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]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0219, -0.0292, 0.9996, -0.0154, 0.7971, 0.6109, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0012 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.306, 1.8388, -0.0317, 0.1636, -0.0659, -0.7863, -1.0325, 9.7709, 1.8632, -0.149, 0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874f70418e521f05939ba06572aa7c546d0a8dddafffcf8aeefa91c651f0d82c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8348d3eb2acb5bca3d2115ebdb2a7fce4d9211635caa4bbadf9e166363476850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45931bb2befa4464d497c62d77afec0e1ecd1d5abbb198e122a18a870763d247",
      "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": "gAAAAABqtFrM_9uRNmkya_TvX3FvOJejHHrWLWTDnE3kZFXC0LL0HKpjAxt8R3siE6EuD4rKjUCJfWzJGERou7JfSDx34XlDPtSgWPsklzNBYN5Z1e46pDkhmViKr1pVCN0kIAsu7i1ybbaIomoakcrK1-sEGj2ubdcN0JqPsTzKfKfEDS5-XmOFccEKb06lsEZh5Zwgnx2QEwhxwgU6rLnflzDH8fuSX1nPZVcyljeHHL0LaVyOyRY5InlAfc1HwCAs-r9twoLzEunANtEK48WH7Fr08mvOx532pWAtmRqlXescGsFWm7ydDqnWjD_lkcVhpicZyjVJhMIXdckAMiJVdEVMmE8cLMF_uHOXTIGuH1DOZaV4trt_a6tUFSou7ZXx72lYPVhhkDlLvrk8yRydscOdfYmhMLjkpEmQW8Z5Fkqv68x73oFMkNTSCSjfsKkjhDHVTTCqaKI97wGymaabQedWYvCPieVFxxDWRVfDoi9JGe49TgWgn9HSLbbRuu4Ojk1JMfeB99JTPR46ramj8zPgisOkThwa7DHYpqxGtHMoyyJlg6S4ePfEi0xpQC0daCA04SABbS_ltAZq6C-lnoefcdIdDpAkORPRoNoe8U0y1UqR7ryI7YvPeD0YeqqPsgleJ-3kBrMhCE1tSMKnqwMxAcKdSaIX1R2CiGBW_dICjxkPyYpKAvDsBN7EIkZeIU-DoaaZ7MyxXzynX82TxkhtLfvjFqDBO8AwiTfeK7b87KcO97DjvFY52g2sxCSYcZ5kMDACCib9LjdGKNrqamCrEqzOrbNuqCGKLUbrkFQoGOsWzoXfFWzDS_vwi-7SWUFrT6v2DZAfvqP4L_V6WXQ5s-vw1_6f-Umooyx9zd2hnBrTxa0qVILyLnjdz-mzJ04tpI3oO3k2jfdhr0C4UOwyVujBujZ6Z4REu3jJvVbMfqoySdewtSx0BeRAwC8fOnnGRcKO71e6ZgbFoJXngHA0B1RU6pgVn8Dn6feU1t9iTxw8I0Mo45psdDirNPP2wLCq7goMBpMyVf19e38f_c-ylyot9_Jo-pQR7-0COtAapkMs55I5iePUyrwn7rcX5KLzL61bncx6QUlINvIyw1wt3dZZJ-i9Du6j0-DznKS3VUIMCS9SNVa9DKi92Nu3Uc8WxhB2HspP_BRtu0JWDx4MEKq2yg5IfCLZ_utI8LQ8sT30bCZsVpz5XAetEUDggg34nhDZR9l6hf-edmfgO6LH-UFCcS0R-wmKeHkm9na5G7UizF8tEPmo5HTwViBj13zzP1D6-hqo7bQQjSyJkv8EegQ4ie1-2G2_UQPVysbvAGqoTYGRTvxvMDyqqdJdO11pla8-M0ZaETOSspJFiS7Nd-_Qykgx-xkWzlhRQ0LmGrFa2iJnuA0deHV2a-Id4OdbVH4XXIMQ-mICHVd2DfzWZ8CWjmIZTenTaYmpfud8DhLTM09dwDpfyCcioovFHQy7FQKeA8RKMvW34THEdqz1pNhUhEY8KpplaXkoCX_93x2mCRrcBUolMZCMBJiy6IxVBqWc8IQ1LHYGxU8Uy6eEwaC8jShqjXwPGJ1tORw1b4meBF5wVihnDHXOdMheyrCHe6XDR5SHQYcJBKLlin-zTNsWKQFaTZ7oH-TVG-e_L0eBDJTTyA3KPR4rmQ8f3mByOQSCxabjSpNGaxGp6UgrvtvBpEAvScKgc61F4cFLkNM1NShV-VQkqf5FLJTqyLEVaC9druYne077pKo8on3F9xa_d5Pp-28F5Xn7Ptqs7bT8ByjrXeM86Bv0JMFid5Jhxq0FanSdbCJZErV1wd5XzLqVxF