMETDLulTeDm4LGNYRuQVxbGicb02FtcpT3gQd_3vseCyNKSEmzPFN4CaVIqc_NWnJrWUoAJDCXRYntxJVgXIQ4HEp25hbLh4fIiuNhypzdthmncVNDEzgP6YY_9x0uO1uEq1GdLLXki5jEiLIjP9-Z0MVik8cCrCS2jq7eu2mTrKjvRIu1bBCbGQw7RWiyY2Q7nDFogIGk0I6MtrXLq8cjZHnJweLaEvwkZ5YseXxKjUuQIpmzo_8U9ibQNPmc0g9lOoiisMHUu7BCJ6d13-4hoTnAtfrnuIu0B3Dq2LytWi3GMJ4hsXz4Y-3kB6LLeaRpsuzw--nCPxHCvfkrvJZabW-jFCROaEYYm5n4t5IlYD6U1_RmNI_rs6LncSXRYecKyltqA0k4gp013poGFYEk9ZqxKsXoNuYCjOfMw256-ubMuwN2Gdw96lzXLpAsSgsM3_GPbMH065pbpRlXoN2WWR4s2wsBmbGeEO-s6kQY4zY3eF63duX_MvkCsa4P6YwY81DTxqcBpkSTxTsE96hCO2yS4m_CtVtIMIH7UkxtNig_ctZpFhgv70bH8VYalfHA3K_0F6HofVmnCWGnvXLs7rOI2Dzj6hqP2D1SzY3qNle00ltrWLtqp19oKek2JmsiwxDkGjV_Bq9Olku_9X42wLXAj8wS0Fi8JrF5Ap9C8L9PBZgM0-dpHTsn1AkYVg67yc6c7lloAAyZFXVkvyHBt60OL_Mci98EmuRZbaNC_YgtxNs87KecuuL6qV",
  "id": "rs_0dff2e48894f6988016ab4793a8ba887d09b0bee8f615b5913",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.03,\"left_gripper\":0,\"right_x\":0.24,\"right_z\":0.27,\"right_pitch\":-0.45},\"note\":\"The pen is still just left of the jaw center, so I’m making a final small correction and closing around it. The right arm did not clear the basket as commanded; I’m changing to a more folded, raised retreat pose.\"}",
  "call_id": "call_1i0bty0UapVJ6k2FgSgrOqLb",
  "id": "fc_0dff2e48894f6988016ab4793d2e3887d0837bc1f0f06518c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1i0bty0UapVJ6k2FgSgrOqLb",
  "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]: [-0.1032, 1.1847, 0.3576, -0.1211, 0.0307, -0.2565, 0.0123, 0.5034, 1.169, 1.4044, -1.224, 0.1818, 0.2371, 0.9949]\nstate[eef_state]: left_x=0.2728 left_y=-0.0301 left_z=0.0167 left_yaw=0.0014 left_pitch=-0.3989 left_roll=-0.1831 left_gripper=0.0123 right_x=0.2546 right_y=0.1079 right_z=0.2669 right_yaw=0.1893 right_pitch=-0.3948 right_roll=-0.0116 right_gripper=0.9949\nstate[joint_eff]: [0.335, -2.7556, 5.2991, 1.0818, 0.1441, 0.1197, 0.569, 0.4171, -2.6051, 7.5282, 0.696, 0.1392, 0.2027, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4957ee0f2b6d15463a8d06a4ad0a378a74c6036fa0dc89074997aaf7ccf1e617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927d9f2456b03843e0b095f91306629f0ea5e2011bb1022b8140291f933e94a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf06f849aaa4c3a0858afe143b5a75cace89a2fd8642aee708c7ee6d04e2bf3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2428, 2.0518, 0.1322, 1.6123, -0.1017, -0.2279, 0.9969, 0.498, 0.9424, 0.6018, -0.3073, 0.3328, 0.1654, 0.9949]\nstate[eef_state]: left_x=0.3443 left_y=-0.0631 left_z=0.0212 left_yaw=-0.0427 left_pitch=0.2479 left_roll=-0.1787 left_gripper=0.9969 right_x=0.2937 right_y=0.0981 right_z=0.1574 right_yaw=0.1217 right_pitch=-0.0386 right_roll=-0.0525 right_gripper=0.9949\nstate[joint_eff]: [0.6359, -3.2889, 1.3333, 1.4579, -0.1245, 0.5299, -0.0171, 0.5949, -1.7436, 7.1316, 1.4774, 0.2808, 0.0513, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2447, 1.2095, 0.3603, -0.1459, -0.0349, -0.3611, 0.9969, 0.4168, 1.1893, 0.5793, -0.3027, 0.1711, 0.1619, 0.9949]\nstate[eef_state]: left_x=0.2622 left_y=-0.0554 left_z=0.0079 left_yaw=-0.0155 left_pitch=-0.4456 left_roll=-0.1798 left_gripper=0.9969 right_x=0.2908 right_y=0.0997 right_z=0.0728 right_yaw=0.1634 right_pitch=-0.325 right_roll=-0.028 right_gripper=0.9949\nstate[joint_eff]: [0.2256, -4.2598, 4.506, 1.1306, 0.105, 0.1441, -0.0171, -0.3487, -3.4256, 7.5282, 0.7448, -0.0073, -0.0073, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.1032, 1.1847, 0.3576, -0.1211, 0.0307, -0.2565, 0.0123, 0.5034, 1.169, 1.4044, -1.224, 0.1818, 0.2371, 0.9949]\nstate[eef_state]: left_x=0.2728 left_y=-0.0301 left_z=0.0167 left_yaw=0.0014 left_pitch=-0.3989 left_roll=-0.1831 left_gripper=0.0123 right_x=0.2546 right_y=0.1079 right_z=0.2669 right_yaw=0.1893 right_pitch=-0.3948 right_roll=-0.0116 right_gripper=0.9949\nstate[joint_eff]: [0.335, -2.7556, 5.2991, 1.0818, 0.1441, 0.1197, 0.569, 0.4171, -2.6051, 7.5282, 0.696, 0.1392, 0.2027, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4957ee0f2b6d15463a8d06a4ad0a378a74c6036fa0dc89074997aaf7ccf1e617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927d9f2456b03843e0b095f91306629f0ea5e2011bb1022b8140291f933e94a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf06f849aaa4c3a0858afe143b5a75cace89a2fd8642aee708c7ee6d04e2bf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHlHuANNP4duhlwKOCQzDHC6XJhT2ZU1DN1Fx48ZsHxF0PJGjZgMS9O4eL2rIfmwHkftKl0RqSo_yme76E1TFmRKBmACr1BQF154u2cQ6F7oo5Iuocn2DFvY3XT-zoC_r867BFY6KRWq-WCD0x6wsVZu5prGKbM67vw-rct2ErZnIV2Q103GZU6lg2CSuQ-05yfIFlXpzZGD99yR91PeUQLRfER2HDR_xmeV7qROymwFSNs3AV9OUNwudhhjgjpPQdXa2PmC0RppT3j8IZaPIDe-PUutBJYEdKf7AbSkOsohxuQ7OXxwQMaZIzlfVG11EJ4x8N1CJ1NWhI8Dxzo1puboh4qk6u8RoRYQEeVeodeonJG3695WfG6QivUiXmBJDO05Mmy1o9LQFLyc0b8XVUvbUDjXTD1RynEpObb_XpUsdlwuEmJPVEh1F2MyF1g92WZni-dd3_5GS2rmASiBdJw-ajLEA9AqfDTKnMW7WXwlJ5uxjH0usdR-QpbJntvEEVOMyiHKPSqZntiBgNkVy08m6ujYuB2ItgdNf0aWbbx2ydggQXu8Oq7z2DIJAMRj52uIg8VOBgpvPBefTRaZlVKmXI0mPndY8i43zCjMlPaipPo_gOpHFhoxuu1Tq_Ee1DZ5d1QYsUnsXsHY9E8e4mTL3ZLoxGGGeEM9HjYu6IOIa1XyxiBL1_HTI3l93VDL3NupjA1VsaNJctfGdVTSA1j6TWtP3jJ2FRoKGQfJtQX9as_YMotD0plIO052mNWG3XuKXg2jF-aA0eWpO4N193vrdJPHa-My2tPHJdcwmVW20bpmbFEME0zAZv5dMXesdg9yB8AefYWS4KjldwDAbb9vJIWo3qlYidpIJkyoZjyUX1YYI1mCYXEVuHUFKMHHhvLuzqdlJ1oriA9rHjFuQ8PfkSq2rqSH4w_98CnMQ3nYl1UHcXMHwo1NxqkMZkRFeGBP0TKYkr8Y05R-VRbwLy9JL_PA4Bd4OzggTElVobMPlFjSOBc7qoaZtFJq0UkWELiNGMaaLl1YyBO9Xj6XTBxhuJYGrUhIy3iHEIlSrb5nvxE0ZdTHyTT0f-Tpy7pZOL9ROzlJef-nqev8JI6FIEMOkeTCdqCo2rwT1X8qHOQhxLsvreBGxOCK5z9ryaNcjodOsqh7eb4ogDk0VXawXYCXAid8GRqO4tCn-FnVW8i7Ao67SForWSmIP9y5BWAXVvjCZiRiKQZo4_oW77nfeWe1euhTxRJM7ZCfg5_g0LU8FxZzipaktuQJbRHePA6k9pGVa_KFcWtBFisyVuyFS95Y9yVBjBEH9aGe_uUvC2m7vOAQCB2N_G78asUo-MlWevDsXyVCf2sbkmcuWT9ePwcGnLjwRKd-WvY1H9hhktRZ46ZGTzmIzOB33ifNNXheXTopeSwUQPT2EKC6PTDDInKbx6Tn2Jw9DjjCrzwhHYVMN0f3CDyd8wjLZrXJdjbKFg_Rlmz8YWKGujHkK6jMUwQypyQpKWIuGkAPW2s3V4cJfxdHHv6E1il-VEd47modolIdchTkk-0dV6-ayd4IXt4MygAOmsLljD5EaiH_PhBlA6oW0Et8Aq33wV4BGpiLNLR3kPcqP5kTtKblj4hesPgvhXD9sLYjCn8HUnTE_KPS1daRP5TOpqgjgE7QkrUQUdizDJ34M1cRbD9DloIQuTa8jZ2IGtAtolJijClpuyA-kQjJbr0fBZNnIJay7pe05kJqMgIXRrnUAytrAKa9D2rsawy4iSutowSiKUejWbIyECYCuFsiFpS8sUN5yW_C5JflkW1C9PG4ewI5uv0xg3vb4dPSDlBMxbttObi6C9XS50BE-S_aNqc7FQs1lJ51SEabSwVgTZi0BV-FsnPdOy9UEsSU741p_6tfFYLEFOVhViRknyuUTmG0Q72nTVWoNsa13RyojVLHED4CqlnIakNns4xocstw0RohjMwC8CyaPCv-I5R_Wz8EmVsz8ZodyTAm_p0G_pXwuiNTl2Vpu2COksNmm_I71FofTdHDSc65qwyMGrsr94EGWcv4BvCrlLTZYIlesBh-034dTQ_eecdtvBOqKssBF7MA-LyNs383JQ0zwhbg-ax8uYjWj552G52VF5CW9UFX42FZLOsuLnRcpI-VKOtE9IA8SQzVNJgJe_BoYUVh5qTZFeKgMgUIA2VGo8f9TbSDFXi4JK8Et1ts1n3qdyag_MYqt60To7cV5QF7IBzQh04r-3gdDqQjrloitRNnv01btT3xVtTvQRnxT9YxZEmdQIvYMUtLzJB9Cjw=",
  "id": "rs_0dff2e48894f6988016ab47941c01c87d08638fc5e29f114ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.28,\"left_z\":-0.02,\"left_pitch\":-0.55,\"right_x\":0.295,\"right_y\":0.21,\"right_z\":0.085,\"right_yaw\":1.57,\"right_pitch\":0},\"note\":\"The pen close was empty, with the fingertips still above its thin shaft. I’m lowering for one retry; the right arm will approach the basket’s front rim to slide it forward and uncover the remaining pens.\"}",
  "call_id": "call_NhWf9fH3RswMdBm8yShx5ilO",
  "id": "fc_0dff2e48894f6988016ab47945afb087d08338a38d16b2c69f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NhWf9fH3RswMdBm8yShx5ilO",
  "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]: [-0.0929, 1.409, 0.4583, -0.0109, 0.0254, -0.247, 0.9972, 0.1959, 1.6901, 0.9245, -0.4725, -0.8764, -1.0847, 0.9949]\nstate[eef_state]: left_x=0.3084 left_y=-0.0296 left_z=0.0059 left_yaw=0.0118 left_pitch=-0.4108 left_roll=-0.1709 left_gripper=0.9972 right_x=0.2959 right_y=0.2008 right_z=0.0747 right_yaw=1.458 right_pitch=-0.0816 right_roll=0.0612 right_gripper=0.9949\nstate[joint_eff]: [0.3214, -1.4154, 4.3145, 0.4127, 0.232, -0.0855, -0.0317, -0.4444, -8.3624, 6.7077, 0.5201, -0.5641, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da996046ecb237cc084772cadeba55bae9a92d92d29287d2993e3d12fd23ed7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0930013c2a576f7659bca749417bc252cba8b9888adda6d1bc85b17db7931039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e7e1a2251f0c11a59474705aa936c4d4a2a3f85bb4b4c7deb25b5a91e581ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4492, 1.2621, 0.3874, -0.141, -0.1295, -0.5091, 0.9969, 0.4385, 1.1103, 0.4393, -0.1406, 0.2157, 0.1581, 0.9949]\nstate[eef_state]: left_x=0.2566 left_y=-0.0944 left_z=0.0057 left_yaw=-0.0432 left_pitch=-0.4534 left_roll=-0.1762 left_gripper=0.9969 right_x=0.2852 right_y=0.0959 right_z=0.0673 right_yaw=0.1565 right_pitch=-0.2187 right_roll=-0.0368 right_gripper=0.9949\nstate[joint_eff]: [-0.294, -3.5624, 7.3778, 1.1013, 0.0171, -0.0855, -0.022, -1.306, 0.6496, 0.841, -0.4274, -0.3785, 0.569, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.1032, 1.1847, 0.3576, -0.1211, 0.0307, -0.2565, 0.0123, 0.5034, 1.169, 1.4044, -1.224, 0.1818, 0.2371, 0.9949]\nstate[eef_state]: left_x=0.2728 left_y=-0.0301 left_z=0.0167 left_yaw=0.0014 left_pitch=-0.3989 left_roll=-0.1831 left_gripper=0.0123 right_x=0.2546 right_y=0.1079 right_z=0.2669 right_yaw=0.1893 right_pitch=-0.3948 right_roll=-0.0116 right_gripper=0.9949\nstate[joint_eff]: [0.335, -2.7556, 5.2991, 1.0818, 0.1441, 0.1197, 0.569, 0.4171, -2.6051, 7.5282, 0.696, 0.1392, 0.2027, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0929, 1.409, 0.4583, -0.0109, 0.0254, -0.247, 0.9972, 0.1959, 1.6901, 0.9245, -0.4725, -0.8764, -1.0847, 0.9949]\nstate[eef_state]: left_x=0.3084 left_y=-0.0296 left_z=0.0059 left_yaw=0.0118 left_pitch=-0.4108 left_roll=-0.1709 left_gripper=0.9972 right_x=0.2959 right_y=0.2008 right_z=0.0747 right_yaw=1.458 right_pitch=-0.0816 right_roll=0.0612 right_gripper=0.9949\nstate[joint_eff]: [0.3214, -1.4154, 4.3145, 0.4127, 0.232, -0.0855, -0.0317, -0.4444, -8.3624, 6.7077, 0.5201, -0.5641, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da996046ecb237cc084772cadeba55bae9a92d92d29287d2993e3d12fd23ed7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0930013c2a576f7659bca749417bc252cba8b9888adda6d1bc85b17db7931039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e7e1a2251f0c11a59474705aa936c4d4a2a3f85bb4b4c7deb25b5a91e581ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHlRlUnehvYm_K4poWaHFfdyZCevIa9kKuaO0Brj32TldvBVMuLKVt2Ote9p6ThR4QUz9WYeof8wOat_466EO_YFoOK3oyA7Gxjv2fC8FDNZNhbyBZRhfTC6efFj-OwtEOpEhLwToDl92lSi5HY888ZWzgiMeJsst-pl-wKpK4LdKAuZutAmTJYdIJquHsTE3_P5iMQLD3ka4Ou6RXTzJ1GIcYcuip3e8bjL0Ow4SU7x_4AIKNqcDx3DNpmoyHULNEt2wCsQIka6v3E6iZWfsPFOObgoxRFh3JmKrWB8SeA1y4LL3g1tWXN0JG42eBx_gUsD3sqhJcjlGOMqIusx3lv6F3nu2_chlY6oLWf6yPjUBEG033mVwcRfymmuNBQtPYIQsZhPGyofg8wlF6GJ2n8RA4vNDYggXXAHzo7cQq1j50EGW_qS6ZqgOt7d5v3Z3WgnwSqc2inOr6YWU0FjETSqyAtZTW2r0kZbjTgaRmKe2j1OGVHKkjoQgc_cgTmcyC1G53ut7zUwSkgU5LIoYNZH30lJOVcjkwxJkHD8ZMqJ_xSvQ39KoG1XRmQseooRbAhfXBYU23wM15D9uEa7fC2gaABcY_IMR7rV131KXLNAmEuilUxGLoTLzq0tfYi76ONvU1TEdrXFo23KyYgV8xywy0EZ_vL-nzEOrTIE_yfkx3Qk_CU9T0O2abLC4VAXW5V2tKk_obuMVbhoLEL_vBfR9ToQTBLVfLruyFdweweLaLu_ghbRvTVSafSPoC8oQ3knL1vO6RKLs6oAaHkQ_S_jYNbbn2gG5l6WmEyKhoNHr4lNNcxL-d9Kn-Rjf_CPeb7NIjPyIsiXwq0hlyOnWfak0Dupm3W-oqgnTBbWICy9Y8TCSNfhzhlLefhX33xYKHAzcsoESGruhbF-eCBub9DNV93Ys5mOWtx174IVHSXb5AP_yk-gHyzwXaM29_94Jq8SpXvvmyDrj7St5b0XVJ4XmJaVPlDcmVBDB0N9-PKDa9xNmFnHU8kk8l5iWx_J2pySPpsuJIH9hUMA5ehgAOA0nJa5IdeDABOQjsNWfE1mXNP5YJoAvHn7zUfkn-HtmFkKsUJQm58lNgmmSoeaHuNlSjvkcgr-IwkWdWkf_KsJErxUsSyP-_klpxLrpWIJeHYgrZVweAs-YmcG4wc6KM1zAkBZD1CAtwJ988vBHNBQltV_aw7T3iLIJ6I-Y0GmtDEkx7ZBl5TiLfAl1pvrYiDW2kl6RZcDxAVfEkPxl0FwaxUOTuuve0LSkBUZoFTvZ8WAhMYpxDQUWmk9aqPYG7G4BzMITA0stkBJDlKLd_I4hwMWdyOynSKIS7tbQrKHUlcyepNNgYbQo4NRhgEDdk1R4OTuWCMkbv4BIpIGfK5WH1WdPuEVj0DKKSsHt1sEzsJ9H6elKK7Jg1OiL-fG6yGRy7Df--T2R9wDR5zCvSg_HYJQQUmhAxdI8dr8rdhbIRyrXcfza432EydxkSikDPvBIOunLlq38fm--auAa8uTmMhKltgALXuhz1kvspbfXBHogmXynyYh3NrS_VxB0IHq1lmzcNDhjxCpo9iwWVCzcvC6LtpQHRFDq4KoRW7XKH4pJuM7kXLxg0QJOxlxF_mTRaICZSRrmLgz0ISoGqjr0F2ZSKhNoKNB6M98LtGA38Xffug0BI_6YMAaGQL8vl1RBC3rG-Gdm8RVjnpK4otstWG2ODXgrJRlAjT1ufOzGa53ukRNRnQHFMB4qTOjY835niXj2lv4zx96BH3dVYqYI2isw7ZQUIkqlZzTQWP2CS-vkxecHQcoWxKP_ZkKwz85mas67UNx6as7-5hZIz1E53FGlU5zXh5sSxASULE23ZjgFNiFpccIVT_1eilF0eO1dnlhPelNDbvlqGgDkJCWbIJcliiJ1llPeBQSydpNjATTqnONscPEAqwqdqebTx2uHGnQhQQWxYLQSXHWfMSUqja5beftE2HyKJk73jAWugiivGPutvg1rFNL01-hLQeJcXWHGe1WK29kCJsm2CdcuuMeXFJiDQerDf02ZQsg3uE6JPpvgJSDSWm6ionNdmTAh2UMJNOytSz-nVoXUtV9GoveYl_W4zv74w7JvOoniMdPI1cFtfAtI15F2zqdenNbpKmSflopzckTICT-qP1d10GHFkmarq7nWfoIXTxKGD-Dhj0M5e998UyVDHjULhhFq_GFisyeDl5PCNLsmMsfYUNcb2WlW4km6uCBz-SzFfzr7UfHDDMiQ5lM7bDABeSVTVK6PjgU6SvxPqYzma9abYGIA5X10MkWv7EWjQGGssmTiYhgq8oGVdTqBU6kY4WAh11Mki8aUAmg9irsOrJAj0ODs_EMq0xJn39WsyPZ8-cYPJALhMcDTWVg7ifLy_bRLUJx9i_Rl-HwVco2oxVdLIpDjvnayki0u1vdV6bj_Fe9TC18NQqnWeKTU_mLmeLCH-bcayHAHYiC47f6Zb2IYmV4dTAXd0Oxit7yvoK3zVU0da7j6DosvStACFxry4Mh38vAh5YD_HEhegNK5F4_-WwOAmYe_rcdUmia6HQ27obZx4tP1QmInmHPc4hCWfpK-BR5uXYswqkTVYx_MALX6D8AJXgUVejekdfcpDXO3VvxS2ASTTyd8p7SMGHCkBmDexZ91NtG3MaTEToLJnhfxwTNkIt-wmwAyRYVMFdEyDXij4XE1flvxLqsE0u2GGoel5Kf8JXUI2Fov7nN6Aal1j_wccNFCC4iuLZ6RjM-DjLwZd2gHAK_2BZYe9q8Ltbp4cTpLi4POphO9kyEq16q2uW0bPJRp-vdGo8bULPDZ7VSE2CxF3ovrbQMhUauvpnfhTz80xUTGjZ-PwQU8KmNulFMZTojg-0bnqRL9gGHi2NV-dxozt230fSDNIcuYb9dMAgxCoCSzVbKfaneBsLjNGaULCJWpp1QdF0iN6HCyC9z",
  "id": "rs_0dff2e48894f6988016ab47949e44887d0b80461af9429de87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.065,\"left_z\":0,\"left_pitch\":-0.6,\"right_x\":0.265,\"right_z\":0.035},\"note\":\"The yellow pen shifted beside the left fingers, so I’m realigning over its shaft rather than closing off-center. The right jaws need to move slightly back and lower to straddle the basket’s front lip.\"}",
  "call_id": "call_f1wjmRsLJFdn4L8K5WHiR7y4",
  "id": "fc_0dff2e48894f6988016ab47950711887d09af8ee78e34f4431",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f1wjmRsLJFdn4L8K5WHiR7y4",
  "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]: [-0.2714, 1.351, 0.4839, -0.2157, -0.0372, -0.3878, 0.998, 0.205, 1.6661, 0.7567, -0.2287, -0.9237, -1.0672, 0.9949]\nstate[eef_state]: left_x=0.2747 left_y=-0.0659 left_z=0.004 left_yaw=-0.0128 left_pitch=-0.5326 left_roll=-0.1688 left_gripper=0.998 right_x=0.2809 right_y=0.206 right_z=0.0581 right_yaw=1.4716 right_pitch=-0.0099 right_roll=-0.0066 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -4.7932, 6.5573, 0.7595, 0.0464, -0.1685, 0.0757, 1.1282, -5.559, 2.865, 0.2857, 0.105, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b4bff22f022b0e71e60602b0920da1b3e4fd403aa4a639045a5f69af26d0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334b80ab94f29c66da811154c5cb835136d561f0b7c1977b2b085b2f8d408b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24cba257329245e58d7cb0adabf64b9fcbc58028628ef2b2cbb8f92df519453",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2447, 1.2095, 0.3603, -0.1459, -0.0349, -0.3611, 0.9969, 0.4168, 1.1893, 0.5793, -0.3027, 0.1711, 0.1619, 0.9949]\nstate[eef_state]: left_x=0.2622 left_y=-0.0554 left_z=0.0079 left_yaw=-0.0155 left_pitch=-0.4456 left_roll=-0.1798 left_gripper=0.9969 right_x=0.2908 right_y=0.0997 right_z=0.0728 right_yaw=0.1634 right_pitch=-0.325 right_roll=-0.028 right_gripper=0.9949\nstate[joint_eff]: [0.2256, -4.2598, 4.506, 1.1306, 0.105, 0.1441, -0.0171, -0.3487, -3.4256, 7.5282, 0.7448, -0.0073, -0.0073, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0929, 1.409, 0.4583, -0.0109, 0.0254, -0.247, 0.9972, 0.1959, 1.6901, 0.9245, -0.4725, -0.8764, -1.0847, 0.9949]\nstate[eef_state]: left_x=0.3084 left_y=-0.0296 left_z=0.0059 left_yaw=0.0118 left_pitch=-0.4108 left_roll=-0.1709 left_gripper=0.9972 right_x=0.2959 right_y=0.2008 right_z=0.0747 right_yaw=1.458 right_pitch=-0.0816 right_roll=0.0612 right_gripper=0.9949\nstate[joint_eff]: [0.3214, -1.4154, 4.3145, 0.4127, 0.232, -0.0855, -0.0317, -0.4444, -8.3624, 6.7077, 0.5201, -0.5641, -0.0757, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2714, 1.351, 0.4839, -0.2157, -0.0372, -0.3878, 0.998, 0.205, 1.6661, 0.7567, -0.2287, -0.9237, -1.0672, 0.9949]\nstate[eef_state]: left_x=0.2747 left_y=-0.0659 left_z=0.004 left_yaw=-0.0128 left_pitch=-0.5326 left_roll=-0.1688 left_gripper=0.998 right_x=0.2809 right_y=0.206 right_z=0.0581 right_yaw=1.4716 right_pitch=-0.0099 right_roll=-0.0066 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -4.7932, 6.5573, 0.7595, 0.0464, -0.1685, 0.0757, 1.1282, -5.559, 2.865, 0.2857, 0.105, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b4bff22f022b0e71e60602b0920da1b3e4fd403aa4a639045a5f69af26d0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334b80ab94f29c66da811154c5cb835136d561f0b7c1977b2b085b2f8d408b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24cba257329245e58d7cb0adabf64b9fcbc58028628ef2b2cbb8f92df519453",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHlV-wtoxJUn_hpjeTCwHvmr9dLR_ZF9exXMPc2UM17MzFa36iBD2TWwvSjeirndZia4Wx5Y_KYHd_bCyWx3sR4MPUf3OU7YmmWanYcXx8B_4L0h2ODm40SBIGSsMqJUz_HDGXNGgIgX2uZYe0G4xfQ9IIc5skafQGlVniwrZM916kMBUrJzbfXLSanPBxYgo-jboHpEMLvwtjAbBHDc4eimJa_QkBJANLScmQhYksYaWSa-UqnB1Ny5jFf6VQFSBLe9nknUHy5ylwWz_B0nqnEw5jyhs8X_YUQEUY8tn1MbYylYm3uNXHwdD6o6zY2m1gQQUcxQFfPH797IaRSQxo_ZoeZPZbfLtYjhEKnxPfOfKLRNeKSL58tEXmDWPE7-F4R6CGgZ2Z_Dp89ATVbO_NH2ahUNJ7-zMQOQerUhiFS8e_fYksGn2ryRZjQBLLfXt8-TIBSPaPATW6KWwWLuN3WxT9VkFwIs4obL1-qpo9CZIdjNtw0UQq7_LTQAj_9l00SxTB0W78wAoqqsV2rvc0Nf5WIFr3FPJXhcRYizf0SMP5cFwrsfl_l9wzumwhnlrlDHIgj1jO-aq7sNWBifdFEkowrv7brbb5i6Y_Bm0n07xIg2SxSfOR_dD6s9WhOqYd7JsPHHm3xDGL4ou0AvxjDBKI2Eup21EMOPgLe38OZ3o1eV5LOnmGsb6iJMnPyDd5Tvq-XTLL9inQkhfuCpEMWueeXbkOo0KkkhnPenisZc0V6YcAxzNkEcZPa_aC0ALrBeyq3BdfvOKDp9sQk0xwUod4RGCHJgyeWxVJDG3V4Ca_y7oTA5c8H2-jd0_yptRE1F92zCbG64H7AXgzRQNaeAl6xRSTRvnrm1_BPd5WUolXY7OZjNE5e4Ns2d6n0wa6ENFbyjUTdQJ4vOohf7S_uBV2Ji7wjJTbxaOgClOl8viLGMmcWKeM0f0au1Jswa7eJRKOwDq3J8wHSG1R3_LFEXP58mU3HXBi5LBh-qxasq3qGJ6x0zhDKz31Tda9GZtRQeuzx_BP-bybj_SVMa7pO-3L4H5gnFZX2Bbrs0gt0y0mnzK0H88NLTtZafpFcMz3zW-BxfnD_LMMhYwjALE4ySSKfezzXawBp5VW6prUHQRctOcraBjh36HreQxX9bOHGoj3P7lOPpKIjLBNekCrl1JtsGDEj6M07-LBaZCJS3vKK4DO9M8mWmT9cC2c9M4S2qB5kx1A8J0GqHZPM5JM1blVr5A061tE1AvfEoc4snZ1zoptolLkFFxovThJLuHW1viURO9Cf-TznTUNF1McUz39hEj8ECddYNzfQFxBQGOog=",
  "id": "rs_0dff2e48894f6988016ab47954389487d0b24d6906f820ce14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The yellow shaft now runs between the left fingertips, and the right jaws are around the basket’s front lip. I’m closing both grips.\"}",
  "call_id": "call_juaI9SAaPYmMZJd0jGVjaIKv",
  "id": "fc_0dff2e48894f6988016ab47954d0e087d0be012c3433cdb18e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_juaI9SAaPYmMZJd0jGVjaIKv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.335, 0.4957, -0.1795, -0.0448, -0.3935, 0.1224, 0.2073, 1.6642, 0.7509, -0.2081, -0.9554, -1.0687, 0.48]\nstate[eef_state]: left_x=0.288 left_y=-0.0689 left_z=0.0167 left_yaw=-0.0134 left_pitch=-0.4695 left_roll=-0.1834 left_gripper=0.1224 right_x=0.2793 right_y=0.2098 right_z=0.0628 right_yaw=1.4883 right_pitch=0.0224 right_roll=-0.0155 right_gripper=0.48\nstate[joint_eff]: [0.0205, -2.7556, 5.135, 0.7302, -0.0073, 0.0317, 0.1148, -0.4034, -6.5026, 5.7094, 0.7448, -0.1538, 0.0024, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3376a65b3211b005ad7310657924f1bd7a9b1c448fb6430f7bb898c985b5eff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009bbea0ce5042a95477411b78d4b759cf2ba2bdbe17b935a381164603527f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea9067949dbda77f675ae85f9ea4bc64ccf0e85c3b2dd21ab0aa896ffeaa094",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1032, 1.1847, 0.3576, -0.1211, 0.0307, -0.2565, 0.0123, 0.5034, 1.169, 1.4044, -1.224, 0.1818, 0.2371, 0.9949]\nstate[eef_state]: left_x=0.2728 left_y=-0.0301 left_z=0.0167 left_yaw=0.0014 left_pitch=-0.3989 left_roll=-0.1831 left_gripper=0.0123 right_x=0.2546 right_y=0.1079 right_z=0.2669 right_yaw=0.1893 right_pitch=-0.3948 right_roll=-0.0116 right_gripper=0.9949\nstate[joint_eff]: [0.335, -2.7556, 5.2991, 1.0818, 0.1441, 0.1197, 0.569, 0.4171, -2.6051, 7.5282, 0.696, 0.1392, 0.2027, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2714, 1.351, 0.4839, -0.2157, -0.0372, -0.3878, 0.998, 0.205, 1.6661, 0.7567, -0.2287, -0.9237, -1.0672, 0.9949]\nstate[eef_state]: left_x=0.2747 left_y=-0.0659 left_z=0.004 left_yaw=-0.0128 left_pitch=-0.5326 left_roll=-0.1688 left_gripper=0.998 right_x=0.2809 right_y=0.206 right_z=0.0581 right_yaw=1.4716 right_pitch=-0.0099 right_roll=-0.0066 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -4.7932, 6.5573, 0.7595, 0.0464, -0.1685, 0.0757, 1.1282, -5.559, 2.865, 0.2857, 0.105, 0.1001, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.335, 0.4957, -0.1795, -0.0448, -0.3935, 0.1224, 0.2073, 1.6642, 0.7509, -0.2081, -0.9554, -1.0687, 0.48]\nstate[eef_state]: left_x=0.288 left_y=-0.0689 left_z=0.0167 left_yaw=-0.0134 left_pitch=-0.4695 left_roll=-0.1834 left_gripper=0.1224 right_x=0.2793 right_y=0.2098 right_z=0.0628 right_yaw=1.4883 right_pitch=0.0224 right_roll=-0.0155 right_gripper=0.48\nstate[joint_eff]: [0.0205, -2.7556, 5.135, 0.7302, -0.0073, 0.0317, 0.1148, -0.4034, -6.5026, 5.7094, 0.7448, -0.1538, 0.0024, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3376a65b3211b005ad7310657924f1bd7a9b1c448fb6430f7bb898c985b5eff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009bbea0ce5042a95477411b78d4b759cf2ba2bdbe17b935a381164603527f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea9067949dbda77f675ae85f9ea4bc64ccf0e85c3b2dd21ab0aa896ffeaa094",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHlbt7rkEsOIpZ8U0M0At13eCqWeAH19o2dURR8FzJOaOd0fFZv1Um2xdo1xnYFmSC7kkUrLiJgEQrw8aYXdHBxu-d_BwZfKz_5p18nSerEt-NfCPRqATG9y5L-OJrh4dJPp_mBclgP6wxED3DUP7cg3DKnM-lMqo35HpQmdRpwI_tbspc6Xk0qX5eMgSuohChaqj6mj60uU1GR04MQKDKz9XiYpGnkE0oo1EerOSz5Z1jArrUPodgnihgT62D1dbnzMFoTOdZlo8Tmcx-T-xY0ZDTjO0JGN-s-UhAhsKIDvKoCQdh5eVRGsqnyIPQRVs2uj_7OCB1zbONVS6I2eJRCJkk9A99U328-GTYkQk_t31c8lnRHz8RkLztMhj5SaFe-0uOctZGK3oKP7XZdKkDa99EG68affvMvQ06dHPosXqqFQgg-qd4Lei2WOB2A4_jOb5kEbfMHvhSVpsu1fdugzavklBehuhVfzOHmcIAJkg0D2jjPqE88Klwx4TJMbFHvMXbh5PVbWwjJKjEEHxF5K1c-MeOqSCvRg4OzlqwvuPO29AFk2Ps12soy7OKVgHDdvXJOgbhwnolAdA_f2GK53WBDR96XzZEHj_WArO1WmCxHCChZttAqxMvbbog_0HCUb_Uo1PyPG9rSJU8Jnwc0n5YfrFjXwnMNqSWkSkZ8-wJMWsD6jFKunuNSZhfLWBjhG9sFiSCRD8KMiW6MLlpT5SyJE4xPrjDUo0-8odALt1Tx28di-eDEzBjZwLu2TpIChWPiV0WLmgTlLSqMO73ZuNvQheEAxWbNPmTwlN-o92GSdb_NPX_Oq4ipMyf87vO4euq2lcuzqCA_ZkjRkSTKNKiX3-VFfsvivZToqGgeRGzoTyOapojadKKHLgnZ3dD7wLuQQ_KFsOPL7JQYrN06P8hA7jlpoo7ZOUvNLNTKbzKto5n4vIX2ppt7kNJvn8fdwMmECLk8BDfpoVulgbnrhJmBC3Fc1wHSjwZtqsTLZkF1Y7Aq0IAzlVLogoeB-hIfJvfGxrhjSpAxZmzh7cCXeJd_BMmCPurNyA_7f-no0dUn0R9LXjuRSD3NmjhSGHpgUPdYXlvKX2awgpbM5wjeA7Csm-9SOpLq8Sl51zw9slcoyD6aorsDR4Shaq1Tq1YFCyb-wC9Ir0Rm3b1ytkfdIyTAAb6YRB8TT2McWccGTvECUXFNnue3xXczKMGqXxUkyLQoYiW6g31ZPlCyws5eQz3ktcQ4H18YeHUfEkV31ZfMLxb2K-06-UlBOi5pENmEN8DxFETzovw4XCVtP_80K5E8B9cYx7mpErNcnNBj8Z-r-XAYHCBgbXccrjudNmdfKIqhn3Q-EeI55X0nEw60npkw-W_3xMbldVOekTP3iU8NhLya6YMKbHrDMkbppMa0bcZFD1jc232cRnM0bOOZafGpro8Xv4K1t9hA77CbNTIpDeuAhA1awV0rjMIddaxzNUTiEzidKIF0HL5us12ToHraecSeqjdBCGHJRBTKBwSyit4qBIwFJfSiLTU0Qa4PC9ZbHQSAnGz7i7pHTLWH54kgR4cEbuvkWT-17FEOtPGBqCpn1QxkO0xyZzumKMv7UCuHY2sglp72QR9uyYOmIv4gTN9kJDxkYo2j_CsGjVtmLBFUU8EHCMMNrIMe33uKgeEWBbfOK1f2vOY69_Lg0zvQslK-avG6Fr1Tb6isP6fQJ9WZSa9FhmmuNUKOpIlL-5jg-nmwyfCo9YBJxOLJZ0Fq5tEJtDq7W-uazguajiQFMYihEdEp_Wah0KJ6_AjdVN0Yvn8aOkg4fATEy9gJxBVA6MHSt1cAPpLiPloqZYz5J9LObgKQak5d-lmMjA1MA",
  "id": "rs_0dff2e48894f6988016ab47957e84887d0ac044889597d7e2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"right_gripper\":1,\"right_z\":0.2},\"note\":\"The left gripper is holding the pen’s thickness. The right grip appears to have caught the bear rather than just the rim, so I’m releasing it in place and lifting both arms clear.\"}",
  "call_id": "call_IjmTQgzUilx68fdEQEA0Pmkd",
  "id": "fc_0dff2e48894f6988016ab4795a5b1887d0ab690fd204ef5db1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IjmTQgzUilx68fdEQEA0Pmkd",
  "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]: [-0.2737, 1.1843, 0.7864, -0.6258, -0.0448, -0.4011, 0.1211, 0.2073, 1.4857, 1.0985, -0.7101, -0.9367, -1.0771, 0.895]\nstate[eef_state]: left_x=0.2899 left_y=-0.0694 left_z=0.1065 left_yaw=-0.0082 left_pitch=-0.475 left_roll=-0.1864 left_gripper=0.1211 right_x=0.2897 right_y=0.21 right_z=0.1827 right_yaw=1.485 right_pitch=0.0131 right_roll=-0.0505 right_gripper=0.895\nstate[joint_eff]: [-0.2256, -4.9983, 8.5675, 1.0965, -0.0611, 0.0122, -0.1587, -0.1709, -8.1026, 8.1573, 0.5739, -0.6422, 0.0904, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce261bdf7b00f01c65cb272c274ea3cc71ee35bc1b1813a00d3819f5e5f9ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629350196329d5fe5c39d4984522083eda9c5f9f6e4757ff8d2d280d10413e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46ae79ec0e323609163fd87811e4c6f38fd756e3faa911db9cbf3f2c2c79db5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0929, 1.409, 0.4583, -0.0109, 0.0254, -0.247, 0.9972, 0.1959, 1.6901, 0.9245, -0.4725, -0.8764, -1.0847, 0.9949]\nstate[eef_state]: left_x=0.3084 left_y=-0.0296 left_z=0.0059 left_yaw=0.0118 left_pitch=-0.4108 left_roll=-0.1709 left_gripper=0.9972 right_x=0.2959 right_y=0.2008 right_z=0.0747 right_yaw=1.458 right_pitch=-0.0816 right_roll=0.0612 right_gripper=0.9949\nstate[joint_eff]: [0.3214, -1.4154, 4.3145, 0.4127, 0.232, -0.0855, -0.0317, -0.4444, -8.3624, 6.7077, 0.5201, -0.5641, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2737, 1.335, 0.4957, -0.1795, -0.0448, -0.3935, 0.1224, 0.2073, 1.6642, 0.7509, -0.2081, -0.9554, -1.0687, 0.48]\nstate[eef_state]: left_x=0.288 left_y=-0.0689 left_z=0.0167 left_yaw=-0.0134 left_pitch=-0.4695 left_roll=-0.1834 left_gripper=0.1224 right_x=0.2793 right_y=0.2098 right_z=0.0628 right_yaw=1.4883 right_pitch=0.0224 right_roll=-0.0155 right_gripper=0.48\nstate[joint_eff]: [0.0205, -2.7556, 5.135, 0.7302, -0.0073, 0.0317, 0.1148, -0.4034, -6.5026, 5.7094, 0.7448, -0.1538, 0.0024, 0.8767]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.1843, 0.7864, -0.6258, -0.0448, -0.4011, 0.1211, 0.2073, 1.4857, 1.0985, -0.7101, -0.9367, -1.0771, 0.895]\nstate[eef_state]: left_x=0.2899 left_y=-0.0694 left_z=0.1065 left_yaw=-0.0082 left_pitch=-0.475 left_roll=-0.1864 left_gripper=0.1211 right_x=0.2897 right_y=0.21 right_z=0.1827 right_yaw=1.485 right_pitch=0.0131 right_roll=-0.0505 right_gripper=0.895\nstate[joint_eff]: [-0.2256, -4.9983, 8.5675, 1.0965, -0.0611, 0.0122, -0.1587, -0.1709, -8.1026, 8.1573, 0.5739, -0.6422, 0.0904, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce261bdf7b00f01c65cb272c274ea3cc71ee35bc1b1813a00d3819f5e5f9ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629350196329d5fe5c39d4984522083eda9c5f9f6e4757ff8d2d280d10413e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46ae79ec0e323609163fd87811e4c6f38fd756e3faa911db9cbf3f2c2c79db5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHliMem0z8jH5440i-wuh07Nir09fAyFDIiDEExBYN13PChFGHOwlD-Nd-NfGkYvZ2phuhz900yCicjwm8QcxTEHSssTn9SAwocK6DN9M-lhn-u0PvjJv789EEEW2cP-_J-fl_g5yo_Xxh2kiG5nxG7CGXeUVfiJjJ3KO2mz3-n8j3GEi2oASGA7TLziE3j6RTf78fmYAiSGIBW-AySC0rLivn9_UjSoV-ouYDHwj50VOkXVM9pz0mNyq-7UwHVdI9Uv5koEw0LcdRdn_na9oKGb2JW3XwgyZbUcwsweYONdIa_YAEUAlXVePY31Lh6xYYSy9RM4OnC1qRj2T_uIiV0w-zfcrDn6ELICAZn7LOSs_3_6SmTIev2qE2cfrOk8lNBvFBb2QoxMYxBhmcUHqX1N6ZS4XT9Rtdi3LS8pv6HGR_SceVJttU34NAW6iwWC4-_j5TPpGPfZzU80KI5kloYOEx0kN7RRY6QKbGMw8bOJ5NnLiqzY_O7qz0Sj1R2ckSQE_qEOU1MxaRoBQCNzf42elQfqY3lWOInvqautpgXo4mzdfLglm1ATkjH5uc1xPLpCD-UrZzL8FbyNYMvB-cGEbrefRtYkbElzKNXkGStund1oBhCSU3Hz_jwz9Lcuo5WwnHwJILUOqk_w9ceF2xauh21oOprLZ5NMI659_1nkZEogs0cMDbjUfExKNSnU2mK2cVT0a1oa-y6q8eXz4S-RD839EErvgVEinX6mwuxQeVeR6K0r-d8meoXlYX_wJvlClgZPe8Xl2cWqAxAIYJ-gtCRB02O6ivnnPsY6_fzJC9FyP7I2x2p001KqaYi66DJCYB65injkVV57xiHh-aT33518aK92c1JnOgH9PvL52qUoMy-a_LZHi_ctNdeJaCtJ_M4vJazNbPr7BHOUwR-blSvOx0w1cRUSXgDibmfdAVAuxKafXOPG16BOlefSetZqQ4elKl2qXfsXquVGnUqfVWMkPYePs_rXGbSAg_VsPWD-jD6CLrwqDgKAMe12d1-LhT71hSREuD44kDIqNgxPv5rscT_9Li2fie8yGfHRsMG8ZO7aIdf-KSLl6WWoMvhQRqu9wrRDh9antWoeUrU3r_2-_aIwgpPmgfAjMf1ysDXmZuDFh3N457R93DmWwbm9Y9oPCUj7Cbl6bimffzg7sQhp_t9Yl6pc3_FT72fT8Vg3T-76R3KH4MslXnyr-j5xkAAfMWlv3CCPnXJveXVjGbAfBe3VYL7QIUk9TxQGfooougEqrTqz53W0KgYRmF1GwOOnxyvSiBfTfO9e0HGg40esfBAub-iNPPGI7Mf5akN_Z9VDRQkftQSXBIUopPgwIdfiBI0TwXWFNAe7JLTBqolrPDj6wZIAM9H9KsFxpAuDMIaiWCce3nAizbtOJPvqnY8kL6FwH_V2OTogHPpMPBoGHIaDSbTM6BuCf5MBDgZkvMQ9HyESQpCMuA42CWsPcIQVSZFxJ_KwzhCw3-9QaTHmi1x7kuJH6AhbCQeQ5vb9eGJLRjH6Nlk938HmQyAAwJmlREnq75VE14I9g6bJco0NXcErrC09_pKFsUhfhwaoi0Rg4CzlKaGxcLmVglCNpicTblKJ4Ar23GIT3p-SqZWG0zoAzxS1vecbtv8Ag-CnkZw7ItQDiPXA2beD8zMX3a6ufj7_o_V8gnH0INCvy5DyXpS8UmW0rOlu3rrmJVEQjW3ofMWRj6LEpsIzs-6zJ5n_Gw4Rf9r9OA-YN_aWQato7QH5qlFK7NYT15zXvYRVJh2SajoaCaLrhleUIteh54vMcTZNGtZy9qudhVSnsoGGKZRII2dxhiQElPyOk015inQiLmoIZSw-ujQr0qYmuxbOe0HIhmcmPxs3ERofTaxydwjH8Xt8IpPdo8CM041hhStUpI2cjbC1_2ORc2lCzzz6GOEG5KVpVgZBrEyHrNs4U6FqsoFlLnsY5esP-bZwqH2-_yP9zRWT_MwwaE3H7s0IUnf54q5HafvrM0IQmN9xEC5VmZpO19NTt9XAZedgQvytYA1f-yM0XQreJ1dv3YBtgYOqaVtVPmzXF_jDzeWJb4UZsQTT29KEjCO4G5bUWTz7AGeZrFeebpaTa-c_qyeIKO2d4I-3SUwwL-uJdPtLGDDswbc2NU6aybGhrUP6w-oroop3L4bImHEv41A3_iThniV1SE7X6t13J7FqMWuRXK5RpAqy8utiXl7GEp0=",