-AQxb_QbsRDtgsikCxX8VpwWnL_SB8hv2fPYbvhAb5wUakkdZTgfiumFA2vVgheeJP9rSHyn74jkkpXWIgIWUUlR_tkeBdLW5D9w3FbJ1Cw7VTxJi3Doc0BAvj_WaVXJzMf_WUUc1rf1dixTm8hOYj_OyGEO58j88VTQSVZUdEkvuzwcfRyTPTbuofseUuKvWm-D91Y4W0QG_5-ocdoN-DxNQksaNpWDYJyPvuLxe6zKU_NJ1YJ4981uhKOuXid4LqNLtpa6Ap-1iLDVCEUFgJS95PptmEPWGr6VlPvzmgNGA0EDj9JrArxRyyV4vIvk46gZNDXf27yVCbFLDUzTZil_S5_5iA8HqIyxHZyoxRiHh2uJObDLmUuwYTRle8OEgg3HXwrCpr8FXDRxtYL3ceV-qDN_8ZQH5FxzPDeLiTBbLGQvThhWMrlFmwwS6LaGCKJ1Afzv9J-6lSSBaKxNEbp1tLtuIr9RpJJ1Fu3kakmVreYzcBnfKDfDQ9nngYTDHOjqvcv5WXDV1HzghGqHkoHcpPSd4yxApYaomjXzhUux_XRtMmAr8phlwbxYvNYPpDurdm33KHmgn4YVW1D840IHGZUft3uTUtFwUoKnF_oXf-ov4IOYPN8dVfOsJxxgYvTAYBeFCy8iCu8ZPlcL6h_QCEBzi50hGeCe4rOhrAId3_qgUjX47GfArFILZIBERKR3MBy3LqKGYJlhtTX6FjAEGosSbB5dZKoqfXsa0ElhlBW_-q4ZlYRKvrzHuZrIXZr4uKZoYwxe88CiDkKyaoc3q6gIUxP9Tl2K78UnPMIzIcypQnDdizmjF3MDTvCJ7g87ZhMyI7FCCRiMouFv4jhUjb2UMZNRcO5OxbAQavNcJLNPLoP4HR624cHywaaFzMNHqNZwSMwpk7wC3QbgYQIcih94JnS0ZvzdWUx7LPxzbsj9DLl-JiRXGkwfnyZE43J873mHFh83MUh8i2-Ew9rFfexFBqzXKhVaNZRLnQuqIR_KOqaAar4j6B_OZaqd9fUGSMGltypybx7XfxISOgJ9okDjWwQ185u8YBV-S_ZLoRga2OeU-GnFxuxKElw0I6lGBt4mXm0BB2IkCSy2Lkw5ytoPp742-1coB7uLyx2hADmxjqs89Frc08AIEX9Nx3SX6DTMl9wmRBc8Pp1_2DhLGiC5NHHy_9NEGtDaOtHkR9ODtfKJEicYwQrpNvg9k2Ecf1gS3hQdEciG3m0mSu7UU2-As6j6xlnDtfZxIuvXv8Ds6a61f9706lIcxaqt6l8ExOPI3lSnsXYf42yJrwL0AwIHesJ3iw5VsLoJQXOPVI2sIsRnNFoGz8nc2hCIeKhjQgRkXQZlkBkcY9rJlIXK_eZTZV2qOonWfW340fGTdMlxm7gLKDd57o7zGblP8jyB986jgDFP2n9Yaoh425036WI9v5pW-k64qYlkgsCeujKSvM1MWx0Xmg0hnq5iWtHWePyhNlpKT4zdlfjJUfLn5GqE3_IUxEt_VM0VYJzNgZe0D93YmajsHl8V_JmsB66paaGfODfO9QAJVreROE9-CjnG85PObLi5NU_oWyja4mUEnRiD1dI-R4JYpqG3x56pNFm13puOEksuEaQBjzNNmzwKSy1KBIaDM_CaZESlKbGTNj8GFxcNkxiUTT-eYagaEd_uqKF80yIdD6NRC4YfpVOdS0CBqgvvM6psnLC_SGSaue33NOUZivLsMX8TNiFc0Oyhsyh2rMyh9gH-0dFApY1yHWmQaVPJV9ddidYN8rxRpKvGXUDy3LDX35JMv7253cq074C4oCHe-CT3yq5pX5rnL8f3FKosMbF4If-zDOvubRVR9Pog8b9Sbh_nzDv9cXslLdyMXpBUPXK37tgLJPkBUBjLFRwDmszwgM8MnZsY6kQWAvp2UNS3qrf3XytORnbkQ-j-WsyvBTQ8g1tR1SpQB59vd7N4NVP9CVreFkuju1b8HsNFbtqSHDciNLH3CNzB89-G_OuHSXObJtqpzwpffBx1x93-TBvB2nuNWgPGf_2fofrGanuhYh7A==",
  "id": "rs_06dbcf307b9d3ff0016ab45ac3392487d092d1181a9534b737",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.27,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.2,\"left_y\":0.02,\"left_z\":0.25},\"note\":\"The table has plush animal toys and several slender toothbrushes. I will put the plush toys in the left basket and the toothbrushes in the right, starting with the rightmost beige toy.\"}",
  "call_id": "call_Hm6T5xNfVWVkIWySKHOQfsLk",