  "id": "rs_0dff2e48894f6988016ab4795d73b487d084026767eee730e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.21,\"left_pitch\":0,\"right_x\":0.25,\"right_y\":0.32,\"right_z\":0.055,\"right_yaw\":0,\"right_pitch\":-0.5},\"note\":\"The yellow pen lifted securely. I’m carrying it over the left basket while bringing the right gripper toward the blue pen now visible beside the toy basket.\"}",
  "call_id": "call_bG2IiURxEF6W7NzWryzxay4V",
  "id": "fc_0dff2e48894f6988016ab4796108b087d0a5a4b4646c12f2f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bG2IiURxEF6W7NzWryzxay4V",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3538, 1.5681, 1.1488, -0.2562, -0.1925, -0.3988, 0.1209, 1.0763, 1.8915, 1.2991, -0.693, 0.4416, 0.833, 0.896]\nstate[eef_state]: left_x=0.4422 left_y=-0.1235 left_z=0.179 left_yaw=0.009 left_pitch=-0.1098 left_roll=-0.1863 left_gripper=0.1209 right_x=0.2553 right_y=0.322 right_z=0.0552 right_yaw=0.1156 right_pitch=-0.4831 right_roll=-0.0697 right_gripper=0.896\nstate[joint_eff]: [-0.4171, -7.4735, 9.7436, 2.127, -0.149, 0.3394, -0.0366, 0.8137, -9.3197, 7.4325, 0.5495, 0.2857, 0.2222, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bb675b4e626038f3c895b7c9714015b356f95984c0002222fd9f354881ccde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdf65f35cbec7b3ad3c529f1d1e8ddb70954a361e90bbc3402437620dbd2ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73844810f0d4c171b964c511d94e8d3ff6a14cf1e6e49dbcdd991ce69a0212bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2714, 1.351, 0.4839, -0.2157, -0.0372, -0.3878, 0.998, 0.205, 1.6661, 0.7567, -0.2287, -0.9237, -1.0672, 0.9949]\nstate[eef_state]: left_x=0.2747 left_y=-0.0659 left_z=0.004 left_yaw=-0.0128 left_pitch=-0.5326 left_roll=-0.1688 left_gripper=0.998 right_x=0.2809 right_y=0.206 right_z=0.0581 right_yaw=1.4716 right_pitch=-0.0099 right_roll=-0.0066 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -4.7932, 6.5573, 0.7595, 0.0464, -0.1685, 0.0757, 1.1282, -5.559, 2.865, 0.2857, 0.105, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.2737, 1.1843, 0.7864, -0.6258, -0.0448, -0.4011, 0.1211, 0.2073, 1.4857, 1.0985, -0.7101, -0.9367, -1.0771, 0.895]\nstate[eef_state]: left_x=0.2899 left_y=-0.0694 left_z=0.1065 left_yaw=-0.0082 left_pitch=-0.475 left_roll=-0.1864 left_gripper=0.1211 right_x=0.2897 right_y=0.21 right_z=0.1827 right_yaw=1.485 right_pitch=0.0131 right_roll=-0.0505 right_gripper=0.895\nstate[joint_eff]: [-0.2256, -4.9983, 8.5675, 1.0965, -0.0611, 0.0122, -0.1587, -0.1709, -8.1026, 8.1573, 0.5739, -0.6422, 0.0904, -0.1099]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3538, 1.5681, 1.1488, -0.2562, -0.1925, -0.3988, 0.1209, 1.0763, 1.8915, 1.2991, -0.693, 0.4416, 0.833, 0.896]\nstate[eef_state]: left_x=0.4422 left_y=-0.1235 left_z=0.179 left_yaw=0.009 left_pitch=-0.1098 left_roll=-0.1863 left_gripper=0.1209 right_x=0.2553 right_y=0.322 right_z=0.0552 right_yaw=0.1156 right_pitch=-0.4831 right_roll=-0.0697 right_gripper=0.896\nstate[joint_eff]: [-0.4171, -7.4735, 9.7436, 2.127, -0.149, 0.3394, -0.0366, 0.8137, -9.3197, 7.4325, 0.5495, 0.2857, 0.2222, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bb675b4e626038f3c895b7c9714015b356f95984c0002222fd9f354881ccde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdf65f35cbec7b3ad3c529f1d1e8ddb70954a361e90bbc3402437620dbd2ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73844810f0d4c171b964c511d94e8d3ff6a14cf1e6e49dbcdd991ce69a0212bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHlvOXuGhKwTsXM2ATLuFSkEQc_xN5WbLsh43brFxGMb7Xuf16PPL65gaWEGRrFJ6U8fIhxNr74pfaI5Di-TLVSOzo5eQSA82AA-5M6mZOkH4NhMgl5oCkTPtmgk3zXOtY8bJpvkf_22JKaDNEQkQasM6X-W2BvyqAcMUNVS6EoYsBUIgzATKLZiZagX2fRKXuskf_sXHIq_8D9H1ndG8xkUCA8y37ihYwPB6FtLaW-kcKW3HlrolQMhAY8CmBkfiv4TFMyLZsDImdOub9eIUr_ZtBvAJ_SwX8wYjnL-f0WBJHPICQ_dhQ8QdrMoVoQ4VB2GU9lyG2FKpfvzz-nJ1EdxH2WhVHAdpcRyfmx-MF1UCjzgYOluV2ckVftK601x0YaEiGChvpFlhk1tBeolzYo8Cx3MwP0Vlwgb26KPlBkFFoucl6elSoOKG2bKXyn9UvdasUN1x8YrzIrfh3o8RsGKvxaogFk_JhvQeHxgl8rP9z6j34tWm3TmlCtk-LxH-mFEHi59J2789v8fqtBQS4seRYctGNMHpPYemH8JeqWbmd8gfeAfAlYDrQ-W7lvmyb_06Om8gk1GuF1fWpkZjabz41PKbCCIAAtdaPvVjJ9-yrza6TRy6zEgOZ02yykfc0GVBcsunjJvUicJ5v0yU2OYNTLTMledQyOvV_J1fbRxdgrkXonkFntWFrVkogS0E5lnkAuG6OKD9krZiHQH_JPbirxVTI191rYFm3wONut1mZWgA7Dlf1f89GiFLn3hM9EAhmHdcviHLjWvUjZtW2v43niB2XUNHYpM7KcWOAwjl3DgPTzHHpPzIiPxQPar3-ql3Zns0sR7aamNNmstmSf8rneHVUQ6p1N15OC6rxnWMPU0St0gNXvG3_wx9cpGjWB7Wo-v1g053Y4t9l_YPZA6YkawmV1k4V-3-zoB9fkXYBtWePyGl7-2oIIjzjXLQgTgaoN2eYGseQhZH4XljDW2ax2yLb1_78pPICzvHsQWqub_yjzxcGxlfIsE0U9NDaQqopKOvPscSUurTzYFnRsh3tTKdPUiVjXhLKPznpRsHfKkptgqHCDUVtjR0gZbyKQr5S6BX66tGqjORXN7-p5V2ipIPM_FKAIMKeF1xoIXCdozOz0HzdWG2cLnzt4w2uzx7rM7pg_h1hDzE89WBIXgYtOR8bGUMHjRvIxWk5hD-Wkvv1oaUMouFSHuliI7zTahyb3FfKrgWXyYSDjIAElQ2icnnMXq9HDvd7GrdBSBBBs-WBAxnbqlbYuSNBX_OkQHpZLhfSQxB2z40pd4eyerhQmUfU5zSFaeGwizmJVrfXYRk8KVgm7uw-_jBKvf8eF9p_2QNCm4A11SAyN8xxmbWHs7RD2RbXFa2Qka84ZLzTkKLSwyopvJpxgOwQ1KCavbrZ-chaE-JpuyxABNVTDZALglhi13HOUg311anX6lKw8ldMSyITvoOb1nWdnQ5N5ySwdQXohTc6Xg2jbczEg81upXdj_i5c-etcjrq-wLP9c0gC3kOZ5NppTQ6g1xLgAFIUERW6epYu3DtJJqJMDJHMMSNIHw78oaVc8o1lK42-9nVRVjQAsXB7oNhAIeHQV4YkowXj4Kqz7tjpl5hAeV3UdxkO5BkPGwDbIP_sZgu-WERbwPFO9AA4LPZgzR1uhPljCODrGk3YYZhMMJDiNBPH3VUQ2TnLasfjMrp_OlP-NjODY54nv3HId-8Xko7aC-XzvFISLii3ghJJ2PmSwd9B8Wpz6DZDtEOtV2nsYXM1Q-yc8fBbsU-7RfWs8h1P8owTxHLRG11l7kQT7_QdqbIQxUah1w62Lh-hoBj8h4jqML92DGleQgfHhp74Jc5gjMZ630em2Pk8uOYeo9zwdr-fVUWFmZu-CVknx7gWhuKe0VlKpNy5Ru-RUqMcP3-mE17t-phrBwp9wFZ1CBux8EhYg8jxqLnLRQ6sPzbqKH8Bm_mhjPseUXiy23D1i4dpsbPU_L2neCDW5IXNTZcDHXa6gc2QRfuV4J-rzAiEZyRjIqC96EF2LoLo72USaBdvQ2EGKvT-euG6fDQBTGtkf6mVHWktvX6i0-apWvel41upayeDdJzi9lP499ioFP7RDkocIMfKSCyEpbfIGoDip890dtfnBgFe_9CRyoGBfEYlDXpWhELP5Usr2egAFpvnmTynMx2tN3xpp0IxhvjrDYI-ZukMHTYjzP7nHheZS4lWT4301wC0Fw23mDeeP7CfLyhvh0TJ-rgiSkol42lsHsy7eg5GdVh30TxZAsTQU2nXLqkryy3-LQSU9NXx0_5ZAut0hdB3VI-N1g5I8xDN6D2OuyA0ix-vZEOtLC4L0BBydN4exbuHjPld_cCRffQaFA6AIiEmpcV7_SLjQCUH8FQANOsXdQu3gHHcfQDrcvJtr6S8SXREKROayJWbKwxk4cNzb66B4NqeI10zluwfb3aZGK8CmreXYTR4N0up13b7l_aQOyLXXEFODr0EHwOCi6Wi1jX5BEH5bVgVnZszb4Hyh4bwJB9QoM6Gw-rf0tFescb7MtA-g4qWdzUAixLyoyrc8tjgwIUfLsawkkHg6N1cUccSSvodRo_Qy3jKdtRs9JTSefbVcaQLpy56MMWfy8xXhXuO-nJUOOUzzqOy0fbdrrvmn34QFr5zGjPgDKrD5-cc41liR0r_mMhQanthoKZ9vjEH1hZ8nKMEsmU9R5YMzQI534EPq0CNd9V9aMLZNArdde3bH_GFLDYfb5YN_6ZKmiUntfTA_cExOeDdZyLE76mCXV3rsgy8ty4DZoSlk9RhSz-D0cTelyjPETWoxEAo0ptUgmYpDwVBhPVk2K7NpDVItBYyeFEQ3LQuGd2Uy_Hz6DkORP7LzM5iBvgJXut1QBrCFRgY0KRDvaN_WHY2VY1Db9ab6404_z3XJQWs_fZ-WMaBpqLgrUH45ujKczLQxSVdmvDi1FTGePJ9CpvFlA1nOfap7HEnxc-Nh_I4PX7MygeUQ7SEhV41LNR4S9MX-JBuqXUvUfz4_EVCV36_QqDsJUjuumw37sHnKSfAT95Q0uXWYQScdYysOEOjB6zjYRdIblSiqbQAon7DXGHySq9e1d9w00UaodUtR7aaxqM_qSd8tmsvzkjIJ0nB51Epzdu4BpKloxT3xIRx4vsZt2KhJ9p_2gVZsYARd0vUePqyWEmgoHqHxLi1oXoGxsu-JZ6jf_PJHJZgvOYq-6lr04Q83FlEgQVzh6TWxjZjvY3FsRPWbdT1HU8LbjHXpsIW0AmmUjEj66lT5GJf0Ht3Xf-Ms0RJgS55QlTUorVKTfEok6JUdP0FDZKbtgZ7Om1hgt6D8HTz8P71BwqgrpF8OxVxCERIfvIh9duFXfmrdnDbI5DRPl3127MlDH9oNaLh3QFzIE73JOlDQ1myDst3WuxHbGpe2oRWP4088maGc4jbliNu_r-j4xrU4u2uaWW1xhgQC7mORzsYJgUeiRkCSieiUZEFH2kkGTkuSl2-Czg0L8aV-ipkyUJvIDGoWv4Vn_-xT5PY1U_AjobnvnRMRucDugDscn3EtSQEbT-Va8B6xQFIxHt52LvCd_nHpNxUX5efcAMW2S9sVjfROFfKnXwxDvr1_od3eO5O1230c8O3pWJpv6DACLiZZgDIKKIPZGZ2o1ITozNm8kJI4T-Cg4SX7ng6G0xYD5wG3W2P44nnRpd-N1kbKaH-Ko3h_D1aK02_x6e_qeaf6rX9EPWmlc3q0MK2zdxXyh8nXzZB0jHdKpa9FKgmPq-FU5lgIyvQduyAKIZbTMbj_1wk0kPEab5YVr-MJa9rwBDCez5lt_BzC4l9hE9y8z5ezDjxgh5TBoMR8gGQoftn6a0GHVHqbEriePdrwAJD4YTrZ3MRDePyB8pFoJ7Wv2mL0a4yJsS0_ECoOffXr71wB7E4ypfuxgaMKoZQhqt1p8CxaSi_tbcVD8X8c-Cvav8MpErOdtAXBkku_jK67dJR1Kv6X7Pik6CeXvWH3IdHoR3guJzitDwC7SYvI6xNzZsIdmhvvm8K0c2G8XK6qh_HnbWqrGkR51QZdbF_l4oFsB5zuvt2PXpF27qup6e2nkPys0VC3V",
  "id": "rs_0dff2e48894f6988016ab47965324c87d0be6affe1a28fa819",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_z\":0.005,\"right_y\":0.295},\"note\":\"The left gripper is over the pen basket, so I’m releasing its hold there. The blue pen lies just toward the toy basket from the right jaws; I’m lowering with a small sideways correction.\"}",
  "call_id": "call_QBWT1LVePf7AYY8Kn9VH396o",
  "id": "fc_0dff2e48894f6988016ab4796ea13487d09ab9c9051eb86ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QBWT1LVePf7AYY8Kn9VH396o",
  "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]: [-0.355, 1.5787, 1.15, -0.2535, -0.2028, -0.4068, 0.9953, 1.0615, 1.8206, 1.1442, -0.4706, 0.4603, 0.7792, 0.8962]\nstate[eef_state]: left_x=0.4437 left_y=-0.1227 left_z=0.1756 left_yaw=0.0211 left_pitch=-0.1146 left_roll=-0.1841 left_gripper=0.9953 right_x=0.2642 right_y=0.3195 right_z=0.0532 right_yaw=0.1728 right_pitch=-0.3864 right_roll=0.0087 right_gripper=0.8962\nstate[joint_eff]: [-0.0889, -8.5538, 6.8718, 1.5849, -0.0513, 0.0952, -0.1343, -2.1675, -2.7009, 0.9504, 0.9744, -0.1929, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dac7d35614d749b7e758a871caa5d942ceb5f5bb6f55768de3f736a5ac19b37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e616b47202148fa77178be910dc718686ced3c2345008a3ca202d4ada8668b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de297dfaaaa777dd89eec5be2c94ebf79fe3ea41dc9e498af66d97c54bb8219a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.335, 0.4957, -0.1795, -0.0448, -0.3935, 0.1224, 0.2073, 1.6642, 0.7509, -0.2081, -0.9554, -1.0687, 0.48]\nstate[eef_state]: left_x=0.288 left_y=-0.0689 left_z=0.0167 left_yaw=-0.0134 left_pitch=-0.4695 left_roll=-0.1834 left_gripper=0.1224 right_x=0.2793 right_y=0.2098 right_z=0.0628 right_yaw=1.4883 right_pitch=0.0224 right_roll=-0.0155 right_gripper=0.48\nstate[joint_eff]: [0.0205, -2.7556, 5.135, 0.7302, -0.0073, 0.0317, 0.1148, -0.4034, -6.5026, 5.7094, 0.7448, -0.1538, 0.0024, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.3538, 1.5681, 1.1488, -0.2562, -0.1925, -0.3988, 0.1209, 1.0763, 1.8915, 1.2991, -0.693, 0.4416, 0.833, 0.896]\nstate[eef_state]: left_x=0.4422 left_y=-0.1235 left_z=0.179 left_yaw=0.009 left_pitch=-0.1098 left_roll=-0.1863 left_gripper=0.1209 right_x=0.2553 right_y=0.322 right_z=0.0552 right_yaw=0.1156 right_pitch=-0.4831 right_roll=-0.0697 right_gripper=0.896\nstate[joint_eff]: [-0.4171, -7.4735, 9.7436, 2.127, -0.149, 0.3394, -0.0366, 0.8137, -9.3197, 7.4325, 0.5495, 0.2857, 0.2222, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.355, 1.5787, 1.15, -0.2535, -0.2028, -0.4068, 0.9953, 1.0615, 1.8206, 1.1442, -0.4706, 0.4603, 0.7792, 0.8962]\nstate[eef_state]: left_x=0.4437 left_y=-0.1227 left_z=0.1756 left_yaw=0.0211 left_pitch=-0.1146 left_roll=-0.1841 left_gripper=0.9953 right_x=0.2642 right_y=0.3195 right_z=0.0532 right_yaw=0.1728 right_pitch=-0.3864 right_roll=0.0087 right_gripper=0.8962\nstate[joint_eff]: [-0.0889, -8.5538, 6.8718, 1.5849, -0.0513, 0.0952, -0.1343, -2.1675, -2.7009, 0.9504, 0.9744, -0.1929, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dac7d35614d749b7e758a871caa5d942ceb5f5bb6f55768de3f736a5ac19b37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e616b47202148fa77178be910dc718686ced3c2345008a3ca202d4ada8668b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de297dfaaaa777dd89eec5be2c94ebf79fe3ea41dc9e498af66d97c54bb8219a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHl412Z2D9dmMtsZd421d39EZrlbNnp_2R8e2G-_dOl2UDSJvCHYi54fTMVle5oz7edK3OPKRmOLd354RKYqNSaVUkpca5SVpYqSvQoJG74H8u5uhWvDirVedh-SHS-nUO1R0qerezOXUoO9oXuaKszxXFiSVAaMdWDEtNVyR0xjh-EX91ZDxQPaIilSLC5NnFi_EtiqyP15U7mrti4YPyh1tbL4FHhZYkP5hxmHU_R0l_FiPbLGjeByzSzY5xvYCC0igyZ6byrECTaTu8XreFRtkjuM5yLFK9XmeyEEB028FMuJg9tGYztRro5QenuZNn1qs_HTuspkckPp5HcuzAq8bSu_aGpU50JJqQGiUt714L-mrEdc29VXQCwFOwAr93vTxQ-BcRNaq91IlfTIUV9knIuUvRLW4phQcAZgA31w8nyTBb-7cM7WggfEq4dv3qir4NNHK11NM3oK6rPLoauVuCEXghmjCtq-gRUrC-bNjSIMYhOFI8cSXehLv3IEJoCX1sktR5Dh8p3UaYoLrWdKSyg1KeyyKzVsEyAPRl-_nSsdPakayiYsMqpoKPztE_YYDzgOhMUpDNUMS1MnPJnv79IOWsjOp9MrKyKO66mRlJOomer01gnE1eRajGMS6edQT0UP2c9k-_kHb9j6TgCCdyFmGOOgYnXds_CgDtWCBqsoLBleae5WsIsVH2ETYGFKEjRbI5e2X9hYSFTt8VHiSwH_esLxVz640zIKfJI-aOoce4FmcBKy0fwCpN8Bk7GlBRgtDB2-0avFHKQvuwN9IIH_JGMzu6cAL1KE3zhZhN81sc-llZI8Ot5QhyQ7Yt_s3vr5eDy0ARWF3aUWYefMJ3FFVrMzt2bmojjnytU4_K72fdRntfy6bR9FqnthH0T5dmf0Dl2Rdf-ev73a8K6Sq6G2wCzYabvQclyOXWiZlYg5VASGJ3DG0WciFX26oe-91kNXqjE7EcG0gq_c5KOP6K0Dw8gaHeP1O4_JaY-yHFGwKaxaD9HU8imm97IvJb7FgHm0Fj3tKZIJzUe0wcrnhbCHxvCYrze8k44Yjk8aO3oVrDB3JaG_StptH-5BHiRIVHNQJ6GD9g87XdryWAOEhfI-MFuiwO4BFVcTK_bjIcnjHK_FZclpWUdXjkFVTC62fHgEaGfEcfX8Lk51Z0AeBGMu6qQ_qjV0s22aXVG3jD2k27JvAxDs_8t3gxEi2zb-JPlZxy9wujWzuvuw8Dtr-Qp27c8Tbk2W5EFmEFbYGNddeWG0jHuHVlZDDTGaqu9uhejSAXJtiF7VX3wA-mFcms6zFc8sQAR2cBMav0TtB6PGKd_wyr53XfwNG7ogtl36N0oUZIHd-SrrbnD93vtUKBSFBQYhN_Rj03Cq54XnTGFbaEYQU0JDsQBABMy4ume6WbUw84Zxx8-cY6a0pRorAhrP452pc8ow0-z_W6MzoTsxaBzCiihb_NckVPK_ROdHahU_aji5QKrvCNphiOn4Me8q6FhI3nVvRU15ZLTlGPfFAxOogWI4fGohfZSjw0JjfjMDyhN0THHqkWSEulHTPN-wHF0DahYgk5mIG4CeEYp5ifgnmypJ-dzx69fssZ6NkXq09OywB_SYAEHstXb6gPfgYUAUOsT7YbiTYBtqP1L0_LMV9A45iyUrZHQxXEDp81Un1fN5wweYR7RJv-0sxFrKCl8tu-duYHvaU15AQn5oZsE-uDvVWzB4e0yMI9E1TEv4GJiUSeXxgUqEfKiawjq6svWXe7vsHFxOZf4HOersBfI39TM6NVaYiafKH96QcCx3HwVpYnfx9gQXcHe6wQtDVQr2Wshf0W7bBebpGFDn2eCNbEX3QtfBWahcKVe_Jl1MxN3sEvUGcoadRV4gnsAVds8Uyn9FewsQvT36AZV4FstzB-G1UauYOmhRnhcNik0DjtVciWqMaS_WCKIr8PkZDBSeWi_8KVEh4w21v4Gw6IgoHwOg8eR78nOEFWBPO5CW65Ov19lLd77902UGJuk0ru-eWxYDJFhi2yBEy9OB_S1N1xIzwpFh6rjdKyG-sA7aslAA88vScCy7EcdzYPbGDb8UK0Zq05xOPhOwqVOIx1wzEk5SIvy9hszDvCCoyvC8F8Q7CedtxpriXt7rYT8JZYYk5ijA5r6q0s18rsfbsP463iJOTZkubByXNxqXHkSfl4OPYRQkeZXi6XrCMph59xP6vYARF6X1ScWFpTkdes7I8zgHwBENwIbaAyMFCCOgJuabRcSu2adkyyeOksJB4Ol80eE4JUBfXODKRuqt5tH9cjab2DvgetD6ER_Sx3HDeS50I4OcBVFeuyV5sWweH1yXoVlK7s2eYUouovGHHlJk0-GW8CDX2bIs6Tl3sCGEw-DH8RaseNHkdxIlvP-xLg-18WoAj9RwUhRzPlbnpPYMITU9WJKBMCtnLyyC54tqf4b3rPlYJ6MTCTHoxioPnO3cW06hcK6SSfUCcSWxQep3ODAcgpZrSc3YN119E-PPW8arYJo5u3U6FetgOiwttEqCAmIsV3jUvr5HlX4=",
  "id": "rs_0dff2e48894f6988016ab47971e8b887d0be1f4df22bc18ad4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.21,\"left_y\":-0.14,\"left_z\":0.085,\"left_pitch\":-0.55,\"right_x\":0.22,\"right_y\":0.34,\"right_z\":0.21},\"note\":\"The left basket is visibly empty, so the pen was not retained; I won’t count that as sorted. I’m switching the left arm to the small brown plush, while withdrawing the right arm from the basket wall that blocked its descent.\"}",