  "id": "fc_06dbcf307b9d3ff0016ab45acb305887d0b72f294cb0c8e5ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hm6T5xNfVWVkIWySKHOQfsLk",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2897, 0.5083, 0.8371, -0.9443, 0.2207, 0.1211, 0.9996, 1.0676, 1.5768, 1.0111, -0.3969, 0.8082, 0.7494, 0.9998]\nstate[eef_state]: left_x=0.2016 left_y=0.0235 left_z=0.2366 left_yaw=0.0237 left_pitch=-0.0365 left_roll=-0.0144 left_gripper=0.9996 right_x=0.2874 right_y=0.2646 right_z=0.1378 right_yaw=0.0188 right_pitch=-0.0328 right_roll=-0.0336 right_gripper=0.9998\nstate[joint_eff]: [0.1436, 0.7453, 8.7726, 1.6581, 0.1978, 0.1685, -0.022, 0.5265, -6.6667, 8.8547, 1.2283, 0.6227, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5866abc270e7e2e54f2c6934eae2cee66542b95aa1c88e1a7ced98bea9ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a08d5b5f4c4f01627d98aecd2110b21f27f6dfe35e036b0576b69e1416afec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f652a03683813038495d49e150f5a0ed5fea32fbe78a4f8822cdde229c1f31c1",
      "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]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0219, -0.0292, 0.9996, -0.0154, 0.7971, 0.6109, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0012 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.306, 1.8388, -0.0317, 0.1636, -0.0659, -0.7863, -1.0325, 9.7709, 1.8632, -0.149, 0.0464, -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]: [0.2897, 0.5083, 0.8371, -0.9443, 0.2207, 0.1211, 0.9996, 1.0676, 1.5768, 1.0111, -0.3969, 0.8082, 0.7494, 0.9998]\nstate[eef_state]: left_x=0.2016 left_y=0.0235 left_z=0.2366 left_yaw=0.0237 left_pitch=-0.0365 left_roll=-0.0144 left_gripper=0.9996 right_x=0.2874 right_y=0.2646 right_z=0.1378 right_yaw=0.0188 right_pitch=-0.0328 right_roll=-0.0336 right_gripper=0.9998\nstate[joint_eff]: [0.1436, 0.7453, 8.7726, 1.6581, 0.1978, 0.1685, -0.022, 0.5265, -6.6667, 8.8547, 1.2283, 0.6227, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5866abc270e7e2e54f2c6934eae2cee66542b95aa1c88e1a7ced98bea9ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a08d5b5f4c4f01627d98aecd2110b21f27f6dfe35e036b0576b69e1416afec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f652a03683813038495d49e150f5a0ed5fea32fbe78a4f8822cdde229c1f31c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFrinD9WdENMkZ-W1sUAin0OSwyfjjksVo0CXWlMF-xcwpcyJE8Cm9q5AsA-LoEG8H_wEUhJM8Lt3-BuNBlw1Cvwm-UW4yej99ZT4mNqdyBhORMZWJOFnm2Kl7rVIdgURnLsJPyi4BGJviCyLmWuEgIabcccpESGrofmXgkdxGgEjgqbZ3a6jjZTADBhiP7D7qcsvv_eipzLZGRboLvSnRsJhqdIga9IX9dTyHQDNdQLLviFFqvh_3sKu_V6TaR7D6_TDU-XDw93DB44H4_EVLBISvUwPZHUcwHS4OayztG_Rsdn2Jd9-FpQzsqwzqEn9v-nrYg972XCiciPhY_5eQHPL3mu7Y