  "call_id": "call_jgU8CcOGxkfXxu0i7vOFyLOb",
  "id": "fc_0dff2e48894f6988016ab47976d05c87d0afd87bbc06cf42ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgU8CcOGxkfXxu0i7vOFyLOb",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7681, 1.1305, 0.7311, -0.6975, -0.2546, -0.8547, 0.9966, 1.1904, 1.7729, 1.6634, -1.1336, 0.4877, 0.8993, 0.8962]\nstate[eef_state]: left_x=0.2251 left_y=-0.1506 left_z=0.0965 left_yaw=-0.027 left_pitch=-0.4973 left_roll=-0.2231 left_gripper=0.9966 right_x=0.2205 right_y=0.3381 right_z=0.1895 right_yaw=0.1813 right_pitch=-0.4215 right_roll=-0.019 right_gripper=0.8962\nstate[joint_eff]: [-0.2803, -2.8786, 5.2034, 0.5983, -0.2369, -0.0904, 0.1245, 1.2376, -8.7316, 9.8393, 1.1013, 0.5153, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76179e4b77e2652ee14c70eed8640ff7716f6c98e87f044e10a989172a6c6c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f180c867b8f648d2b7115cdc2ea252064c917c18a72f44ab8150c9f5dbc2e3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b3bef8e0516c1c4d97f24902a4173f5df5ec1c5254216315e0fa79f5fb7da2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 1.1843, 0.7864, -0.6258, -0.0448, -0.4011, 0.1211, 0.2073, 1.4857, 1.0985, -0.7101, -0.9367, -1.0771, 0.895]\nstate[eef_state]: left_x=0.2899 left_y=-0.0694 left_z=0.1065 left_yaw=-0.0082 left_pitch=-0.475 left_roll=-0.1864 left_gripper=0.1211 right_x=0.2897 right_y=0.21 right_z=0.1827 right_yaw=1.485 right_pitch=0.0131 right_roll=-0.0505 right_gripper=0.895\nstate[joint_eff]: [-0.2256, -4.9983, 8.5675, 1.0965, -0.0611, 0.0122, -0.1587, -0.1709, -8.1026, 8.1573, 0.5739, -0.6422, 0.0904, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.355, 1.5787, 1.15, -0.2535, -0.2028, -0.4068, 0.9953, 1.0615, 1.8206, 1.1442, -0.4706, 0.4603, 0.7792, 0.8962]\nstate[eef_state]: left_x=0.4437 left_y=-0.1227 left_z=0.1756 left_yaw=0.0211 left_pitch=-0.1146 left_roll=-0.1841 left_gripper=0.9953 right_x=0.2642 right_y=0.3195 right_z=0.0532 right_yaw=0.1728 right_pitch=-0.3864 right_roll=0.0087 right_gripper=0.8962\nstate[joint_eff]: [-0.0889, -8.5538, 6.8718, 1.5849, -0.0513, 0.0952, -0.1343, -2.1675, -2.7009, 0.9504, 0.9744, -0.1929, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7681, 1.1305, 0.7311, -0.6975, -0.2546, -0.8547, 0.9966, 1.1904, 1.7729, 1.6634, -1.1336, 0.4877, 0.8993, 0.8962]\nstate[eef_state]: left_x=0.2251 left_y=-0.1506 left_z=0.0965 left_yaw=-0.027 left_pitch=-0.4973 left_roll=-0.2231 left_gripper=0.9966 right_x=0.2205 right_y=0.3381 right_z=0.1895 right_yaw=0.1813 right_pitch=-0.4215 right_roll=-0.019 right_gripper=0.8962\nstate[joint_eff]: [-0.2803, -2.8786, 5.2034, 0.5983, -0.2369, -0.0904, 0.1245, 1.2376, -8.7316, 9.8393, 1.1013, 0.5153, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76179e4b77e2652ee14c70eed8640ff7716f6c98e87f044e10a989172a6c6c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f180c867b8f648d2b7115cdc2ea252064c917c18a72f44ab8150c9f5dbc2e3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b3bef8e0516c1c4d97f24902a4173f5df5ec1c5254216315e0fa79f5fb7da2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHl_DJKg3ajO_ZIQ4JjJU_4G_OxxhNPrz5z8E-BkDhokdOyvwmhXQ1vxNYoUdyUT8DjWxJaeNSLs9Bhu__Hw8oR5QXLrh00yngfKtSXt8-a8EVmSFQJwYwdRc_j9C9qQ1Z4Epgg82wkJHdLa4wkG5_vBFXMu1geogtOk_6qI5BQcnA4lARnyl3SDMkgHdznHiULRYQ-hETbPmpIUu9C_Tbhj0LLyjRBkSihvrCiC1dKJAaWLGF9e8-cHiaMRj7ytkosLi1FZGIdxAMldBKRqFTRPZACN3Zlte14bcIIO1bQ1NoX27P5R15TPTcmpChsg1ULvRgz0IuddwUUQsxFGdTL0iWk8itcCKtWdahUNx7XPNrKazQn7Vy7PTbZxooAoO9m2vg-GDPypCE4SIUXHo6psiBdLXS7DgYj7Tab3nzlKvEWhuLvNWAmp-Y_I6yP4fT3pF3zObNIXmHfCLbKdEWspmhZjdkSwzpAgUPgczK-Yuq8u2UblOLYnSTLaAKfCMry2ChXxMLdRfveYcfIXEI2oOJym3OhijFhc7cqupx1H21DkGauiR4BwIlLPYWmyFov9FSlvJ95oosuKjeWqVqHytsZpfg28i0_HT7Pj30iIb-8kmGkL3ObCkMlC5ZjGbFIKGEm4z7Q2gT0Qrn-SAMuHpLAPopPLZcBkymyUyIlGlzBh-oXddD1M6HZNTH7IKlaVJ1txHQmC3j1dm3NjaYV3xpkIyVfHVYWo9VUJdb9caPWh_EJykCxBOMFg0_qqh8-woM5tT4iNuYVA3a2_ZzSy1VHUUWIoiSnzitlebG7aKlBE3bhrbqhTUKtyDPw2hRN0vx2UXVVwJQmKdkr877pYMhHLY7OmpDz0BmwQFIPOjwmFlpli5d_mcdvi1iiZgnDr5Rm1yMkWeBhAl7gAQx5vawtvjiRXK3-KWvMq4f8DdnOiMqjxbFLARhzcVOo5xExA_L8A4bEoTrVTv5uTwVuwDNykUzgWg-zVTGY6-LjI-StZHbO9quIF8VjLgC4mwKuncfhnslYI3Z3CYjyvn4ZxayHzhrk55dTu340y6kVTI9ID7iwRNfZy1enpzfjUKy5x-wcJzWcBVgKip5NDygVgbEvnmqxqUNn_lMCmoO1vzT9YPMd3CdDs_RBzzZa83XAmXISnXp_eO_OT8Ex5CGebz7eN94Mzo_AFRGLUpMq_wwJUw4sHID-p8LNcqT5as_QmtY4btgzdn5_zgqL_6lwjTIKLo_PZbZ5qY-DBsBFg7tcxuyKmTqMkpfmj-iFUQ3JpZdGWePxf1f-uesAf-ZViXA6KADUDtzGdWoTDg6eMCB1ddNyshTqrS6Pz9EhwUg8ts4At-7U2gmfoeZLTz9tiAD-9967lKeneDFkb_rGm_B7yI12kaBAiH8HA5XbZdzY5gIu65gjdEFvs9PQ_hJrrFn_ZcXZ0NaUI581bWOcaQOHAyB0_MJo6IfRsH_r2dPWejLrf_Q85OTJk6AVWBAtnTJJYLDLRsvuS4m6kwqqVrlx3Z4-mRPkA2T80aBXPi1R84HU3ZVAe-PYFlPW8xJIavhXRYbTY5vSoKTvkWniM4aSwf6bPbimkGuae64qjembuI6mF0Wum0Dk9LsPbIuHBSy9AqwaafJVDalOnwxI-mjAU0fwirwE2cQ_l_zktXJf0_hFNkrGcfZjIZvlkcwiFptz0yBTdAkyA08OPpGYR9O6nnQiQJy6qmjZIC8D0VmJXNvwHFEED-cLv3F4dCXSz_iNExuPS5HTn0mHV1GV6Klg8WDTAsgQNkA3EEirzL-xkrdABRbUYmKowuyBiFTdl7U57SioJqxTGmStcadkDQfAZdC11ce7xQjOJxWd_appzz_0dN1CIZDP-i4IW3OMvcl6D2K_1WcYHVnIlO8Ve31VTlgltp4T57VgMsYyIw2GcK1zjJ6D_GIJIV76bPE1MJ8dhNUrETAZsDOEY923Z0-3zyUMFWBoV0cTdNJsDRBOZq3Is1edhfzD4Qxn0LKKGyVxWNig_C0TTH2dgMzD0mP-2ieIIO1SlwKC9WOb7rXmpVlQfF0AybXEyE30zoQZKWKKo7DqXld1d47k94T1RIMhKHnOEXHLHcALw9_vH2HyFIB65fEvouil1rlovykfsSE0KI65FCGkuU1IcCZ_cp7Xfb8ptzZKOJGI4A1uWRUB4",
  "id": "rs_0dff2e48894f6988016ab4797b5ec087d0a74ec3b765e38aa7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.115,\"left_z\":0.015,\"right_x\":0.195,\"right_y\":0.31,\"right_z\":0.01,\"right_pitch\":-0.6},\"note\":\"The small brown plush is below the left fingertips, and the blue pen is now clearly visible just outside the right basket. I’m lowering onto both, keeping the right jaws away from the basket wall.\"}",
  "call_id": "call_i10qb7eNxWTxUd2oGDLBI8jS",
  "id": "fc_0dff2e48894f6988016ab4797e8c2c87d0b77e2065b2856c04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i10qb7eNxWTxUd2oGDLBI8jS",
  "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]: [-0.717, 1.0492, 0.3637, -0.416, -0.2329, -0.8196, 0.9968, 1.1648, 1.7962, 1.1282, -0.6552, 0.3729, 0.8902, 0.8962]\nstate[eef_state]: left_x=0.1991 left_y=-0.1147 left_z=0.0166 left_yaw=-0.013 left_pitch=-0.5097 left_roll=-0.2166 left_gripper=0.9968 right_x=0.2003 right_y=0.3122 right_z=0.0374 right_yaw=0.1904 right_pitch=-0.5576 right_roll=-0.0317 right_gripper=0.8962\nstate[joint_eff]: [0.4308, -2.2359, 5.9556, 1.1795, -0.1587, 0.1148, 0.0024, -0.3897, -4.6701, 1.9487, 1.4139, -0.2271, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c2970a010484910a8dd424b46feefce08fab5c2c1f43afebec292e0d49ba05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841b4de39dddb0bf190980ad66a11b7b3bd18dd5aa9705862589deba3636e261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e356943fdeb0e1d22fb7e7601fd3559d0e4a1c14cb94bf57546c0a18f3d41b7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3538, 1.5681, 1.1488, -0.2562, -0.1925, -0.3988, 0.1209, 1.0763, 1.8915, 1.2991, -0.693, 0.4416, 0.833, 0.896]\nstate[eef_state]: left_x=0.4422 left_y=-0.1235 left_z=0.179 left_yaw=0.009 left_pitch=-0.1098 left_roll=-0.1863 left_gripper=0.1209 right_x=0.2553 right_y=0.322 right_z=0.0552 right_yaw=0.1156 right_pitch=-0.4831 right_roll=-0.0697 right_gripper=0.896\nstate[joint_eff]: [-0.4171, -7.4735, 9.7436, 2.127, -0.149, 0.3394, -0.0366, 0.8137, -9.3197, 7.4325, 0.5495, 0.2857, 0.2222, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7681, 1.1305, 0.7311, -0.6975, -0.2546, -0.8547, 0.9966, 1.1904, 1.7729, 1.6634, -1.1336, 0.4877, 0.8993, 0.8962]\nstate[eef_state]: left_x=0.2251 left_y=-0.1506 left_z=0.0965 left_yaw=-0.027 left_pitch=-0.4973 left_roll=-0.2231 left_gripper=0.9966 right_x=0.2205 right_y=0.3381 right_z=0.1895 right_yaw=0.1813 right_pitch=-0.4215 right_roll=-0.019 right_gripper=0.8962\nstate[joint_eff]: [-0.2803, -2.8786, 5.2034, 0.5983, -0.2369, -0.0904, 0.1245, 1.2376, -8.7316, 9.8393, 1.1013, 0.5153, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.717, 1.0492, 0.3637, -0.416, -0.2329, -0.8196, 0.9968, 1.1648, 1.7962, 1.1282, -0.6552, 0.3729, 0.8902, 0.8962]\nstate[eef_state]: left_x=0.1991 left_y=-0.1147 left_z=0.0166 left_yaw=-0.013 left_pitch=-0.5097 left_roll=-0.2166 left_gripper=0.9968 right_x=0.2003 right_y=0.3122 right_z=0.0374 right_yaw=0.1904 right_pitch=-0.5576 right_roll=-0.0317 right_gripper=0.8962\nstate[joint_eff]: [0.4308, -2.2359, 5.9556, 1.1795, -0.1587, 0.1148, 0.0024, -0.3897, -4.6701, 1.9487, 1.4139, -0.2271, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c2970a010484910a8dd424b46feefce08fab5c2c1f43afebec292e0d49ba05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841b4de39dddb0bf190980ad66a11b7b3bd18dd5aa9705862589deba3636e261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e356943fdeb0e1d22fb7e7601fd3559d0e4a1c14cb94bf57546c0a18f3d41b7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmEqK4YZOt-35kvJDrVx-lG4mOt9tczF4mlW56Bx5rF1xo-ex2aLUrrR1gOGiNcf0XJHVTRLuPQ2TBmd99mfSIXKbc_LdryRVnZH4SRMo_qb-U0SqpEb_JCgnX9JGANlRhgkgn9LyvoAe4qAdv5fW_xd5C2vbw_IxYKrOxaqKfxwHFbA-lrSmxK1ikLR2JRO07U0cazresKaPJnY-2YRZrU8ItbBTDhBIkTgrtBeTpxhfg2rt8kVQkEdUobeuVc69Qc8_AC_NbrdcIVXSXvIqGr67fWXGMzft9qpcpADasMQz4sQT8GmCdNfT4Yrf6otYbaDQ7zinGGRRiH446E2RMrgvmAKW5rkBRFoaRtZtH_t1E3JVPlSOot59A2NNFdWrlMNSCXfY7J6FBYFYMYgm9fz2cwrzRAJnYt3oy5NR2Sz4mcomA5QGiNbqTNo68W16zv2R2WIePUSIBXzYUCx8rkYhWlOWvBcJoP5YyFcYyeJbtkU4wvbAjCmukKJQuUbemn80P4apoUGDjnP9ztKvLsgxFkIbuIUjouS038kC5vzMgAM-WyCnxHcVDiG_xLmqIaRdNW5COwmM8seeo1hWRfFLryXFjLl-HOOzys8ETyA687MqMSooWwhgtDgz9L5ZoVU3Nuce86GXY26pMNi0mG5cE58AkQKSexZTAk1ydP-St19jb1fr6X9AAvr8IA12EtcZzm4GR2CIY4Rxq3_Iqu4WODO3zJQ3TZlMHgrKr5ZYUS_K_8BVFegVRwH_a6poA-T1IXs5GcHvuyIWWN3DuOHbgpqg-gYd_rIOzLvVNeybCj5AVhdNtjoIFhviC5kQBqOjEQK5d3x3b-Mob2DlrTNfBCfbyE1ejVKA18VXJlZz1bWxNvj_WIEvizDYsyMMR4konV8IiI3nc2EXfLTI38MScd7yAA8xsDTr5mRTTdif_yrgLcfjp1dBNYQpAzUZa_w1591755QUMJeMKAhmBEcbmo1ZiperDJNdUILmZ01BjPoiEfgzD-g92gPAoHDeTPYvJ5neaPolKonPWsFGqtuBhM76sZ5xlWHl_qzyr4tp6iFddCOj7PfzjUpcPOTpC4zP9AYfWND-l2QPIN9jjLnKd68VOthKFR9NV75t7zVzKd0I5SvtQaMpHFk7COzr5ubjjf9a_f9kAuwJlFpLENrE_C5EMukoHPBXMRjDJJrju9kkzS6fqOgQ5TblU12kcgB8DnyYkQ57OsaQH_sDF5XJvoVmHoXCwWmEIoIj1TLIQsS1atFszb62OgPpac95oYPdAZdR8Q-h4HJ8hEOqHA45L3_P_jNaj1kTc1_dYRF-FpNX_SDJhDB7RDKySjaD8-HzKlo6w5nMw2oXgs-uwkY9dgbuHYF-49SjpkcT9ISuCbkYbHW6VoMlcwSaxi9Vjeb24oT2lIlgwNWikjdJkKez_JZGIKE2RPSBugU_rlVG8BLpd5muGIhcUVwtqs3OlTiObxTVVGST2upKzOHXmdPTVNo32gGV8mVGF5lhC3-L0rI_BP5w_0w-u-mHQApt_Ef381M_08pSI8_fkwMXgAq7hw6ftWzPp-b-OtM3whRLM=",
  "id": "rs_0dff2e48894f6988016ab479824b8487d0b4c5f155473dc3bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.335,\"right_z\":-0.01},\"note\":\"The left jaws now surround the plush’s body, so I’m closing on it. The blue pen is left of the right jaw center; I’m shifting away from the basket and lowering the fingertips onto its shaft.\"}",
  "call_id": "call_15ZexX2XRnaR6KnI1TtumJ8H",
  "id": "fc_0dff2e48894f6988016ab47983e6e087d0bc4887d8b95b4c61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_15ZexX2XRnaR6KnI1TtumJ8H",
  "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]: [-0.7166, 1.0477, 0.355, -0.4046, -0.2325, -0.8227, 0.2056, 1.1873, 1.8603, 1.1801, -0.6579, 0.4671, 0.8631, 0.8963]\nstate[eef_state]: left_x=0.1989 left_y=-0.1146 left_z=0.0152 left_yaw=-0.0126 left_pitch=-0.5071 left_roll=-0.2217 left_gripper=0.2056 right_x=0.2111 right_y=0.3203 right_z=0.0361 right_yaw=0.1713 right_pitch=-0.49 right_roll=-0.118 right_gripper=0.8963\nstate[joint_eff]: [0.0205, -1.9761, 6.6803, 0.9939, -0.1441, -0.0073, 0.9548, 0.0479, -0.8274, 2.2906, 2.1416, -0.7497, 0.5201, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a5e0fc2e329d0352efbeef01f6c4ae685773593cd53dc9e4786b70f32e134d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397f1cccc77dcb6ee4faff6a88c67a8e7e4c1f9a102c070f01a6990d3ad540b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758fe6455266a9facd0de629ac73f99e1722191e7a702cb007718b7a85d0786f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.355, 1.5787, 1.15, -0.2535, -0.2028, -0.4068, 0.9953, 1.0615, 1.8206, 1.1442, -0.4706, 0.4603, 0.7792, 0.8962]\nstate[eef_state]: left_x=0.4437 left_y=-0.1227 left_z=0.1756 left_yaw=0.0211 left_pitch=-0.1146 left_roll=-0.1841 left_gripper=0.9953 right_x=0.2642 right_y=0.3195 right_z=0.0532 right_yaw=0.1728 right_pitch=-0.3864 right_roll=0.0087 right_gripper=0.8962\nstate[joint_eff]: [-0.0889, -8.5538, 6.8718, 1.5849, -0.0513, 0.0952, -0.1343, -2.1675, -2.7009, 0.9504, 0.9744, -0.1929, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.717, 1.0492, 0.3637, -0.416, -0.2329, -0.8196, 0.9968, 1.1648, 1.7962, 1.1282, -0.6552, 0.3729, 0.8902, 0.8962]\nstate[eef_state]: left_x=0.1991 left_y=-0.1147 left_z=0.0166 left_yaw=-0.013 left_pitch=-0.5097 left_roll=-0.2166 left_gripper=0.9968 right_x=0.2003 right_y=0.3122 right_z=0.0374 right_yaw=0.1904 right_pitch=-0.5576 right_roll=-0.0317 right_gripper=0.8962\nstate[joint_eff]: [0.4308, -2.2359, 5.9556, 1.1795, -0.1587, 0.1148, 0.0024, -0.3897, -4.6701, 1.9487, 1.4139, -0.2271, 0.1636, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7166, 1.0477, 0.355, -0.4046, -0.2325, -0.8227, 0.2056, 1.1873, 1.8603, 1.1801, -0.6579, 0.4671, 0.8631, 0.8963]\nstate[eef_state]: left_x=0.1989 left_y=-0.1146 left_z=0.0152 left_yaw=-0.0126 left_pitch=-0.5071 left_roll=-0.2217 left_gripper=0.2056 right_x=0.2111 right_y=0.3203 right_z=0.0361 right_yaw=0.1713 right_pitch=-0.49 right_roll=-0.118 right_gripper=0.8963\nstate[joint_eff]: [0.0205, -1.9761, 6.6803, 0.9939, -0.1441, -0.0073, 0.9548, 0.0479, -0.8274, 2.2906, 2.1416, -0.7497, 