1RqwlPrLNuG1VwxT3IIM0JSPb8G_wWy8KZN26ZG5YQb0MYJCOx6BiVUGEJLRbhoP8G7rTDJ8FvhUySrHwfxbNmtC7VbO2mje5m8i7707wWmTxV2EMRKlbYYtdlzFfMvxbC7nxYImm8HoOaEB4JHhg8dzrWvvbf673sOxxj0pMYZly4E5RK8tiS80uHPdozXJyE2BPrOZFBh5ent7ikW-Ml2zJgkcn_BNxweBmV0qrBRmaTieDqpJiqwlRoq4a5BMJy8EtVjAag66VJx13hsvd-fl5QRBxFeb1KB63ouPPnkbu0xxHupT6QIOub4vMH3i4Zz6jC4Zvii5pdeeZNRCifVP8CNWDSYncOR7VWBzLvje_NRY4QfiDK0fsvLgmqxQ7kANZjecwyDTYRCG7LZSKdnXBD36ii5xV8SPpBV2Taei5OuBAXnEXqPzL28v8N9_QXS-x8u0QozlHkcVNDEKpHeq5KJZSuB-fOJ_wy41OV2Nxy3Gocd3lxXpq8yJRoy0LRq2Qj7qC41vsw6NxVNXqeJkA_uS7hhKN_nlaXKCRLSgHAZqerRtRaCWii424XTms7HGvpQpfaoaOjWqUPRQtZfe7cvANce3eiKRqghgO7F8dVwSMn7JzhMSrUEkjtXXnQb1WN-XC4LFST-P0EyNc3-OdC8l8OONWPUBpraH3lCwrr7dxvK156H6ZSr111epkKQwmBg1VshmX2xAh3UspwGqsXX9vcs4vi4DDmWZMLyyB9FC8vDF3kCx6uEEQdCUlzc_-afEztVVj_i2VgAmmNP1Omc5hXSTe-cS8eAWmTziWMdzOk9VTHLgAR-89yP-D2-rjfs-GecKEPfiboxKpMkoRoKX7oxPxg9kizo7dlYb0N1v8dsZVbZQHIo_0-O0ZzfVoc5YUk9xfPDmsEkGwDuEDFI5RwfCb3wDdZPwNfzj11C6cIDRQVhJAWzG16LyUMO6PGNcVxIyh8Ou-woDi2lJvwKQVvF1yfm_3S0HjqAW-k1m3FcY5TC8fkb5JEmyz-AMBXXGSP_7OO_mhLqWPw5ZC1BmPYib-4Wd20b9KyuBmNZQEKSUwQg9kZx-BUhbx6zzDbnu0P0IDFtAglUhvr-EBSlbyB-EB-MgQYYiWX0ZjWRdUZbRkl40nEBu2Pqi7VK8Sp63Lcf0jYjSfQCZL-Zd1sIdEgiWL5mQLEh3FvaD5PcI4ccoQvoFT0zUtDBW79RpsBRNBxmqgkUKZrUzyFB1Hya6lBzeuuYR40QqdMVEo9R2H6plT6JnZcc-4YhUJ81lUVvO0e_waf4Lnfo74HF2flK3OeTtAmLdAYFcrHsiMGQOpVRJXr572U9RSRtEqFqvlAQAGnf1n3uJlSZD1TREcbpLcrBJlQZquFaXrJDALURRlZRQ91j53l1xLJtAjxpTguoieOolS6Xp8FieMgR1tknV4q7DRyOgnbMhaFWpRsfxuVadRqZx6fqRPiGdk2GpDtcu_0oTAQtCpXXB4RrlVkOX3SQJCKfLUfJXgLNM2MhCIMPm8yMg_Ky2UvJvaQmu-OePhLZVliQ9sqIvBGTnUK3cg4btq775pjYv1z997GQW0HA1N-ldDIBBh4m34mdEPKQoxiZph7LMcLXWXbGw_G7JEEJpCoXGSu1agFekxJilMfBvr-OPq53IREVnANPaxK8Wo_WZ2Y8LW1pU_DdcWnmAzY3SZ_P3f4L4PDdfeNuTYTZ92rcpakiQ-PnYilXcZNA7vNbRWrQbiptYgXXGaKBdxQePeAoikGxHAYa1yidtFWC3pEVShN0t5YgDZh-bIvL-4DdQj1HGrbcw-b3UxXUmQUZWJSRC5B6LGvSp-fa0FS7FUHxnDa7NxEcx1M1Ngctx7ODpoe0EQ=",
  "id": "rs_06dbcf307b9d3ff0016ab45ade109487d08dcdefc9d8d10975",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.31,\"right_z\":0.045},\"note\":\"The beige plush is just left of the right gripper’s centerline. I am shifting toward its torso and lowering the open jaws around it.\"}",
  "call_id": "call_pbgyjTUtxbOQXJxS1PftZQFz",
  "id": "fc_06dbcf307b9d3ff0016ab45ae1636887d0955367490cd7e068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pbgyjTUtxbOQXJxS1PftZQFz",