0.5201, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a5e0fc2e329d0352efbeef01f6c4ae685773593cd53dc9e4786b70f32e134d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397f1cccc77dcb6ee4faff6a88c67a8e7e4c1f9a102c070f01a6990d3ad540b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758fe6455266a9facd0de629ac73f99e1722191e7a702cb007718b7a85d0786f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmOG5WQGaDSm4MOylNTBYGb7QQw51IT2IT-4QQshYGmDhL_MJ-C12DXT9eeqaRgGGmJMvJIVGAgSImEcPgNJ0q8z_gF2SzrB5mnXaLoUmATZ-qZs17a3rFi4ZNTl40Rwt3YGUKQhjFTO5Oj84shn0QRZ0YQM2l-L7533gYSQYQmyJLmOGT4kMGsqM_kp75qU2csWtbZ-mLwl90MHo-XLYpnxheaBWOKAuNc_9SkDBnXw16zZZoZalRcTOqPT5VtnAflEJvYuc1P8G9x6A3UJeJvuo-VNKgS_1jVfppWejhJTzAjd0xAoA32gCGu9GLisGIwh3JnhfQtpPVuws_uR5Hj3bBz_Fq-CB_zISs3OrPqFsWuJC6kx66jtpGO_3SxNca8f-XgYixYrm0GEtr7WDZHDxprk7vSEhvZpP0sd-PTnaniTuBvE4zGLSzdX0rWQ7rVGzp7tQ0PWgbh_8Nk49Iv2qqSIyiWUUVrfcytQX_oUOT_BBivEajX47FlErFmHdTJBqEzuM3Bca-MUqbPSVudy-bpD4_0Sn_C6OEjGHdFOlADjMOZh0pn8fFCn-rOs2wo-chsmolur8Z8uqqR_6HPplUIVdRDFrNcdOYCSfDeeuXOVLBJ0tbH0FxUK4bzThmGu7CSL47ttiL_yv5ZJRCgKw2p5fCWQyCJWj96lWgErlGHhBvtddClz4jVb47y-2MMjBrztWvJVSHPVyv5H0sTkzJE9EGQq6PRcnTmObVVtFUO0tV192aV1Hfab-U0-4B85eoYhGHoRVYvEqP5EJZBK5rGX6QK8UFEWOO5fzsh30EKWiOTh7dtY8lH3STK3aKnTgo67FCKuZ8qB7dieLXQgkUv-bGJaD0_kXt_CKEADd2WNnIqE5axjUW6ZI7LGX7o0grOVCE1LF6-HbF8r4cymDFRIlkxC19vueohPlF0cHS6qAkkECZRy2ApzUQTzaT7KaTBFFfMTcF-KumPQkZHH2T0nUD2E8XsscBCl2t6K9Ul5EbyFEtA2AZYZ6dhdMbmXTWgSQyq6u2Z7iDKKQtk1R3rk7cEG_hgSEXIOLI_yAjCyontrvc8ENG13TFsXqdF6ZvWkqz0mX3RpVVF_-E3TXwmznx9S1hWU_nSlN56tqi5-5EhrezIuvvAhVXWg5Cv7eDGyWXNxtmlWG4pt4lJE87XfvqguUleW_jzCaWhN_5c7SggwpSj9eQFsHHXmODGdcCs_aEKvNf6I6T4SzEjj2gqTqHpCK7Wl73BB7MZofAoqnmGo0kyEvwmgsVTUEUoWQvrICIKPMFfVjoNpBWUEKxE74qNNiUy9-IlvbO6ITnzy41eBaKP7jFaf7rIYVd2U3zL25QLW-jO4m1-Z9QwSPAYE80UeI66Bw1zt0i4Rk56Wp98rOrvgJMDGNl5OmBElFx5H9tvWkObtptpOGXPtWZ7atp-tfz25CbTDT4hYgB1hY6_J29gRjuk4SIuN3fxexoNbEsJ5egxTOz5foTfBxPtEZIQGccaNglFCyn_zYN-f2Jcq-fSGlRoTRdYWOnOOv7ukGqpIDVken_XuZjD_oHRWyGs1s5dXoRpm4Ouxowpb8_CF_Bmybv58-r7t2ybtfXmdwJ2MaBtOgfpcXiwh46thv3mktyLMnEzlQFF9KVtbXr-K25gPp8_GcJFlYhGm_8KSrFpEVDn2mt-xTph8BYRJudY8uAkwayKQWt-pZnYwwLNpCVr6hkPLGGB8vvY_xvi1w1G1qXZEp06iuc1Dl9_YvztpKEXZgMj3OCuW2JDqf0P349aeEXZs1Q3demCrDeL5uU6jQirqa-3Pt8M2MVU7ncKjTQVex7CK2WUhBkB3WpM1UvOnEv1HwACd6Rop8ETNXnOqaf930d7MhLIFfG1LYonoivmZWeERncmds329rR0jxpYzfO6YfNDMCYAk49HZoWFskmG_zbLJ-sSSYdiVOFPUL-nAS0hO9ihQiTgJWZPl6Ufi3vJ2BY0Tgvuj1CTN0fPGWo75wsBC4cTgBtM4zcG0DwPDvzivBEPy2KHOGsnYZYrdfum9puAlu3t8qXXKLpC77eK2CzjB4Ca27ejbkiC0GOZQ32-FlYQOqxsSsOXO6NQc9Q_6wa4-u71Drl-8Xg5i5rgvBvj8Y3LmLZHyFFNHOTW4u5u1Y-eMEte1tQSU1rkP18r4ZZXZdU0g-rnG3AFb9dYShJK5cLyZlOkNI2NWNEmq9zZq6JkBGtfkQV85uFrsVZdwBKup9qfmqJ-Z2AjqOtlXr-M11w3kc4oeSJnuHU9bTgKt1z0uvWpRDHL5vSKZgoZXsAAOeexFI0Su4sV0eIXR-I3EYjeBpyPacQ-ParUNZknfuZMRgxtdfFShOZyEaTygieleAyKWgApCraMxrPJRM4sFlUV_PLnvlazAOaN1iRaLVqkS36r8iTJYMD5BK8pa3QiNbYQrqid3cIxMRk5KZ1lm8JLA9BmHbY4wEqOkVYd6N4uTQW7DRp1bIFGolVqjkgBOH_z1IrhV42gJrIAGyPUdjWpBAw2hkJpUpVmhifTH0NVyFViDXrOM78GO3aX9lANexsWZslXn73zvoYMifOM4YvMgdU2XYow6qBwDu7ULG7ewulKM1nq-KdE3azvH1PIoKlWe-XEXbNbwvkCoMpnfOhhL3CVnZvfd8LPljQZ9epLAt9Z9mZbU1VZ8peaF-vUvYtUnB9kCKu2fK6bPQQPaAu7O9rGyDqZ10Car6MwBTgbsviLIql3rcsPPN_m4FzLW6X6bhWnrrhjRUXA4ypz7d1Ut7xMj2Lg09fX5W8r3XPMG2M=",
  "id": "rs_0dff2e48894f6988016ab47987641c87d0b6d9e4845c812a77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"right_gripper\":0},\"note\":\"The plush grip has a clear nonzero thickness. I’m lifting it to verify the hold, while closing the right jaws around the visible blue pen cap.\"}",
  "call_id": "call_6BoGKgbUfYsBQUE0fzRprQfe",
  "id": "fc_0dff2e48894f6988016ab4798d700c87d08dcfb4088713a900",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6BoGKgbUfYsBQUE0fzRprQfe",
  "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]: [-0.7166, 0.9413, 0.6601, -0.8043, -0.2321, -0.8234, 0.206, 1.1835, 1.8362, 1.1889, -0.675, 0.503, 0.8433, 0.0505]\nstate[eef_state]: left_x=0.2021 left_y=-0.1174 left_z=0.1012 left_yaw=-0.0167 left_pitch=-0.4983 left_roll=-0.2312 left_gripper=0.206 right_x=0.2175 right_y=0.3174 right_z=0.0491 right_yaw=0.1683 right_pitch=-0.4534 right_roll=-0.135 right_gripper=0.0505\nstate[joint_eff]: [-0.1436, -2.1949, 8.335, 0.8669, -0.149, -0.0366, 0.4713, 0.3487, -6.9812, 5.1761, 0.906, -0.2076, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb27cf347ed0b8a7db958a7caabe78c0627ddb5b408fb49362272d6e9bdd714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d2e96d8965d9a6ee9946a79322c0ef6d7b8d03baf7a6b158734cc31d0a21c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226518487eecf9586ca2e30825b6e2a0a67cd98e95c6fd68b121749302259ddc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7681, 1.1305, 0.7311, -0.6975, -0.2546, -0.8547, 0.9966, 1.1904, 1.7729, 1.6634, -1.1336, 0.4877, 0.8993, 0.8962]\nstate[eef_state]: left_x=0.2251 left_y=-0.1506 left_z=0.0965 left_yaw=-0.027 left_pitch=-0.4973 left_roll=-0.2231 left_gripper=0.9966 right_x=0.2205 right_y=0.3381 right_z=0.1895 right_yaw=0.1813 right_pitch=-0.4215 right_roll=-0.019 right_gripper=0.8962\nstate[joint_eff]: [-0.2803, -2.8786, 5.2034, 0.5983, -0.2369, -0.0904, 0.1245, 1.2376, -8.7316, 9.8393, 1.1013, 0.5153, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7166, 1.0477, 0.355, -0.4046, -0.2325, -0.8227, 0.2056, 1.1873, 1.8603, 1.1801, -0.6579, 0.4671, 0.8631, 0.8963]\nstate[eef_state]: left_x=0.1989 left_y=-0.1146 left_z=0.0152 left_yaw=-0.0126 left_pitch=-0.5071 left_roll=-0.2217 left_gripper=0.2056 right_x=0.2111 right_y=0.3203 right_z=0.0361 right_yaw=0.1713 right_pitch=-0.49 right_roll=-0.118 right_gripper=0.8963\nstate[joint_eff]: [0.0205, -1.9761, 6.6803, 0.9939, -0.1441, -0.0073, 0.9548, 0.0479, -0.8274, 2.2906, 2.1416, -0.7497, 0.5201, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7166, 0.9413, 0.6601, -0.8043, -0.2321, -0.8234, 0.206, 1.1835, 1.8362, 1.1889, -0.675, 0.503, 0.8433, 0.0505]\nstate[eef_state]: left_x=0.2021 left_y=-0.1174 left_z=0.1012 left_yaw=-0.0167 left_pitch=-0.4983 left_roll=-0.2312 left_gripper=0.206 right_x=0.2175 right_y=0.3174 right_z=0.0491 right_yaw=0.1683 right_pitch=-0.4534 right_roll=-0.135 right_gripper=0.0505\nstate[joint_eff]: [-0.1436, -2.1949, 8.335, 0.8669, -0.149, -0.0366, 0.4713, 0.3487, -6.9812, 5.1761, 0.906, -0.2076, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb27cf347ed0b8a7db958a7caabe78c0627ddb5b408fb49362272d6e9bdd714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d2e96d8965d9a6ee9946a79322c0ef6d7b8d03baf7a6b158734cc31d0a21c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226518487eecf9586ca2e30825b6e2a0a67cd98e95c6fd68b121749302259ddc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmUacB9S3JXiJsF6ODBUnw7a-DDJr3IRwHDkfaAuO42MkbxQDYNHCD5841RdMBIxKgkBv_8NCPWrfBejdDQ658kNZfxHD1KLcpa6Qp-7O77piOXZzDKNAr0mRps2E3O7dIiO6NrjjSRO92-tXkwwVKnZ1Qh8rtFJjcUDkiYqBXsaKNjQIkkKVK1SunJpIomtx-eyOg0NfVQkouYzjej1RsV-Psvd1r7M1AFmrQxstfb04DP3Bs-OLT6D0I8j5vC4yKh7sHKv3MLUi3rCnx4OXUKmLNz3b_n_Ok3Qub-UDzF2Cf9pkIsrboEN4AkfdTlsEE9OZ0nJvf-qc1fTMmQMBCrnSavHlepC9OcTu5358Let7zKONNMLZBPQuNlegAWElUBbilHqECBbof3Xt6pM-M8q9mzRX9V_wN4FqHqt9Fs-mXpnyQWl_2u8qES1pbkVOd-3-tJfgmJj5WBJ46DYc3HbYq6BrH-f1cG85B2fvDz05f8TQo9aGiO0zSrH1B2EL79Zkp8ujt9Umhso01-fH_kTy9TcydhtORtwIH_o_LpM39GDPGJ1HSI9cFtYB5Y31jTvr03qQiPe3ZNe-DC5162FcJsROYVtFqb3MA2yxMVj3bfwqk-6MTieU4R15EYu00SXAKxVFf-ObD-aKmmbw9zbC9S8AV00jAUNNn31IY4f-cH-UKkNBTTREm-oCwL5g1rVOLcsBFNDjntIVAml9B4pDpUI9mPcCA5OkFZRzi6puVDpXALWVbcJfrxE5JTlfXKR-gNRU7UAiNRFGyMWumVkNng93c9gcngkQvjbvXEmCQ9qwRcaHibocWirpAVRvjXEJv1C7XR5AhygKYF-fxigVmdOH4kagaAY1CQROHt6xZeXfiF8GYYY6tZ_BTHolrtk650P6Ic0S5CIi9xaXFeh-GGisGiZh3ISO77VZ2jRsNchiLzv77sdvB2Kr7BgGjg71qxPJmKcUEbVf1uozG_WfiIaL7JafHykXjO4IeLvzTDuKfFraMXK7LcaiuvDbUn1iOHXe04n3TCfD8dzGWPseQQT3zMXLNivVFlYNwfD1wcMkCppfGDglS2EZwUY2ku__Obdf3YFm-1h_lE6ktYW0zj7x2QsYApQkJ0wOSMbAQbR7R7Sqj-5i3uWw1Duqg-3wugWeQ3GrV8yG2bTCvcEwNjQvp-gaKni3LAr8gOCIsVTJXpN-L_DY8TlaD98G1jycg3SxAFVDp1HY7MeqKA2yh4yGEHrv2DqDx65cKZFnlUrAHk5YNT6r11Qn2SPmd4zNiJsoP7f5OCc4GEvFY4FgCAMlqGbSRHh7j3zaY9L7CoB6o3lsbQ0bA5WnpeYSBA-3EYTgq9JBrYYhoBfKjUJumxFo8lKYMUEkj6Mx5N7UCPn-w9x4qoKWfV7JkOERZEwmp3gTm4oMSUtMa5vzUJ5VmBTPU803quItua5OeIrUUs1aR0bjRk-u3TRsYBpaV-5T8QHoICjKrCs7b4QCu6CrmBAbmlI0b1WAgugGQDWi7ZnGhz5LyT4RjJylbA721d2apDafrBvu_BZXYus_qbEcEyunyC741QBzSHkTH72BFA8EAmiqwOyvGAVSnPUdIEocGLqkRqZdpXOrfVK1jFvl_jg-1ExCjzCFuas2uOtcIpyu7Yf0P0c9EL4dECKVHpUAd1HHEPyA-bvJwpCxUOmqTagM1sf3-8jmQlDFsds-4yfTTb1_DkCHOiBwaifVLKH9c-l-zOOcDc5BUsR5Pi6EEoB456yjpGA3TBJFJHcSwJyil7LTUio2rG1gPU-n60Yh3B8muccUeHBiBA1IUzWwNCmZ3wva8PKh6wZ7K5XLCc2FJX0BLi33JNXX9btY3JEHj_rUNHJdacawxDpYxUVyteAcxVzFuPVNMBjO-W91NaaIyG9cBvUPEVQ2Eq0XoHR6xkG6fCPddNT5ePJUxaT9qsLN1O7Xi4z1IPqDuyUFgyBBMBQASXFk-vVImuQrLXm8CrXRBCBkfSU1ryz7qNEYw0hPycAXpq5XLsBm377w4gRzdJ4iQ6v60OgITeUbDT",
  "id": "rs_0dff2e48894f6988016ab4799090b087d0b022807795baf89f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.36,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_gripper\":1,\"right_x\":0.26,\"right_y\":0.07,\"right_z\":0.24,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The small plush lifted with the left gripper. The right jaws caught the basket edge rather than the pen, so I’m releasing and clearing that arm while carrying the plush over the toy basket.\"}",
  "call_id": "call_y5LWKacIeM8CFtSlILRwslD9",
  "id": "fc_0dff2e48894f6988016ab47992fe8c87d0b56c7d5fc277c3db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y5LWKacIeM8CFtSlILRwslD9",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0676, 1.9446, 1.7576, -0.7757, -0.7944, -0.8337, 0.2076, 0.5571, 0.8085, 0.8436, -0.7216, 0.4728, 0.3401, 0.9977]\nstate[eef_state]: left_x=0.3446 left_y=-0.3571 left_z=0.2122 left_yaw=-0.0021 left_pitch=-0.0515 left_roll=-0.0198 left_gripper=0.2076 right_x=0.2583 right_y=0.0703 right_z=0.2276 right_yaw=-0.0267 right_pitch=-0.0303 right_roll=-0.0032 right_gripper=0.9977\nstate[joint_eff]: [-0.5402, -10.6325, 8.335, 1.1013, -0.6813, 0.2271, 0.6471, -0.1299, -0.8957, 8.253, 1.707, 0.1978, 0.0855, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb8b034b5840af663d142fd0289d730b597469ba84f3c4eb5b5a143f550794f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f920dc3ccd2eab6cac5fbd61dc906885503865dd71f7c83992f06d0f26f2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0509935683190a8e8a7dce3c5d5e30b9bfc4022e9d5b6679fb34e8890811c6dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.717, 1.0492, 0.3637, -0.416, -0.2329, -0.8196, 0.9968, 1.1648, 1.7962, 1.1282, -0.6552, 0.3729, 0.8902, 0.8962]\nstate[eef_state]: left_x=0.1991 left_y=-0.1147 left_z=0.0166 left_yaw=-0.013 left_pitch=-0.5097 left_roll=-0.2166 left_gripper=0.9968 right_x=0.2003 right_y=0.3122 right_z=0.0374 right_yaw=0.1904 right_pitch=-0.5576 right_roll=-0.0317 right_gripper=0.8962\nstate[joint_eff]: [0.4308, -2.2359, 5.9556, 1.1795, -0.1587, 0.1148, 0.0024, -0.3897, -4.6701, 1.9487, 1.4139, -0.2271, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7166, 0.9413, 0.6601, -0.8043, -0.2321, -0.8234, 0.206, 1.1835, 1.8362, 1.1889, -0.675, 0.503, 0.8433, 0.0505]\nstate[eef_state]: left_x=0.2021 left_y=-0.1174 left_z=0.1012 left_yaw=-0.0167 left_pitch=-0.4983 left_roll=-0.2312 left_gripper=0.206 right_x=0.2175 right_y=0.3174 right_z=0.0491 right_yaw=0.1683 right_pitch=-0.4534 right_roll=-0.135 right_gripper=0.0505\nstate[joint_eff]: [-0.1436, -2.1949, 8.335, 0.8669, -0.149, -0.0366, 0.4713, 0.3487, -6.9812, 5.1761, 0.906, -0.2076, 0.0562, 0.8132]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0676, 1.9446, 1.7576, -0.7757, -0.7944, -0.8337, 0.2076, 0.5571, 0.8085, 0.8436, -0.7216, 0.4728, 0.3401, 0.9977]\nstate[eef_state]: left_x=0.3446 left_y=-0.3571 left_z=0.2122 left_yaw=-0.0021 left_pitch=-0.0515 left_roll=-0.0198 left_gripper=0.2076 right_x=0.2583 right_y=0.0703 right_z=0.2276 right_yaw=-0.0267 right_pitch=-0.0303 right_roll=-0.0032 right_gripper=0.9977\nstate[joint_eff]: [-0.5402, -10.6325, 8.335, 1.1013, -0.6813, 0.2271, 0.6471, -0.1299, -0.8957, 8.253, 1.707, 0.1978, 0.0855, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb8b034b5840af663d142fd0289d730b597469ba84f3c4eb5b5a143f550794f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f920dc3ccd2eab6cac5fbd61dc906885503865dd71f7c83992f06d0f26f2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0509935683190a8e8a7dce3c5d5e30b9bfc4022e9d5b6679fb34e8890811c6dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmeMWqVEXBYW9fowf-wtdpyLmMmf5h5rzNVZjQVjQadKwoddt-KLWVY2CTyZsno8eLIJNU2KH1tPdRsoVmu1lADo1SDd2Sqx4cTmv4QS4RPN06wu37Fvra4FGKXYEJvt5biv_7PuU9fQ9IiJ-k8XrrZ-gDJlnoCE4PMcyFIQIRToL8ol4RrvDUDnQ0EqPJJtWi9Hpi1-_dcBNVuQ0wEaqFZ7-vj-dyMGxZzQD-XVkhBzDrLVFOHYIRuY7u2Dvz7ha8B1JI44Zv5Gobfpvc2mwkKqxigsjTUqtc3bc1KgHjt12DWBJaZVG0ExjQdv-yCGMyPj6esjHa9fdAjd0zrv5BSOLx3Y0dC_Jlb1wkHeXMtTWdiTwZPsQKBZ6qEsQ2ouNpIXZTJPoIU-S6HH6UmOZOREzIdY-9x3sq4gPnURUQcu5agTg3a5DNS0nwVXnNLjRMrYuxNjgt2C3biTBfKSChPyLeI8mFvT93gCMz3Q89WIMHN7rB3ON2_3B-7Z6R0NmGl_u4_BYNG3W-iHCzI1oGZrnz__uNJBxij1Ce82PsmcRorKdXVP-huC4f6ndMt-DHAyCy6F27r_xw0o6Cl7aYEXx8I5eLfS2l3JneUvQuqvS4fzwpRzSifskfuokrvzVkHXxelc1G2I2FbfprLiEilJmHrcfhPf6HOXFleMjlWkl7gr8Iq4IzPmDCh-SZeq_eddCtsIHTVyo98a-qvSlZ20amu7UE89l_O620vzPwPfaGEx_7A-jsum8TXcElk2IXKSublag0j9-rPydz1FXNEvsJpOVRMLDptda3i2HlGGqffFDnLaUG-7IJa0UXG9Onpq5R-n4GBq5jkrA9_89m3Z2GE0XEXMLRBkXeJZn-15w1swLqeTR87RU3LxYZ5ZMSGsuZVZ21gFlv-Ib8awNL6jpHdxNxG9UnV3ZvnyZerPzSDvR89gX8hVlP0bg3wd9f3SeAo0c_oOwb5dWs_Im79H7zvrqgwgrGz5NQ2dLSLk0gc-seysFhoyeP-KNXWGTW0xYae5w9UGymLjYaokexE5aDL4_b3lQzBt1BIaG-pxw3dQbt8DvygChF2VQ0upAMZr8YjgHxPp1QJC4GnSUyZtnPvsql1dn67HQFMLE7jkVpk8pUGBwvAjFOfmw_WtT28TsXIaYRwb_bFsWptmZZwPbuKY5G_zy9Lc6_g7NO2BxDJO7oYVUXxHX7Fz5ZdT-gQEoT4hyFRuzvKOYFsB7wB-dkGlmQrNXglwVgGZDvMyu-RN9eWGvtfkNFdPmLVdvFceAtzFtrvk_a_HPZWusdKqlMX5k3AsFsiDbPy80ZMrYkWFDtiKSfW-K-7cKi820dpHSj-fR3QMIFLTSFvgYVlz4eN7iTf6Mlq2RbarZ4V0nSpIxXpobPD1HJhO4j5V0L7UOyh7rDOH0puiacXJfuHj24rqLVFO1S-_NENjX4oFjBkSPIV2UWV71mkF7__4GNX_IDj3n5GbfsG-NO0m2kFrkC64jE0Yeu1v6HU-vREOImvv-sAwfqlaR8UkVuwRPAn3NryG-ny0LbTfVjLJ84cb-uy1fUUFdtluzy7iAwxg3MPzfyJDNmnhN-SocPojrn9eSk5U3OgRFOYysk54fOKckWU-gkoGq09icg0Ge8ToFLAwClkM7u0FOtn7XsLGmbRGKRjwhF23KWD_pa_iS9L9JpLZMkX9I7rZtuaHzY9Zxq7K80YsE48GnKOMM4NuEBbsPmq7DxiXyLnmUANR88r4F4b0tpDWBXqrc-H56zR-sXMMKOYCAeOVMFmggZ_WCm0WmSs0iaamEtC4sE0ljfINNhOwGSihQpze19N1GpfJOOAds9FxgGsaqZxO-i5U_ecdj1y7J6UTrAgVRAQs4H-jMpXyUTe86oEyr_lCFbQbiyT7frkySulFfRvgfIWoNpb3SgOILLigKOZ5SqiBchGWAlYryt5He4_U6eHgQXwEX1m6KwuD1bEA8bk_9aM-w6HnA_P1skfNnHZgV2QwUh3FRwdJg7Nh1UKXd3xds7RHgGcGwN7eQXOAVOTOe6p2wwvb68c6yHsZe6qiB9-u45R88hfSdQIc6mjYGepFJlIzKLx6e21ILbaRzLWmoTWhZA4GFFgj4497HRywWeG3Sj3xDp5Ajw6jXg0Fh1GLJuEgXna-4B9DM8VThdIt1pB5qqr6XGde6jb9EjkNlCr4Xz8kpycZCuMZn4zivNwvQUhF1y3JrpW2rfiQeXeE7xFnAxKXiRM6srZzqplTIPa3eUatJBlUWV077_DNxG9V-IXz7ihbglD536p5P0bGftK4DjxFbfPFZgbVXeipRZXFZrU8ksTp0o6YWhx-BnJrjmGgmRfej3JL7CwPkXbGDj2CGVGs92GsVkgPW4fVEz3BvvVK6i9Vj60ySwiL2Xanjhszoy-xjX8c5mMOaar9FDQGJjCbqW9ItWPeyfhrb6Cog5bq5TtKEdYbYPY3mPZqw2dbco6iXCkLEaadg9q9kfHEo5Y17MioG_QQlM9iX-6Ibr8OPjxecM4pjitkGBwz1gpcl8UcVyzOmeTD2tSBVYriXgnyphRBfbylUIyHEp28BJIq4I0dUcS1T3lcfKEtOmyWXGQ5QURx45jM-oY5XG8zajZSDnJlj3xK1DJkKGiZYfoz9D2K7r2xmbf-G816BuRfd-M2rPhySm44i1lfjOgeE1v9r9llyzlLPSPdLWZQKrHf4fyhLNVVAEEm-Db3oQySDbbJbrZpaPHTZsjZxxlcuDBthoWPI9PGkq7EhoxiKeOv5JAFxuDEylQahiKhakh0V4mBIN_M8b8ubmu4u1MCzpONlVh60sIf9HuC0PpNY7P4TsmcPN-R7tpogDPtrQ2NE607pJ-g2VMwxopcrEqp8FZDWUF4wnhohz1Cpx4aPDfzzggt_BxCV6LqfoBGqoklTG0b5pLCNMqecIczfrwqa0Y",