  "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]: [0.2897, 0.5102, 0.8394, -0.9535, 0.2207, 0.1196, 0.9995, 1.0657, 1.906, 1.0374, -0.001, 0.8009, 0.7528, 0.9998]\nstate[eef_state]: left_x=0.2006 left_y=0.0232 left_z=0.2354 left_yaw=0.0244 left_pitch=-0.0449 left_roll=-0.0179 left_gripper=0.9995 right_x=0.3186 right_y=0.3215 right_z=0.0657 right_yaw=0.0204 right_pitch=0.0088 right_roll=0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 1.2786, 5.8188, 1.7851, 0.0317, -0.0269, -0.022, -0.7453, -6.7487, 5.3128, 0.823, 0.2857, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d18d0f92758ffb097e55393e987313e602a98c950b806e43b40b9f6bbd62ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1774d9ecb47300b785c9b118ddf8ee7cd9292c3780f5a30ac0d6a254650282dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97e4358f77c6e828693bb25fc9a93661128bd6de65a541549649ac787301beb",
      "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]: [0.2897, 0.5083, 0.8371, -0.9443, 0.2207, 0.1211, 0.9996, 1.0676, 1.5768, 1.0111, -0.3969, 0.8082, 0.7494, 0.9998]\nstate[eef_state]: left_x=0.2016 left_y=0.0235 left_z=0.2366 left_yaw=0.0237 left_pitch=-0.0365 left_roll=-0.0144 left_gripper=0.9996 right_x=0.2874 right_y=0.2646 right_z=0.1378 right_yaw=0.0188 right_pitch=-0.0328 right_roll=-0.0336 right_gripper=0.9998\nstate[joint_eff]: [0.1436, 0.7453, 8.7726, 1.6581, 0.1978, 0.1685, -0.022, 0.5265, -6.6667, 8.8547, 1.2283, 0.6227, 0.2173, -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]: [0.2897, 0.5102, 0.8394, -0.9535, 0.2207, 0.1196, 0.9995, 1.0657, 1.906, 1.0374, -0.001, 0.8009, 0.7528, 0.9998]\nstate[eef_state]: left_x=0.2006 left_y=0.0232 left_z=0.2354 left_yaw=0.0244 left_pitch=-0.0449 left_roll=-0.0179 left_gripper=0.9995 right_x=0.3186 right_y=0.3215 right_z=0.0657 right_yaw=0.0204 right_pitch=0.0088 right_roll=0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 1.2786, 5.8188, 1.7851, 0.0317, -0.0269, -0.022, -0.7453, -6.7487, 5.3128, 0.823, 0.2857, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d18d0f92758ffb097e55393e987313e602a98c950b806e43b40b9f6bbd62ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1774d9ecb47300b785c9b118ddf8ee7cd9292c3780f5a30ac0d6a254650282dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97e4358f77c6e828693bb25fc9a93661128bd6de65a541549649ac787301beb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFrmNp0bBmscpKAcWVs_t-LyzLUanmgoGwcbM5ZVS2Lt_8WWhmIxfOwvoDfS0oGXpDrfHkyuiPi8PebaXmVcET1-mIAbPVS7cI59wtV_ek-7tak8GH1xifVLiLESbFL1MtYgsQiGQotZgxA8s4CzWHJCbVvIFsQ-oxLhz-w_Ui0EGpnqLu_FCJ2-PcvTdVZvox3GX6CUu0ueCVokW1CaG6YEZE9v-vor4rGiAO6md1JrJdI9Oqws4yJU-_rJntfeqt22bKbNypbHVtNdHxVqgv1RbOf0OD7mB1wsEqfH_SohKE6AuYTRnlPgRhjAaOMtYtt-h5-2pVaMWs6HfvE5Klpbr9Ooa02LM7l4NrZOlWQMI_8SlWkX-tyW5AWmBsDq0lHcTD1LOxaGiBFhv6Xe9mo_UFEEtSePXv5q2rOrHHzdLpu_1PRT2LooEMePxozVqE5L6luURwGVt7vHHhePX9Lep-HeCol4Wb4SLuw5kfVYfBlJY40sG96TupI6JsNY9A7Ew9LP7ONNWtgbAaTqSnRndA1cvqfKfCTSYktUFKEZQ6Az_JKleUtQGLWUZK7Ik0MZvHrqd7FTPqGkTTbxV_LrrWfhABSfn-csbUvjALnBlSHfswblI4pUIXOb4z2CbbsQu766kwVCcCOojqF2Zn-mu3lno4AK6Pop9uyNMv4kfjhzx_7WrsdLEyt1Z9L7mAkuo4eNCCK3jQrn9Ey957jX_B-vQ9rqTKrwVq4WmvLE6Z5kagWyEp1qzSuOV1AvscWfmrdlB3GzOdr7Pf4MaaeDV0hkDfQvM0YyYRVZL9uZB-Exrl4Bn4ipHdQnzs6WatB6Lf8Xwv5X7yWYlB17c7UiivMm8HG2cca4hXnNQbSOATAXZM_XjtqcE8GnGYFq1hG9--MHIllVdffOSryVSboHgAKbATFobtmqAO3wj_oKmNQSP3M4ryY7IAQhU5JY9v6dnWsUE9naTyO4Y5_j_LYTgMgBou4zpUGiR-71mJ9-8ywu1rzIVZFdL3obiP7-qklD8vojNc6EpB73V1d4I34goeRT76xjXOGU-u2kKIXSZB7lCzArxainBOD6o-4DLDY6-3JjRBqJwnldcdkW5K1a_TjBH34KkQmAC8bVNGxQoGvDTx58W311pJ2lPvTtagKKFezegdZlqe7V-A-3jsyg07cG3LeXnhlnLr-u3d3HYPb5etWm-PhPVDMsk0jlyEQ8wNtpMOrI7K-_J6PAASa4kQ==",
  "id": "rs_06dbcf307b9d3ff0016ab45ae5a14c87d0b4272ffcf9e73350",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the beige plush’s body, and the descent has stopped against the soft toy. I will close the gripper to secure it.\"}",
  "call_id": "call_WqVar0UXc0uFBXUvMbjh2hIg",
  "id": "fc_06dbcf307b9d3ff0016ab45ae5d01087d08c8d55247d790196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WqVar0UXc0uFBXUvMbjh2hIg",
  "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]: [0.2897, 0.5102, 0.8394, -0.9543, 0.2207, 0.1192, 0.9995, 1.0657, 1.9038, 1.0374, 0.0383, 0.8001, 0.7567, 0.1991]\nstate[eef_state]: left_x=0.2005 left_y=0.0232 left_z=0.2352 left_yaw=0.0246 left_pitch=-0.0457 left_roll=-0.0185 left_gripper=0.9995 right_x=0.3214 right_y=0.3266 right_z=0.0716 right_yaw=0.0182 right_pitch=0.029 right_roll=0.0923 right_gripper=0.1991\nstate[joint_eff]: [-0.212, 1.5111, 5.9692, 1.6825, 0.0269, -0.0415, -0.0073, -0.253, -9.0872, 5.9419, 0.9402, 0.3004, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c3c4d4d10ab6c54e94ac804dc05add23d974c928ebe54b4e411260bb0314ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b20c12f17565dab5d007fd337fa4d1863da9ad4d289f811143ce9ed5d8f883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac77db57243f0178448f9266f82c5a84dde67e34bce395576db34a1ab7055e75",
      "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 14 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]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0219, -0.0292, 0.9996, -0.0154, 0.7971, 0.6109, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0012 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.306, 1.8388, -0.0317, 0.1636, -0.0659, -0.7863, -1.0325, 9.7709, 1.8632, -0.149, 0.0464, -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]: [0.2897, 0.5102, 0.8394, -0.9535, 0.2207, 0.1196, 0.9995, 1.0657, 1.906, 1.0374, -0.001, 0.8009, 0.7528, 0.9998]\nstate[eef_state]: left_x=0.2006 left_y=0.0232 left_z=0.2354 left_yaw=0.0244 left_pitch=-0.0449 left_roll=-0.0179 left_gripper=0.9995 right_x=0.3186 right_y=0.3215 right_z=0.0657 right_yaw=0.0204 right_pitch=0.0088 right_roll=0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 1.2786, 5.8188, 1.7851, 0.0317, -0.0269, -0.022, -0.7453, -6.7487, 5.3128, 0.823, 0.2857, -0.1294, -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]: [0.2897, 0.5102, 0.8394, -0.9543, 0.2207, 0.1192, 0.9995, 1.0657, 1.9038, 1.0374, 0.0383, 0.8001, 0.7567, 0.1991]\nstate[eef_state]: left_x=0.2005 left_y=0.0232 left_z=0.2352 left_yaw=0.0246 left_pitch=-0.0457 left_roll=-0.0185 left_gripper=0.9995 right_x=0.3214 right_y=0.3266 right_z=0.0716 right_yaw=0.0182 right_pitch=0.029 right_roll=0.0923 right_gripper=0.1991\nstate[joint_eff]: [-0.212, 1.5111, 5.9692, 1.6825, 0.0269, -0.0415, -0.0073, -0.253, -9.0872, 5.9419, 0.9402, 0.3004, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c3c4d4d10ab6c54e94ac804dc05add23d974c928ebe54b4e411260bb0314ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b20c12f17565dab5d007fd337fa4d1863da9ad4d289f811143ce9ed5d8f883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac77db57243f0178448f9266f82c5a84dde67e34bce395576db34a1ab7055e75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper has stopped at a nonempty opening around the plush. I will lift it clear of the other objects and check that it follows.\"}",
  "call_id": "call_e38e026ojtetosqkKIusdIuz",
  "id": "fc_06dbcf307b9d3ff0016ab45aec816c87d096e7e501d8194c78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e38e026ojtetosqkKIusdIuz",
  "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]: [0.2897, 0.5102, 0.8394, -0.955, 0.2211, 0.1192, 0.9995, 1.0657, 1.792, 1.2137, -0.2981, 0.7746, 0.7555, 0.2004]\nstate[eef_state]: left_x=0.2004 left_y=0.0231 left_z=0.2351 left_yaw=0.0242 left_pitch=-0.0464 left_roll=-0.0189 left_gripper=0.9995 right_x=0.3187 right_y=0.3283 right_z=0.1352 right_yaw=0.0359 right_pitch=-0.0121 right_roll=0.0593 right_gripper=0.2004\nstate[joint_eff]: [-0.0205, 1.4427, 5.9966, 1.6581, 0.0269, -0.0659, -0.0122, -0.2256, -12.4513, 9.1966, 1.3797, 0.5592, -0.0513, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318355c22f0b9b83dfe5c46eaea48fae9d7a324ecc9196618d768c9cecd528a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c0818dc23b0df9d60c9dfd6353cd690f519a406068ab1066d4feac054a9305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99bbc0b593e6c0f537c7af9d017de54bb888a63c11a1e98b29a036f097c715f",