  "id": "rs_0dff2e48894f6988016ab479983a6887d08589f3b8ce05d6eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.4,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The small plush is above the toy basket’s left side. I’m moving it slightly inward and lowering it beside the large bear for release.\"}",
  "call_id": "call_RD6OcYcUS7ATtW7MbmKLrXzz",
  "id": "fc_0dff2e48894f6988016ab4799dbaac87d0849e96e094961404",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RD6OcYcUS7ATtW7MbmKLrXzz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1656, 2.0579, 1.6829, -0.6205, -0.8547, -0.9039, 0.2069, 0.548, 0.8173, 0.8234, -0.7807, 0.4767, 0.3218, 0.9982]\nstate[eef_state]: left_x=0.3208 left_y=-0.4007 left_z=0.1554 left_yaw=-0.0272 left_pitch=-0.0221 left_roll=-0.0259 left_gripper=0.2069 right_x=0.2506 right_y=0.0622 right_z=0.2074 right_yaw=-0.0322 right_pitch=-0.1029 right_roll=-0.0686 right_gripper=0.9982\nstate[joint_eff]: [-0.8821, -9.1419, 5.2034, 0.8864, -0.7057, -0.022, 0.5543, 0.5812, -1.6479, 8.5949, 2.5128, -0.1343, 0.1392, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9184ca67f93f4b9bf7fdbd6f8f9cbe65c0786d6d95e7a3030bad14dff328b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac05edabf249a1b0d8fef12e2fe37df397323aaef16466ed116cecb86fd5e106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500ac8d7b4d718c15611ecf3b593a803981f13c3888b385d37481df180af33ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7166, 1.0477, 0.355, -0.4046, -0.2325, -0.8227, 0.2056, 1.1873, 1.8603, 1.1801, -0.6579, 0.4671, 0.8631, 0.8963]\nstate[eef_state]: left_x=0.1989 left_y=-0.1146 left_z=0.0152 left_yaw=-0.0126 left_pitch=-0.5071 left_roll=-0.2217 left_gripper=0.2056 right_x=0.2111 right_y=0.3203 right_z=0.0361 right_yaw=0.1713 right_pitch=-0.49 right_roll=-0.118 right_gripper=0.8963\nstate[joint_eff]: [0.0205, -1.9761, 6.6803, 0.9939, -0.1441, -0.0073, 0.9548, 0.0479, -0.8274, 2.2906, 2.1416, -0.7497, 0.5201, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0676, 1.9446, 1.7576, -0.7757, -0.7944, -0.8337, 0.2076, 0.5571, 0.8085, 0.8436, -0.7216, 0.4728, 0.3401, 0.9977]\nstate[eef_state]: left_x=0.3446 left_y=-0.3571 left_z=0.2122 left_yaw=-0.0021 left_pitch=-0.0515 left_roll=-0.0198 left_gripper=0.2076 right_x=0.2583 right_y=0.0703 right_z=0.2276 right_yaw=-0.0267 right_pitch=-0.0303 right_roll=-0.0032 right_gripper=0.9977\nstate[joint_eff]: [-0.5402, -10.6325, 8.335, 1.1013, -0.6813, 0.2271, 0.6471, -0.1299, -0.8957, 8.253, 1.707, 0.1978, 0.0855, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.1656, 2.0579, 1.6829, -0.6205, -0.8547, -0.9039, 0.2069, 0.548, 0.8173, 0.8234, -0.7807, 0.4767, 0.3218, 0.9982]\nstate[eef_state]: left_x=0.3208 left_y=-0.4007 left_z=0.1554 left_yaw=-0.0272 left_pitch=-0.0221 left_roll=-0.0259 left_gripper=0.2069 right_x=0.2506 right_y=0.0622 right_z=0.2074 right_yaw=-0.0322 right_pitch=-0.1029 right_roll=-0.0686 right_gripper=0.9982\nstate[joint_eff]: [-0.8821, -9.1419, 5.2034, 0.8864, -0.7057, -0.022, 0.5543, 0.5812, -1.6479, 8.5949, 2.5128, -0.1343, 0.1392, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9184ca67f93f4b9bf7fdbd6f8f9cbe65c0786d6d95e7a3030bad14dff328b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac05edabf249a1b0d8fef12e2fe37df397323aaef16466ed116cecb86fd5e106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500ac8d7b4d718c15611ecf3b593a803981f13c3888b385d37481df180af33ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmj3TrZMK_HfDDCRPbNgB-fIKMEfIwHregpryMGcrEPPK9dsr3sX5c5vI_T1H9_Fc4DX9drvqSwKkZ8fY0agepHGXDif_4Q6_wlYaGmaVMqc93vl4PtCZMSf6Z_uOgRnAi1hjzHLuNGNtB4C40g2sctJ21N7WzI5d02EweV8KTjH-GXdz0ipPF3ZL8sxmk82sVga9kXb5ZHLAuriZ3J1LMjJHUSk9l16ilkyEVcB3g_l1ZJRbXNusNKjS5_nqHmZKICTOVf4MLoWN93wYOF9F0r8c-6PKubRbQl7zrJIlEZVeuA_JiSqHS-8ApHe7cY8dENRJc3Culyef-oppX8CB5_FFOMherI6iMSbf3qKT2tjKUJGyisgpFEVhMPIGw7gvo8K3D8tRu4rcQ_W8tM9fO9JoqJnSri43e9AtrP-Oz5dkB3ih-3-KONET1Rbvi1L59KdpBf8BqOVbTd2arrTQkMcftG6hgyMnZINs1onn2e8xGfpQWddRsdE-DgOMNgXB0B21qglbUpbmHeIUtA1Wr8L20Z8H045NUQ6dhvOriorl4fBUrFnzw-4j7IESXnAKoX2kKCeAbUECQpzZYaXXzlwHbX9HJj3dAJivh6_XFGzL0oicllqOL6IqSkq1BEdut3g70F5Y9JhlDfnCMEongRNKvwLlHI0ea2qNqT9LI23xdrDxsqloenidLvzGx04kY2k5IEILN0oDVcYfIr3PxxFAF0qXChkfW2P6YJWZH_EkFcB2ItTNaMZq3NzLDHYOfOvDQhW903QOvbU-m_mtbdGMM-qk6HKnphPfAcwP8eZ5BePiAa3-FjOrWamYS0bjwsnLaenClUhpME6CiMx0PQm7CwgHdklkEiulckcZAch20jOpl6wpCIiVT3t2izUeiQT9jtJcwrJ0mHGy_2lQPOiZK9W4q8H7IDS_4I8ftXeTdHIJCtZhlrhOMu8CFPWPNo0ES_g94eJGUtnJxZ4mnLDblKDZO9Lluilp-txj0yahfRTt2zfa4n4JenJjBWrKto_LfAT-7IQ5VhyJMjWPpJfb00oMV5fK8ZZ4HP-u8wWKl7QZfRKkGmteh_XiZQtgCoLUlhc4O3Trtmvx2GSASBr7-6o5aby3YBX2Mu8vWKUF1KWesLkcwOaAL55oipKj7pITmFNNMy4zfZfzbeV7x-0YELkKHQju2YOv0fPRbYQbtptBdQjWFvr_JigWBlL3xVnicvvmMKAH935yM50A_0I23jYG821yHQ0-uloN15H0SxVJDUXcYYRvLEe0f3Lv0_FyOsxQvuc3GtjM4H3VUBxcD-IkBpXT2BSg6f4t6O4mAoju9rtayzq7TX8R5M328tpG_yp5qhKSl-h0o7WYkoeLCMJRFwBhIoE4mvKIvlAoa4VlqLCeKgrwKwfLXwULVY3lZXbXTv_ldfDyYgSjrnGA==",
  "id": "rs_0dff2e48894f6988016ab479a0827c87d09c0b331ab3dfa475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The small plush is supported inside the basket beside the large bear. I’m releasing it and parking the right arm clear of the sorting area.\"}",
  "call_id": "call_QhHB7INJ4Th7GEXbPcVMI5Pm",
  "id": "fc_0dff2e48894f6988016ab479a196e087d083bab272bbb72eee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QhHB7INJ4Th7GEXbPcVMI5Pm",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1751, 2.0892, 1.6695, -0.5995, -0.8833, -0.9337, 0.9953, -0.0021, 0.8375, 0.7765, -0.5648, 0.0467, 0.0063, 0.9983]\nstate[eef_state]: left_x=0.3199 left_y=-0.4023 left_z=0.1413 left_yaw=-0.0051 left_pitch=-0.0098 left_roll=-0.0194 left_gripper=0.9953 right_x=0.2914 right_y=-0.0053 right_z=0.2088 right_yaw=-0.0537 right_pitch=-0.0558 right_roll=-0.0116 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5487, 6.1197, 1.1258, -0.6081, 0.0659, -0.0317, -0.2803, -1.2103, 6.8308, 1.9365, -0.0317, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1a950fb90c905a17713771d276629c2aec23c74c7347ed5583dbfa9ad2610",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01922e02a0026fb63dbb6936463a127eccd9d1e212f21ed5effbb1f759dca8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b7b9794d9c53ed020989aaac4649063796748d8c0f6a5ba4907c1a6ded13c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7166, 0.9413, 0.6601, -0.8043, -0.2321, -0.8234, 0.206, 1.1835, 1.8362, 1.1889, -0.675, 0.503, 0.8433, 0.0505]\nstate[eef_state]: left_x=0.2021 left_y=-0.1174 left_z=0.1012 left_yaw=-0.0167 left_pitch=-0.4983 left_roll=-0.2312 left_gripper=0.206 right_x=0.2175 right_y=0.3174 right_z=0.0491 right_yaw=0.1683 right_pitch=-0.4534 right_roll=-0.135 right_gripper=0.0505\nstate[joint_eff]: [-0.1436, -2.1949, 8.335, 0.8669, -0.149, -0.0366, 0.4713, 0.3487, -6.9812, 5.1761, 0.906, -0.2076, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.1656, 2.0579, 1.6829, -0.6205, -0.8547, -0.9039, 0.2069, 0.548, 0.8173, 0.8234, -0.7807, 0.4767, 0.3218, 0.9982]\nstate[eef_state]: left_x=0.3208 left_y=-0.4007 left_z=0.1554 left_yaw=-0.0272 left_pitch=-0.0221 left_roll=-0.0259 left_gripper=0.2069 right_x=0.2506 right_y=0.0622 right_z=0.2074 right_yaw=-0.0322 right_pitch=-0.1029 right_roll=-0.0686 right_gripper=0.9982\nstate[joint_eff]: [-0.8821, -9.1419, 5.2034, 0.8864, -0.7057, -0.022, 0.5543, 0.5812, -1.6479, 8.5949, 2.5128, -0.1343, 0.1392, 0.0464]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1751, 2.0892, 1.6695, -0.5995, -0.8833, -0.9337, 0.9953, -0.0021, 0.8375, 0.7765, -0.5648, 0.0467, 0.0063, 0.9983]\nstate[eef_state]: left_x=0.3199 left_y=-0.4023 left_z=0.1413 left_yaw=-0.0051 left_pitch=-0.0098 left_roll=-0.0194 left_gripper=0.9953 right_x=0.2914 right_y=-0.0053 right_z=0.2088 right_yaw=-0.0537 right_pitch=-0.0558 right_roll=-0.0116 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5487, 6.1197, 1.1258, -0.6081, 0.0659, -0.0317, -0.2803, -1.2103, 6.8308, 1.9365, -0.0317, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1a950fb90c905a17713771d276629c2aec23c74c7347ed5583dbfa9ad2610",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01922e02a0026fb63dbb6936463a127eccd9d1e212f21ed5effbb1f759dca8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b7b9794d9c53ed020989aaac4649063796748d8c0f6a5ba4907c1a6ded13c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHmrZnN1zDEV2ZycKXqnFjHb5vGUX14Ai0-h9r-9ZevS1IsfMjfFLOCyn-4VCOsctNBLJUX2lMg4vB1m1DwKDN8Jgn1sxplkX4k-3OnXjQwXDlOqux5xwFS-LFMlrYoQl5dvFn7lf9Pp-HcCKyJIYEJEcrNwPKQwrbM12G-IzyZabS2HLcm6T77oZjtfYDZGtuJpbwHG3XWKqnWUVioiEHhJS-jh-D8ubYOr1t-h13U2TvKJEWdfV6AeUFSSnHg46txgqDcl2Q0UGmKXQ8KhLck2FxAYOMvDF-GXBE5yH38WusuSDWN8ujHlTFshswRqB9PH4MxI4ww3e2KsLKJa3VcksCJTu51lMAShxPcVP579FW7-hBOZg4BhjdndxUF3cnxM_iDZy-WS8lUPGdsWJ9-dKtYQBuKdw1gzqkyE5b1iPyKnVmyZKtV_YwabM3r3F11dHxkJYStlwt-F3TGWS4JCIy029yD2oXOOr2HPshtEIaav3jXL6V9C7Iu19CGZRkRQXs3mF1JhY_TWWvoWV96OM10ucvt6O32CT33OygUxQLaXsyX-Ou7Njizq9AwvUV4BfDNIDzLpqSUMmuNzkdcI5yshpE2xiyUcuOo67B7ZuAfNB8gC3L5X9aCBkUVMc7GCtjZeAvUYVOP1PfveiM_Hp168aMdPYz6ShNLfR3lOSNBuL-xSIem1CqZjIDjYz6p-lsnR_ZGz344geggXd0eBfsZ5lKvdarkScwx7TtuXoItV_-07DMpcIDWNZCxmnOaWUEfvxKoMhcN-3VUIWv2xOMe7btOkOIe_D8IoZVznD-AcFkTlZ5XM5yLDyYblYGe7sxVOhMfuY84bL3-QIc3jEQ2MuOmV7SufMvSH4uPFkVZ0v1oiVXikjbfsrk23m5fxyLZg_blhIOhYil4IQgizoEONDJf4rVMPxAAgZf6SktUtq_bvs_zzGu8Aoeb81csM-TpmcYpGgpEKlhkZAvznR8gSAme29Rq3X_flA75fcAo1fLgNNTJHBEX4fNxL76jB2ytbbvyoELBTuGXSHp3qTDzZJRup-nEODixyPL6TIXHu4pSrZjh2eyLFpLwurpCa-MNPBgsTxr_IKqWo9mF5NQVniDGt0DrTeqXYvmK3XRZntFavmRrVVzLABPHM7Rm2z5EOP9RdD4LRkyEJakHJ8ohJgEBFxaI8OvA1PhTdprNgdjTygsnMxVflCTRoBBxtM6vySeDPAfId1i5uToMuh7skp-h04mqdcd-g0m39ujsB5OGWPM3dSP8ftiMPZXwx1NwPeD-_bI0tOBiJbWk0pfDNejNGUrYhv2r-fxNXEXcv3L6hBKDsX-sAJUO3jMnna3H2l4xkH9_8kGj7JJZPYnTHceYZFghF40dh97p_mJLWPA9p0tPeoIA37BkNE7etdeTJwKjJPf-GYHz9dMWP-pYKPiX7m_xo1WYyWSZI6ZOiQ6V1fwaJVHyI2cf3s-OiZoqX67qXF14XHB_x6DeT_APFOvmXm-0JhZiSp3Ic0KpLpyxeOMeX6W4HvHBtwLhBmwE7n2kYG8D7fPeIio_pBybkwT3Cer-gnYaK7LGTCOB3Dwb2LNDqQD9lknEBmPFQM_sA_Vn0Bh5hGpAM1pWkweLuz72zoqFza0V_Zjo3q6IVntVohl1m7O28Hpm2W5TXcxkD5Ffeq_tF0ipKMXChamcCB7L9HzK7OeQLn31heJS5qhTA2UrzHk2WEhhSeGCD-WA9k_O1fWqKYVMsnPQ6wD3CkmhM2vLLK1-fR2IUGH6_UFmMQQTD95VtWa8kibXsCbLawnWX57IDUTfxgCgXrBGc0Ta-B-nT1Hks7sUKg6d8atSpQufi1OYahBqvjIqTliM2TfKkccFVgvKo4ednm-TY_Vzqbt6MWLGUqT43Cmr0tjOGOhdklis9Lz3beYUlIqvc9FiobcDT3llFq9DMCP3olmTUh-sZmc-8fSFrX0xxBfZu72vuVO-7F7HP-NzSUep_Y6xTSUAZ_m3FVdSb-tDRx_sCCLq0-ipaXeVWJ0fVMHUQcOl8yexQsfkHa2nImFCRijDgiunsbNWZsnXosLc2XqDElzasQ2auz_ZWBZcVuQ94ugdROMD0eNm-oLZmNb6d_WjnL1nqtUcmkU1n7iZgjq1BPIgX1jLyhpYsVdy9AtgDuOFj4W4vQlgXJ9Gc27xXBZI7W3rOf1l5WY5IdFIRx9GqT1dJ097kvm0VL8s7M819nAwCy-xBWOz8jYoR2xnbPKejIspI64dnbD4EDKbss0d9HgSnvXMl95lJq1vYf3tQlomQkVS1RM5-JAHXCoxBdSwKIxxlPs3B5Vw1KxzCqXO3xSXULi7z-EOsttfpdBbnmn6lZOv59BU5rsRakKDZWaii0CsF_TevNgQhGTKE32U8z2PaJs9Il_XK1dyp33wAyEdsxLPLVMg2kkj-NmzkhlxopkTcdBSO-xq6YoT5TD9ojXABzmR4W5tvOalQp5VbCgAkkHfNqFneJEigx9sbNhlVqU3mYkYWiJdIO49fHJUn2k64OqEixz1KeDkAGwlJIzlL1ufGrBfa0U0M-g5wGRb93c5suNWSCJZr96PM8YZEXvWp59qkPKnJyH6WvEKnu5lxgI0D08Is0-0iEAZgKlnaLdYnygXejlVZi1zIeEiZSQfYzI7EmoneJCrYwI7FgpicImOAVMrEKZ-TWl4F7cUOmXj7lg05d5LLa61_HT-TO45dbgWRpmKITBQ=",
  "id": "rs_0dff2e48894f6988016ab479a534dc87d089a5e0d98244bb92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.07,\"left_z\":0.1,\"left_pitch\":-0.5,\"left_roll\":0,\"left_yaw\":0},\"note\":\"Both brown plush toys are now in the toy basket. I’m returning to the yellow pen with the wrist explicitly leveled sideways, which should avoid the tilted-finger contact that spoiled the earlier grasp.\"}",
  "call_id": "call_QUGotaqRQYU06j1lPNnPLYMY",
  "id": "fc_0dff2e48894f6988016ab479aa1d0887d0baccb97eff9b93e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QUGotaqRQYU06j1lPNnPLYMY",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.4347, 1.1221, 0.7471, -0.7128, -0.239, -0.4442, 0.9966, -0.0059, 0.8436, 0.7765, -0.5667, 0.0376, -0.0074, 0.9983]\nstate[eef_state]: left_x=0.2619 left_y=-0.0715 left_z=0.102 left_yaw=0.0457 left_pitch=-0.4749 left_roll=-0.0079 left_gripper=0.9966 right_x=0.2918 right_y=-0.0048 right_z=0.2068 right_yaw=-0.0424 right_pitch=-0.0641 right_roll=-0.0177 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -4.0547, 6.2017, 1.0965, -0.1001, 0.0806, 0.1343, 0.1162, -1.7709, 6.8581, 1.7363, 0.0708, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6586bfc4ec2fed9abb36679b3b49bf8afb1527fec0f39b55cfba829810a49157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aad80d6a03bad95f021860e9e5126b385c5c2d76899f7cfade1d038c1e2479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e69eb26e79aa0d1e94a6b333f769a543d1e3205764b50fb47823d0108545eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0676, 1.9446, 1.7576, -0.7757, -0.7944, -0.8337, 0.2076, 0.5571, 0.8085, 0.8436, -0.7216, 0.4728, 0.3401, 0.9977]\nstate[eef_state]: left_x=0.3446 left_y=-0.3571 left_z=0.2122 left_yaw=-0.0021 left_pitch=-0.0515 left_roll=-0.0198 left_gripper=0.2076 right_x=0.2583 right_y=0.0703 right_z=0.2276 right_yaw=-0.0267 right_pitch=-0.0303 right_roll=-0.0032 right_gripper=0.9977\nstate[joint_eff]: [-0.5402, -10.6325, 8.335, 1.1013, -0.6813, 0.2271, 0.6471, -0.1299, -0.8957, 8.253, 1.707, 0.1978, 0.0855, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.1751, 2.0892, 1.6695, -0.5995, -0.8833, -0.9337, 0.9953, -0.0021, 0.8375, 0.7765, -0.5648, 0.0467, 0.0063, 0.9983]\nstate[eef_state]: left_x=0.3199 left_y=-0.4023 left_z=0.1413 left_yaw=-0.0051 left_pitch=-0.0098 left_roll=-0.0194 left_gripper=0.9953 right_x=0.2914 right_y=-0.0053 right_z=0.2088 right_yaw=-0.0537 right_pitch=-0.0558 right_roll=-0.0116 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5487, 6.1197, 1.1258, -0.6081, 0.0659, -0.0317, -0.2803, -1.2103, 6.8308, 1.9365, -0.0317, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4347, 1.1221, 0.7471, -0.7128, -0.239, -0.4442, 0.9966, -0.0059, 0.8436, 0.7765, -0.5667, 0.0376, -0.0074, 0.9983]\nstate[eef_state]: left_x=0.2619 left_y=-0.0715 left_z=0.102 left_yaw=0.0457 left_pitch=-0.4749 left_roll=-0.0079 left_gripper=0.9966 right_x=0.2918 right_y=-0.0048 right_z=0.2068 right_yaw=-0.0424 right_pitch=-0.0641 right_roll=-0.0177 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -4.0547, 6.2017, 1.0965, -0.1001, 0.0806, 0.1343, 0.1162, -1.7709, 6.8581, 1.7363, 0.0708, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6586bfc4ec2fed9abb36679b3b49bf8afb1527fec0f39b55cfba829810a49157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aad80d6a03bad95f021860e9e5126b385c5c2d76899f7cfade1d038c1e2479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e69eb26e79aa0d1e94a6b333f769a543d1e3205764b50fb47823d0108545eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHm0SH7vCK9qpOZw8G2thSlwviSna1GoPnjxfJux-vY_jEMZoBTzVTr-3vLe0EhxlWIKpFgyCsMHJ8vdQrvjBmr6VS5hOuY7J-RJrBpJJ9nlZGLW7b1cpqGqSAAT_UgXdxBltkYBLwQ_b77L-s6PiXkb1Lk5o5cE_wRszsDuH4PRJ0mbSanyPBXE18sVShYXl_8sZqpyF3_415iYVxKUo4J-1MlStiZfKvjIfi6b5qWV9kh-96HdRm44MeBxVakJJgVy9x-O9YAamPDVP_Ec4Dg3MqApdzrsO1DGHYWJoFJwrdudTR0dSQmMh_B2yUOeAmFssJM0ualnIfEaLmz3k6bKYAs0QWzaLDcWpXhSxEFPFWjQEL60LnFYnHN2z0qaCleLyjRZnkrjPhIVXHtXZ6INbTmu-FuwPC_suuzq7xjiZXnwK3R3HoGXzH1i89KvO4AgUz-2jlmtCI1q-v1Tbom6kS7zNwe7YbIo6SrtpNIIt6muDQ-gRr3Q43BzJ7WiIgeOPLxZoGvgFE5YuL2d0gRhPEq1fVyuOGr6QIlGLGwfYvCcfHMModes46RzBCBdf7HlFm4OaByCpS1gdxnT-lNdC96YN389QaBVaGEERBkftISjJoo-BhEpgN9TAdHvmaQ0PNvcy05cKGER5c_gQVxb2OodJ0x5DxsO9FGwKcqtgvUihcnUuZTlvEJVq_cX9gspRw1aw5R2t_N4TvZ7jnWwAaNB9pR0qiMIz1Nk8_3CeqD9-rB0yi3kYE-k4wjCU16rVn_p82jaws89HgidYInYhHd-nvwVRl-pSHdXppNw41CUPHFQ47hu1cmE-aBrAU14rme6GNwDqcgeAkIUzQtNO59HqPKhJND_O2WxFcXz7h9mE89QkAc5caifSgyWkQM5smYEpbuwP-22SgEb6zHQymnJw18GxlabQ4vSXlrfgRiNXFgbXYGwBwNIJ0k5bAlGpoythPTFU3sHq-LPgkQrk9-lf5qrYHWDatKjO4tgnw9ZaAxi956W859Hge8IxyFgzW-ZdBKoRBtGukZQERpQadtwsPueC0utaXcgVqs0BG7O4UO8NS_JrAmM6F12J3pxkxn6oynwonc8J_ROuToYgxLg9JDwEm7q4TWCEeBKofmchFte7iNm1ULz-Kh-tAJGrdAsU6hJWQ-NImoQRF3rgMW-a7_FcrMeMsd_mziZ-CLEL1TLd6oKhbgbACd8t7O_S9VmgHPyffUKqxOuYI_M7Ps9CGVEee1D94SMQsOB4FU4ylzT470YOcNAQ8lGP9aM0A5d_MCVoNmDl76lDCymmhM7hd_h4bAoBrAqAhHEbPSKHJlpoiPNqonYhKoGavu6cI4zhx7uBtlKjyavI5Splx-pgdc7T-hUpOcxdUTMhm_-XRCgz20ja_pHwPBnjrzrmXIcwsJfJvc5tJKSfbbyuvkHGPOswfRnBx-qcEVzzEvYhzMR3v-mIX67ZCZ4khC-tm00UuCU7z6nQNysGJaIRcOSuuNfvwOjbio0IKWjzW_eh_153AEqYTjnAna1YjZZIWQ_vRbBq5JYWa2bF-_1i_GDbX5u51dlZ4QQBuPHk6bN3Dae2hITmE_P__Cr51zfSiD7L2mj_idtWSxcImWpUuZNaSDh8Kt3V6lxJX-k6lGfAXMqnxh29i4Z-UFZo7u7PF4O6LzHwnj0iCYSK48XZdtlnzJqQf-v2vvJ72jfRwiHXc90tu1QroWmAc5fWDRDZjQF41kC71SujP5ZE3oarBsaGxYx7VZtMW9ZrmQNFiVksPnf-4bc4eJfKUKrKzqhoH3q7JHlkubB__vO3jIoB-FA7eaucHywZvw2Sr9Hy_dfy2vQKg5ERIdui5nXBThxORxFBmXGsUdy5PUk7Ljo9OYaG959KmNOU-SbGyl3l5cCcTrm-9Li6okL7DVtqh37-g6aVjSRvTWu0VMb2L1117ULSjFntwN4ilOhIjpPUx3bfFCt1LZOhdpBOKbSMtLhge3Da2_Q9Tnj1q2yWaZhegpp9QZ-_zR1eMgL0jInV2f2L87Hn2IBRb1ETEhXen0ivtOYFoYEltTtLkgisDVW1w==",
  "id": "rs_0dff2e48894f6988016ab479af8fe087d087872d32b1871f3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.07,\"left_z\":-0.01,\"left_pitch\":-0.5,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The yellow pen is centered exactly between the open jaws in the wrist view. I’m descending straight down with the sideways tilt removed.\"}",
  "call_id": "call_Ynw0LwuGrIcIeh89Xtf3MHg3",
  "id": "fc_0dff2e48894f6988016ab479b31ab087d09584099a287abde0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ynw0LwuGrIcIeh89Xtf3MHg3",
  "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]: [-0.4118, 1.3258, 0.4385, -0.2337, -0.205, -0.3958, 0.9968, -0.0059, 0.8467, 0.7765, -0.5678, 0.0402, -0.0082, 0.9983]\nstate[eef_state]: left_x=0.2567 left_y=-0.069 left_z=-0.0027 left_yaw=0.0171 left_pitch=-0.5183 left_roll=0.0047 left_gripper=0.9968 right_x=0.2919 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0443 right_pitch=-0.0683 right_roll=-0.02 right_gripper=0.9983\nstate[joint_eff]: [0.2256, -2.3726, 3.412, 0.8034, -0.0659, 0.0562, 0.0024, -0.0615, -1.1145, 6.9675, 1.6679, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1deb455cf9a03d1bd4d450ede8bdd7f38234e50f303942741166abaca367b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e52618c8409fc1daee173476ec7a10699a0b228e121e799dae14dc53706517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30d46c0fee8ccd0c3a583bc141a52b9e5cf716b67efe9665e6fc00b8f7d6f69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1656, 2.0579, 1.6829, -0.6205, -0.8547, -0.9039, 0.2069, 0.548, 0.8173, 0.8234, -0.7807, 0.4767, 0.3218, 0.9982]\nstate[eef_state]: left_x=0.3208 left_y=-0.4007 left_z=0.1554 left_yaw=-0.0272 left_pitch=-0.0221 left_roll=-0.0259 left_gripper=0.2069 right_x=0.2506 right_y=0.0622 right_z=0.2074 right_yaw=-0.0322 right_pitch=-0.1029 right_roll=-0.0686 right_gripper=0.9982\nstate[joint_eff]: [-0.8821, -9.1419, 5.2034, 0.8864, -0.7057, -0.022, 0.5543, 0.5812, -1.6479, 8.5949, 2.5128, -0.1343, 0.1392, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4347, 1.1221, 0.7471, -0.7128, -0.239, -0.4442, 0.9966, -0.0059, 0.8436, 0.7765, -0.5667, 0.0376, -0.0074, 0.9983]\nstate[eef_state]: left_x=0.2619 left_y=-0.0715 left_z=0.102 left_yaw=0.0457 left_pitch=-0.4749 left_roll=-0.0079 left_gripper=0.9966 right_x=0.2918 right_y=-0.0048 right_z=0.2068 right_yaw=-0.0424 right_pitch=-0.0641 right_roll=-0.0177 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -4.0547, 6.2017, 1.0965, -0.1001, 0.0806, 0.1343, 0.1162, -1.7709, 6.8581, 1.7363, 0.0708, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4118, 1.3258, 0.4385, -0.2337, -0.205, -0.3958, 0.9968, -0.0059, 0.8467, 0.7765, -0.5678, 0.0402, -0.0082, 0.9983]\nstate[eef_state]: left_x=0.2567 left_y=-0.069 left_z=-0.0027 left_yaw=0.0171 left_pitch=-0.5183 left_roll=0.0047 left_gripper=0.9968 right_x=0.2919 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0443 right_pitch=-0.0683 right_roll=-0.02 right_gripper=0.9983\nstate[joint_eff]: [0.2256, -2.3726, 3.412, 0.8034, -0.0659, 0.0562, 0.0024, -0.0615, -1.1145, 6.9675, 1.6679, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1deb455cf9a03d1bd4d450ede8bdd7f38234e50f303942741166abaca367b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e52618c8409fc1daee173476ec7a10699a0b228e121e799dae14dc53706517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30d46c0fee8ccd0c3a583bc141a52b9e5cf716b67efe9665e6fc00b8f7d6f69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHm4LV-EsA-qFk4JhLNon180i4-3iwWljAoH_cDBQhU9fnHZsyYNk9bDZoNXeOC3ywU-_dkJiCLN8jq353Oot66xOVDU9K-ZDWyhaao42jNtytOjYpsRc3tN08kC2dcKQOYpxvPX9GMejTSwH8kj-O_Go18Lm9vbfHyIu0JmxZVPug5Yx_ji-QrffXjddydLfrQqDziQRi5Hy-kUPptl0Wc_8jXqV0OtCtw9PnUm6GwUv6O6FvQLkrjU2WD3KInj3vmkc8U36ahZ0ZpHaoXyrmQqpbSSmCbOaikeocJwfYVHI1GE7M93RM4qFwQDtBKl0GkNvz1CjQ7QK4jeK3iWcMbTh2EsEj7hVRppogxwc8bzXgvYdqOn3Eno5L5Cpz1lyFSk737T-Q5TXiIgII9TZlWpekymxGf5YEF9gCC5waxmRcWDa9bPl4tPwpnzOa6AxtIphEyzQKjdiA-e9W8F5U_36SCyZ4CkVfLvADvEbsQ5wYn5hTnzZxE3EA0tIFXM1Q-RduaeztyTWHVjGMpJTQWUFWZhytZvXKxIdF-Nuzp4b-Z77R-hFlezBPyDipkxiAsF5A8mVpXok9rJwYCc3HRMAsOvMCRBARjaSpFJdnPx_mBs6BwUQgx0NcO3iloY0qQexPsVUi6usJ9mnZleOQQRU0HNSIJxlQVc8oADnXbtauFUJQT76FNJLlD1_LEDnpau1LAbDKKeXTrS8hesBPpt9rNVZBStbu0eaORpSN-KOwo3WvRPygWDtOp-eSz2l-rUXonzXIKffRSkmorFtS7muk3mfed4Il_WC5CRYpd16USX0NxP486Mh0SLI-hGzIdn0Mt2XABSc1SXVNGeO7pd0vMdwSuaek4wfxbu-IT9Ff6zfk0u18icuVRbvgvLc4v_yLbQzSqKn-FZXVPix7nYTHDJ7MvUrSbvdXXvjKHoQLmG64QGg9u3Zo0vJFXHTwIJPx1V04EgC0sCaHlWORLgYeBy4X17aTB75_yNQaXo1HZdM5aYuV3mfE6bTHkH5EnU0ry2H9IceE1wfuXt8tjG6BXqGSA1QABL6-oiMr242cS0CW_1WdfbpOxjzSMRNLBrNf_F7p6dOj4H-34elc0tcxTRO85LUEr7GT6cHYILM_4IbBsqGTZpaSjim2p30-IT_CJrEuClU8MmdxHQXHeZEizv7nZT_IoV0xV54qsnJmErWY0o2ulDx-dHX3y0jnhRejSlEeXZFTpSvlW_MHGo3WKjc0MnCGs0VZMU9WN-XO4uHj4rb-LCuWNI9BfHT2AONdlKb3P79Ue71mPyeu9O1p0-szT0FfvCbzjKZ5lKS-j4HmhbIpEwK67ev5RN-opYJ0v2MthnpA97m_yKW6nJTA==",
  "id": "rs_0dff2e48894f6988016ab479b61c6c87d086b2ebc9b0cadb66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.078,\"left_gripper\":0,\"left_pitch\":-0.5,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The fingertips have reached table level, with the pen shaft between them. I’m making a sub-centimeter centering adjustment and closing on the shaft.\"}",
  "call_id": "call_WzJjiA8IoC9kKHa1ZHyv9NF3",
  "id": "fc_0dff2e48894f6988016ab479b70b0087d09d3f2ef8923acb32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WzJjiA8IoC9kKHa1ZHyv9NF3",
  "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]: [-0.4496, 1.3304, 0.4271, -0.1925, -0.223, -0.4187, 0.1522, -0.0059, 0.8474, 0.7765, -0.5671, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2588 left_y=-0.0775 left_z=-0.0023 left_yaw=0.0033 left_pitch=-0.4885 left_roll=-0.0037 left_gripper=0.1522 right_x=0.2921 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0441 right_pitch=-0.0683 right_roll=-0.0203 right_gripper=0.9983\nstate[joint_eff]: [-0.6085, -3.8906, 5.7915, 0.9548, -0.0952, -0.022, 1.0134, -0.1436, -1.4974, 6.8718, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6803b48def36365aaa14e35ed481258c3a9dc830e858c47f14bdb557cab2c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7a0aa6d81a671168d0427a38ad444d31e2ae21f8d17e97a506990548101349",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441d1d56c7aecd471e76f48024f48afdc595be8df445189b6e40a67e20001f1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1751, 2.0892, 1.6695, -0.5995, -0.8833, -0.9337, 0.9953, -0.0021, 0.8375, 0.7765, -0.5648, 0.0467, 0.0063, 0.9983]\nstate[eef_state]: left_x=0.3199 left_y=-0.4023 left_z=0.1413 left_yaw=-0.0051 left_pitch=-0.0098 left_roll=-0.0194 left_gripper=0.9953 right_x=0.2914 right_y=-0.0053 right_z=0.2088 right_yaw=-0.0537 right_pitch=-0.0558 right_roll=-0.0116 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5487, 6.1197, 1.1258, -0.6081, 0.0659, -0.0317, -0.2803, -1.2103, 6.8308, 1.9365, -0.0317, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4118, 1.3258, 0.4385, -0.2337, -0.205, -0.3958, 0.9968, -0.0059, 0.8467, 0.7765, -0.5678, 0.0402, -0.0082, 0.9983]\nstate[eef_state]: left_x=0.2567 left_y=-0.069 left_z=-0.0027 left_yaw=0.0171 left_pitch=-0.5183 left_roll=0.0047 left_gripper=0.9968 right_x=0.2919 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0443 right_pitch=-0.0683 right_roll=-0.02 right_gripper=0.9983\nstate[joint_eff]: [0.2256, -2.3726, 3.412, 0.8034, -0.0659, 0.0562, 0.0024, -0.0615, -1.1145, 6.9675, 1.6679, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4496, 1.3304, 0.4271, -0.1925, -0.223, -0.4187, 0.1522, -0.0059, 0.8474, 0.7765, -0.5671, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2588 left_y=-0.0775 left_z=-0.0023 left_yaw=0.0033 left_pitch=-0.4885 left_roll=-0.0037 left_gripper=0.1522 right_x=0.2921 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0441 right_pitch=-0.0683 right_roll=-0.0203 right_gripper=0.9983\nstate[joint_eff]: [-0.6085, -3.8906, 5.7915, 0.9548, -0.0952, -0.022, 1.0134, -0.1436, -1.4974, 6.8718, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6803b48def36365aaa14e35ed481258c3a9dc830e858c47f14bdb557cab2c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7a0aa6d81a671168d0427a38ad444d31e2ae21f8d17e97a506990548101349",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441d1d56c7aecd471e76f48024f48afdc595be8df445189b6e40a67e20001f1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_pitch\":-0.5,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The gripper has settled around roughly 1.4 cm of pen thickness. I’m lifting a few centimeters to confirm that the pen follows before transporting it.\"}",
  "call_id": "call_2F1Co5AN5VseWGbdSAtvInWx",
  "id": "fc_0dff2e48894f6988016ab479bdec5087d0b22aff207fe185e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2F1Co5AN5VseWGbdSAtvInWx",
  "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]: [-0.4484, 1.1717, 0.6437, -0.5594, -0.2199, -0.4191, 0.1524, -0.0059, 0.8494, 0.7765, -0.5667, 0.0406, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2633 left_y=-0.0799 left_z=0.0691 left_yaw=0.0001 left_pitch=-0.4821 left_roll=-0.0108 left_gripper=0.1524 right_x=0.2923 right_y=-0.0053 right_z=0.2052 right_yaw=-0.0444 right_pitch=-0.0698 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -4.3829, 8.3214, 1.0769, -0.1343, 0.0122, 1.033, -0.0205, -1.5248, 6.9128, 1.7216, -0.0122, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5411e5de7b3705cf1bc49f2eb988119c0eaab60594e87dd725cdd2f87a3506ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe3f5728f96380b448e6ba90a26ffe3d1496a951c45f58a87becce9298e99db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c55628e91e0f40130c6c6758c0635ad197d5c5c0e799b909a906c479d7cb5a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4347, 1.1221, 0.7471, -0.7128, -0.239, -0.4442, 0.9966, -0.0059, 0.8436, 0.7765, -0.5667, 0.0376, -0.0074, 0.9983]\nstate[eef_state]: left_x=0.2619 left_y=-0.0715 left_z=0.102 left_yaw=0.0457 left_pitch=-0.4749 left_roll=-0.0079 left_gripper=0.9966 right_x=0.2918 right_y=-0.0048 right_z=0.2068 right_yaw=-0.0424 right_pitch=-0.0641 right_roll=-0.0177 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -4.0547, 6.2017, 1.0965, -0.1001, 0.0806, 0.1343, 0.1162, -1.7709, 6.8581, 1.7363, 0.0708, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4496, 1.3304, 0.4271, -0.1925, -0.223, -0.4187, 0.1522, -0.0059, 0.8474, 0.7765, -0.5671, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2588 left_y=-0.0775 left_z=-0.0023 left_yaw=0.0033 left_pitch=-0.4885 left_roll=-0.0037 left_gripper=0.1522 right_x=0.2921 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0441 right_pitch=-0.0683 right_roll=-0.0203 right_gripper=0.9983\nstate[joint_eff]: [-0.6085, -3.8906, 5.7915, 0.9548, -0.0952, -0.022, 1.0134, -0.1436, -1.4974, 6.8718, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4484, 1.1717, 0.6437, -0.5594, -0.2199, -0.4191, 0.1524, -0.0059, 0.8494, 0.7765, -0.5667, 0.0406, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2633 left_y=-0.0799 left_z=0.0691 left_yaw=0.0001 left_pitch=-0.4821 left_roll=-0.0108 left_gripper=0.1524 right_x=0.2923 right_y=-0.0053 right_z=0.2052 right_yaw=-0.0444 right_pitch=-0.0698 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -4.3829, 8.3214, 1.0769, -0.1343, 0.0122, 1.033, -0.0205, -1.5248, 6.9128, 1.7216, -0.0122, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5411e5de7b3705cf1bc49f2eb988119c0eaab60594e87dd725cdd2f87a3506ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe3f5728f96380b448e6ba90a26ffe3d1496a951c45f58a87becce9298e99db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c55628e91e0f40130c6c6758c0635ad197d5c5c0e799b909a906c479d7cb5a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHnHmoStwTDmf8ZxiKLH6vVGw60B1D9euuI9szjERMDQcVxbaiBvo6hCp6ozgMsOC5QoSqyJ8AHH8X_pGhiNx0THyFdv1cHhBb3QEWAv9tLOC-N2XvrXkrTERTtT2pwkNK72Xiu0J1cwQnmqcV-vUOV4ii7SwbGxC90HnY8-S8YC-URSQfOkciy2otLSigByRjBAFh1dd2r2HOXyqME-xsRdZNH0m6wX3ZaGR_3Q8iszAcmDQspPssEAJaif8oUvPi1L4Im4sIc_vD6UMMUF0ZiAHdRL9QcFgWIdyy2aRaUsjDsSeBvMkFzXDVt_GQsr3bXPwEa0uoMJuHxwo8NEoq7cB6t7T1Bg5dT0hPFrufkqTzG_xPA046ZNU2eHo_j8_BwgIO_bk9XLKq1cKOrntLhpLQxOxWLjMvJ3oOenW4FfCnfq9nToCbu1YFSyphlJQkD3OSAiuRB04SIvlLf2Mdnp2_3yAGmRNCsEgAlFklKq-D6xbKD0FWMtbSgl1qpBn-gkgiD97XzMOlMm0bTJxUdNL7AI22HlnldoZLxRaDPTe-mq5E6YCIwdRE81Ku56y0Sg4y7bki5TpKF8iWjN6qlI2d1ENJWX-1I2FaWsZpK_CEPCVjCzYwA9aOjoYXeEUnR8-BjZYFd4i5AKwgRj98NYNjoW5kdxh16BhyUZ26fC_yrScbXQztMMpktqDVV8Rvb-VMAlyKmDGLq64xW0-qmciWbO5ksvlYuJHp1cb-6v3IKHhOmfDLryPtgVHxRV9rmIY9DzdyxxUGMC0-ooNGaZSmQpU7tCQ6EteBMAmesP2VC-cypSyab6vUldopfjLcbe7eowpUt1rVUYreLnTF3qN8AGWmv73ckx2wh3nTri9U5VtNKdnVL8bYYcHaNLnQRXJEm1UDGy6lUZlbrWXd1i5ivGQ3A4KhKnSaRTqwUtzgX41Li3VyEdb7v2DU4BVuhxDF4VHhWnmfd0NCmRNBUAw0xfBlNnzIIMAUx5JNT6Gyn_VRvTM-chMYhMt7Mzx-3b2VrWFNK5AvB99UkIsl5_haAiJMQILN-QXLzrxdpM8Q5kvdorw2NY2Z993HZQ5Xds7aqfbix8JOVgsZi4tr9LhWuguExKKUu8o6ll9_MYalyBCnLKo7TMVdoS7WbaIZpYub324ZHU-gtcKQvEs5C1grzSI_XKxm4O_SL_6o9VuWaRTYVUmH57nrb5s-oCeMZCmhosX2F3WuY1yfTQkaEgEK5kpKtcGwO3u9fj0sCR3LZqO2Ur-V47nmsPdcTjT4W5dVU3xwFymuCusIqwGKYgx3R2dWwwUNDLaynILFK4DUrsdamVK0SE035r_dNLPCyixBURxOomBia3xOWoIpiKKm8L0G4RZapB9IbMpagelZVN9NiKAi4gcMj-RTS9WqP1hH2Oqa6WP4Xc_j-opk6krsQvLdf0IsxXdQOxa3uXYormUhUUoi6UcnOjgUGAJwfmn-QyHad0aX3lUOTQkXOHxPhzVBofBzodKNX7dVz2wspaFMswddcLsYBx6K7fkmxCp8Nehl4IQzzP6gq3vdJp94ptOHCpKiAeAy5bDaC8CQay63En0PaNBCjkRzQncLqjrOYmbXuudgBKJ4CIxJhcZMrvvW-FH_DSX-YhY2GS6ax4Nu_25n5MPwBSJ4nA18mUXDurg-r92ypDRVKGje0ifIQgFlGmbAuw2_hZyLd8g712-zMuVNKhdMzoThPDS86osqLgw85qxYlMQHl6yCofpgvU1-x3aFVPmVDlMnh2yFY7f2hv18k5WMiCfLl4NJdVV9peCjzcYGEGwstKbUqlLmRLJ2h8EcL_5BMKvdUXElA93sHi2MQknEJxL9wv4Mu3shNbdtTqyOanSakwHjj_5G09MVjrJpemksnOfEcWXoPN-N6YilAvCbUyq0dyQ-swWceqZn08Mr8De_3m_K5-QQ0K0zbESBNd5gui35LP2APvF_JIzupsqOdDsCx8Xb0rNvBC1Qo7hAfO1KJPcHsjceQPdHJi7rMHZvjBLnfVb7fqU3qSd9rbhb8hvw6_jkvH1QCawp21Fg9C_uc4S0Adj1xjJ-kFrF87biORNkgrhNZjlfJJknhAvnRykqNFMDPUd90QZlxLxjKuosHrnrh2XiR9sb92-LXZQ629qSey2EaqA3NkBEgef7rxQlEAMHEJK7MoQOd0ipAieeT9y4FGVHGzucd75ya_HQKavVEmKM6BrM_ZLlcoQEQfXeJUHOEDdfP_e_sREKKWO5jG0hZSDnpkpuV9_DGJCVSoMUhh3YZveyZa-_QXS_WjZ9H9YjZyOYOI3gsTLWdaVpQGAk5-1FG10JwMY5TmkXNapV7OvClcieoUQfw6F-Gdlb9P2KlUnYUqb9CJJqxhyMaFtywev-AyBbMoP4JaH8UpDHtpIZzYnQyr6dTnOO1IVn9W8f3kDn3NJppAPUwfVTxBZzvfIA==",
  "id": "rs_0dff2e48894f6988016ab479c1565087d08c7b627145726a23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.2,\"left_pitch\":-0.5,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The yellow pen stayed fixed between the jaws during the lift, confirming a secure grasp. I’m carrying it into the left basket while preserving the same grip orientation.\"}",
  "call_id": "call_MqUaSgv5VIUIiYng074WB2CO",
  "id": "fc_0dff2e48894f6988016ab479c5c2a887d0a4ce1378a5d88f3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MqUaSgv5VIUIiYng074WB2CO",
  "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]: [-0.3481, 1.9373, 1.8771, -1.0611, -0.1753, -0.3637, 0.1588, -0.0059, 0.8555, 0.7765, -0.5682, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.4524 left_y=-0.1276 left_z=0.1839 left_yaw=0.034 left_pitch=-0.5293 left_roll=-0.0063 left_gripper=0.1588 right_x=0.2926 right_y=-0.0052 right_z=0.2033 right_yaw=-0.0441 right_pitch=-0.0774 right_roll=-0.0207 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -10.9333, 8.2667, 0.9646, -0.0904, 0.3199, 1.033, -0.1299, -1.7436, 6.9402, 1.6972, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb3bdc0c31014e0124e58ae24a13186cc276a1b98782ca4eaf1805869ec4f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f64ccb2e0a444390155cf972b974d0a5c1560eb0af6dd34c7acec7f88070c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd679ff5ff5c585f1649229e131e844d44c3336eb38162a852b80936466d08bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4118, 1.3258, 0.4385, -0.2337, -0.205, -0.3958, 0.9968, -0.0059, 0.8467, 0.7765, -0.5678, 0.0402, -0.0082, 0.9983]\nstate[eef_state]: left_x=0.2567 left_y=-0.069 left_z=-0.0027 left_yaw=0.0171 left_pitch=-0.5183 left_roll=0.0047 left_gripper=0.9968 right_x=0.2919 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0443 right_pitch=-0.0683 right_roll=-0.02 right_gripper=0.9983\nstate[joint_eff]: [0.2256, -2.3726, 3.412, 0.8034, -0.0659, 0.0562, 0.0024, -0.0615, -1.1145, 6.9675, 1.6679, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.4484, 1.1717, 0.6437, -0.5594, -0.2199, -0.4191, 0.1524, -0.0059, 0.8494, 0.7765, -0.5667, 0.0406, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2633 left_y=-0.0799 left_z=0.0691 left_yaw=0.0001 left_pitch=-0.4821 left_roll=-0.0108 left_gripper=0.1524 right_x=0.2923 right_y=-0.0053 right_z=0.2052 right_yaw=-0.0444 right_pitch=-0.0698 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -4.3829, 8.3214, 1.0769, -0.1343, 0.0122, 1.033, -0.0205, -1.5248, 6.9128, 1.7216, -0.0122, -0.0757, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 1.9373, 1.8771, -1.0611, -0.1753, -0.3637, 0.1588, -0.0059, 0.8555, 0.7765, -0.5682, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.4524 left_y=-0.1276 left_z=0.1839 left_yaw=0.034 left_pitch=-0.5293 left_roll=-0.0063 left_gripper=0.1588 right_x=0.2926 right_y=-0.0052 right_z=0.2033 right_yaw=-0.0441 right_pitch=-0.0774 right_roll=-0.0207 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -10.9333, 8.2667, 0.9646, -0.0904, 0.3199, 1.033, -0.1299, -1.7436, 6.9402, 1.6972, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb3bdc0c31014e0124e58ae24a13186cc276a1b98782ca4eaf1805869ec4f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f64ccb2e0a444390155cf972b974d0a5c1560eb0af6dd34c7acec7f88070c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd679ff5ff5c585f1649229e131e844d44c3336eb38162a852b80936466d08bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHnMo2gERj-0enNtkpH4J0c1beM3ye3wvpg2ZxnV7I5CAuXlxh8Sn-cP8XX2ImuXHWoZlEL0yNyNFY9dzf8qtcGaJvgACPV5AatmZjXACMTVJny5i41tlQ_NQoK-NHrYEF-sapUQ9ys23dSBpU6F-gJ4uq4Pom4x-pG484Vb8FCOm3fk8DQqFfv33OwBVrpWhRPNyr1_asNix_FqCjL29ueeaXuXdYZ7ZUT5B0fP47EYyeND6r3QGU244nanpY0GchIUtuNjQNuS2oztlfh5M2_nnETALHxk5UGxyZFmArzOH1uTUtmdnUu2BaY4zoq_IQY9nq2kJBXx5PGPlNcNZSQk3BSlkWJPMzL7GiboTfbX09Pm2WbDE8ZSoIJb8K_uFpMFkKoHB-54jlPZWf_tdU7bTCmi5uqnwudT3CERt7K2ecM38TC3iz7-AYAnvZHwznhh6fk26YsJBeN49UOXdRpLKEJNUXrXH7gjY5mKXKDXMWCUT-RGkC8AZ32eRLFb3JjT5bMsCkB1_zfhNVeQ9p9GqR_PgCMHXyCZ2ygUTlok6b82-ABicPEXdOLZVBVOM0WbVMGIbOal-jnYmpBnT0YxDhgxV31ObXxh8mwpSdVu-chyjoYibMiBlFQdB0fMKogno1M8Kf5vVNXc6PKgiLVnA_ys0N_ekWqW7CvpABBU53FMqF2rxv95HgThOSU-1M7IaD2LZ_gwcncPyS2AyOlNJZI03fmWCw4F5TlFA_UYLV7K8knT3eBfhD2f0pVg3frdde8TrPL1l2oeIqq0UwRwQbN7HPj085ljfhqQnOgiAlLcvH1vmXf0YUWvBLvFOT3uidrCV9ptZaw3uotmnlRLiVVRY4THl0LrUYqy5evlMPzoO9Rec0UC-ZRDz-rt1Cl3M5_BSJQv08GY46Z6vFgGGQg1dARAp2PmrojhzuK-NW5PKKZsxvqMzXEQNNZp6HFTDsMKnwB20G-S--221zXea-YJD0AqpfVThC2RRLNhuQ6BkVLaGOnyAnYwKg7YCbVJoNrgpqD9MQpZ_Yz0OKwY0q5ybbsu37zJcd76D-vSVb-QSynDsaaU0i_iChe77k1Map529VAn5NjIt7ah_w0cyAEJIgYb8_IVGIpwp9qDE5ZJIgGN_ENyonIqV1sKUjzg_tlyoK3tu1I5uIPmTAhl7m1CPZDlLWD8YchEAAS8pEjlCXAyGOJFciBYOGqTld_h66VvsrE2m2wej0TBvb9xf2HJyZIbePKwpI82X6lL2ZP0A5Ukfd-kOWCaMgCWswqBs4drBr2TujkpDoyCuc_7P1qUZ4my9cFnNsf91vHE_krDim_RbLzbePE2XYYfjITXxujVz0VyKMk_Ajo2NZP3dZ-W6bqSOu7IjWqXo8cNuA6fncmdZQe7goR0U94g_0sTw0uB6a3GDqvvps07EyQB-7hOCUV4qkTjMfsEAeaZ8qn5JtSb3ksIQxC1Am5Wd4Ti8uTlOK1HCRUmnlrE9jHFlKtfK_8DY2GYdCxhqeqyO1Q=",
  "id": "rs_0dff2e48894f6988016ab479c9fe0487d08c563c7698dd6369",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is aligned lengthwise over the left basket opening. I’m opening the jaws to drop it into that basket.\"}",
  "call_id": "call_vk1dOWUPGjxU4fEAnUCQcLl9",
  "id": "fc_0dff2e48894f6988016ab479cb8ed887d08328edef4d8ca799",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vk1dOWUPGjxU4fEAnUCQcLl9",
  "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]: [-0.3462, 1.9549, 1.8751, -1.0794, -0.1757, -0.3744, 0.9953, -0.0059, 0.8585, 0.7765, -0.5671, 0.0406, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.4496 left_y=-0.1255 left_z=0.1736 left_yaw=0.0517 left_pitch=-0.5641 left_roll=0.0053 left_gripper=0.9953 right_x=0.2931 right_y=-0.0053 right_z=0.2026 right_yaw=-0.0444 right_pitch=-0.0793 right_roll=-0.021 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -11.8496, 6.4479, 1.2088, -0.1245, 0.0611, -0.0366, -0.0752, -1.7709, 6.8855, 1.6825, -0.022, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe27ed89ab8d1e8d4f2035257c0b9a47a85b6617950b3b2cfe6445d7b6b1071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989106faf2ae0ee6ebad5312a0e56b7b0146c3d2b645cdd54bb25469e153d7da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57eeb20e37d4155d7384d17cdd652cdb190ca16fa1a6ced1e4b1e8a571a3eee6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4496, 1.3304, 0.4271, -0.1925, -0.223, -0.4187, 0.1522, -0.0059, 0.8474, 0.7765, -0.5671, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.2588 left_y=-0.0775 left_z=-0.0023 left_yaw=0.0033 left_pitch=-0.4885 left_roll=-0.0037 left_gripper=0.1522 right_x=0.2921 right_y=-0.0052 right_z=0.2057 right_yaw=-0.0441 right_pitch=-0.0683 right_roll=-0.0203 right_gripper=0.9983\nstate[joint_eff]: [-0.6085, -3.8906, 5.7915, 0.9548, -0.0952, -0.022, 1.0134, -0.1436, -1.4974, 6.8718, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.3481, 1.9373, 1.8771, -1.0611, -0.1753, -0.3637, 0.1588, -0.0059, 0.8555, 0.7765, -0.5682, 0.0402, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.4524 left_y=-0.1276 left_z=0.1839 left_yaw=0.034 left_pitch=-0.5293 left_roll=-0.0063 left_gripper=0.1588 right_x=0.2926 right_y=-0.0052 right_z=0.2033 right_yaw=-0.0441 right_pitch=-0.0774 right_roll=-0.0207 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -10.9333, 8.2667, 0.9646, -0.0904, 0.3199, 1.033, -0.1299, -1.7436, 6.9402, 1.6972, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.3462, 1.9549, 1.8751, -1.0794, -0.1757, -0.3744, 0.9953, -0.0059, 0.8585, 0.7765, -0.5671, 0.0406, -0.0086, 0.9983]\nstate[eef_state]: left_x=0.4496 left_y=-0.1255 left_z=0.1736 left_yaw=0.0517 left_pitch=-0.5641 left_roll=0.0053 left_gripper=0.9953 right_x=0.2931 right_y=-0.0053 right_z=0.2026 right_yaw=-0.0444 right_pitch=-0.0793 right_roll=-0.021 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -11.8496, 6.4479, 1.2088, -0.1245, 0.0611, -0.0366, -0.0752, -1.7709, 6.8855, 1.6825, -0.022, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe27ed89ab8d1e8d4f2035257c0b9a47a85b6617950b3b2cfe6445d7b6b1071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989106faf2ae0ee6ebad5312a0e56b7b0146c3d2b645cdd54bb25469e153d7da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57eeb20e37d4155d7384d17cdd652cdb190ca16fa1a6ced1e4b1e8a571a3eee6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHnS48kGA2wVz2wej5no5duu9h6ugDgsSBLZEMzElLpZnxpB0BXUIHTX8fHfmp0swmPvDYUof54y5KsZRqFw_PJ97Qilzz0OhqpGvPntIldTLPfpSm2Pzvoypt-_TdZIpxfvgYeQzPrfOweNSKIyDHyXXTIQZ8Hu_rTTmM45i2Z8rXjoTBR5TQWB9Gj_D2BQ2YVsrjzFaSp0uipUMSUcNQe_HUM9cAZl5RvJNBc55BukFKyZRu9xTcJDfnQm_eTOJTvpxlLcuZ_tzB0m-P-JAvSKvA9v6V9ncSiXlC_gT131P2xIu6xPtwoA6DUgzJA3dOXwQxr02GMFFFpLoH0bxYrHpzWH6G-FKR8tJ8cpqX2qmT7rLCka_A1OxgoFylmvWIHSTXJGNYWk1SQu1cgAPxNMr0_s7a8fZ29GcvRcjwhk67cfK6Dcy-45MPYQ4N-AuQEJHhy6JSKmwwOpKfjjFfu9tuDFi65qS20cyVPEbehJrMA-fGx2DEEDgUdfIxGiyDKCsc1Eolj3SvZAUv7dVhAZKr6LKibFLKqO3GlMXot_RGCwJoeO6OWa2dP5IkbVP4R9BxMrdcVjASZKgQPiY-SIevO-WAQ3r2ddwoiS0Qr_VeImOn1TaLXJiTIXBvbAYO78HVYHavxib0QFeeSj5yhs_30d4e6TqTyEiRw-KqlTV5SgvYNkF7d4BCT8kWqm03wlZHY2PS5KCdjjzrUkrktp1Ph__DtZIpjlCawpkdwqk7zUCnfJa3LTcaxDNu_GO8Aei8QFi-9wJROcseJ5_MwRhxe5waeEhTimTXQymRzGqBs6KpuwhDpqQLaZt-zWAig66mXDb1bXD-PQq6MqcpOnNUUhREt5vp7_GEo3dtDMZZcMEM4KW_OYOe1YOKY1uvy28z4yXljthTIx_XtO0pS_KBqdtbuHx4tQIlMfprCG7MBBwhUjdrCY3XE3xciORjyXPs0_QMZFP-DYiyK2HRnREqvRkyutiYxMo7J_Wf7bQabQKkdCCGQuy40P9Pj_uyXSMc1OPXGxF3wQPV4kjY8eaUAymgm2VHQJIEK2IpLul32BwmYOyc_QpDCJg0UljcovH2M3u8INjg4hsc9mfEHyOK50rdOJakm9tBmC3foIl67CncfocapiPSBAP2jUHhx8ieT48MvGh4zSyZyP1pYWc0nIbxKcq7x69ZwB4keEBNNWSgQwgTyF0V1iYwZmZp-4RtCTM60DdiBc_8334zGYAWPVOJhIafLas2uMGE3cWBHfrQ-pOw11-6OD-pWP_7dOg1HtGJrHIGtuBS4KEyAkYd2CW_hJ2TqTPtL4qTq1BRBfHhKRIhUViNxtLzI4GKqzzscpX3-Z3iGzKAWN4q5tjxHNFoSQxzt-fJn5uYHNUtMOUC696OZBMvP27bNMlXnCVOBnWN4NZ5KI1uzp_s9X_bEf-TW3KhXXIMqJxvToTUbD44upTL9PKk5-FEaItLj5ON4QxGElbHP0h-8sTpSjkpc_RcmAW1SX3jaFnQGtgG5ULxwb_jiuCxzyj4yML7Xmwy69qMTbHD6cxE7jbu8g04aIv0g_mf16iVfp7_uU-ZHZtTh45Q7lsxIxqK0AdgV5QbjHIxwxEgcmj3DkKiaVKXP9fv9xpSNo4-dx8qNzqTncJ5FfQrRjAKuTVd8Df3jN4vGrHBLdKyeCBt9KvwS2zBxgLd-Ljc9XO3aEMoig8UR2JGpvAoHrlPEiaG6Qj_dcj_wOzk7okjl98cAHEk4Z9A0yqT0aZTGa_TBGVme15GsYxflY4dZm7s6XCf56xOVdqZdt-RaRHOAAQhN868H673vp1zGfTWdPHF-9HaT1Z2I=",
  "id": "rs_0dff2e48894f6988016ab479cece4887d0912cb8ee1d4ffa9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow pen is visibly inside the left basket, and both brown plush toys are in the right basket. Other objects remain unsorted; I’m parking both arms clear rather than making another rushed grasp.\"}",
  "call_id": "call_SIzGlwVrWHRGdNMCL5LsozVC",
  "id": "fc_0dff2e48894f6988016ab479d0d7b487d08b47250928bc9d55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SIzGlwVrWHRGdNMCL5LsozVC",
  "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]: [-0.0437, 0.8581, 0.7769, -0.5224, -0.0727, -0.0692, 0.9966, -0.0154, 0.8474, 0.7765, -0.5362, -0.0128, -0.0277, 0.9983]\nstate[eef_state]: left_x=0.2997 left_y=0.0033 left_z=0.212 left_yaw=0.0415 left_pitch=-0.0406 left_roll=-0.0059 left_gripper=0.9966 right_x=0.2967 right_y=0.0013 right_z=0.2118 right_yaw=0.0014 right_pitch=-0.0378 right_roll=-0.0046 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -1.2923, 7.4872, 1.9756, 0.1832, 0.1294, 0.1294, -0.8137, -2.0855, 6.9949, 2.083, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9105839f947357685eb2d0df9014d83bd943eae3dbedf3991e4408c694eb9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584e9c2c5d4de07a381d4733ecf0ac4a33e69d335e71dfcb207977381df7f5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662caab1ba3dba71f9a0b3efb62186a452b9a4a5bc4292117a14d79d9e865ac0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}