      "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 14 changed as sent

message 17 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]: [0.2897, 0.5083, 0.8371, -0.9443, 0.2207, 0.1211, 0.9996, 1.0676, 1.5768, 1.0111, -0.3969, 0.8082, 0.7494, 0.9998]\nstate[eef_state]: left_x=0.2016 left_y=0.0235 left_z=0.2366 left_yaw=0.0237 left_pitch=-0.0365 left_roll=-0.0144 left_gripper=0.9996 right_x=0.2874 right_y=0.2646 right_z=0.1378 right_yaw=0.0188 right_pitch=-0.0328 right_roll=-0.0336 right_gripper=0.9998\nstate[joint_eff]: [0.1436, 0.7453, 8.7726, 1.6581, 0.1978, 0.1685, -0.022, 0.5265, -6.6667, 8.8547, 1.2283, 0.6227, 0.2173, -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]: [0.2897, 0.5102, 0.8394, -0.9543, 0.2207, 0.1192, 0.9995, 1.0657, 1.9038, 1.0374, 0.0383, 0.8001, 0.7567, 0.1991]\nstate[eef_state]: left_x=0.2005 left_y=0.0232 left_z=0.2352 left_yaw=0.0246 left_pitch=-0.0457 left_roll=-0.0185 left_gripper=0.9995 right_x=0.3214 right_y=0.3266 right_z=0.0716 right_yaw=0.0182 right_pitch=0.029 right_roll=0.0923 right_gripper=0.1991\nstate[joint_eff]: [-0.212, 1.5111, 5.9692, 1.6825, 0.0269, -0.0415, -0.0073, -0.253, -9.0872, 5.9419, 0.9402, 0.3004, -0.0952, 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]: [0.2897, 0.5102, 0.8394, -0.955, 0.2211, 0.1192, 0.9995, 1.0657, 1.792, 1.2137, -0.2981, 0.7746, 0.7555, 0.2004]\nstate[eef_state]: left_x=0.2004 left_y=0.0231 left_z=0.2351 left_yaw=0.0242 left_pitch=-0.0464 left_roll=-0.0189 left_gripper=0.9995 right_x=0.3187 right_y=0.3283 right_z=0.1352 right_yaw=0.0359 right_pitch=-0.0121 right_roll=0.0593 right_gripper=0.2004\nstate[joint_eff]: [-0.0205, 1.4427, 5.9966, 1.6581, 0.0269, -0.0659, -0.0122, -0.2256, -12.4513, 9.1966, 1.3797, 0.5592, -0.0513, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318355c22f0b9b83dfe5c46eaea48fae9d7a324ecc9196618d768c9cecd528a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c0818dc23b0df9d60c9dfd6353cd690f519a406068ab1066d4feac054a9305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99bbc0b593e6c0f537c7af9d017de54bb888a63c11a1e98b29a036f097c715f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFr1AaJHcU5dyU_xyE8pVYzx9IgG01vr7P7ky7JYa2iY7wjyiBdOBemcB4r2Mjw6szeURCU2pgCQcDpwVZUZfoFuQx3M3e5dXajz04ALRR3A7ROT38EkxcuUUrjLaiJQhVbeHcc2FlQ327hPoqo7oP_e5WofDRJzZrbyFxZ0j6UIKRwYiMHpG61NeWfAoecqFjRyK-zaYy7UomeVkAT0hXrvjyZpzs3uxTj9LknAoEf3xHwD8w8iWLUvX76rOA-_xdf2N3lJdh6vanp8ybrVfxLeUu8vIq4eHYIm_qFNKagVvfGaotSpiHXUZQ_lLN3aPIivfIhO2VfAXrEQ2NtO7wE9LvgNXyyfymeXbrng4bzMKIpf1PCOO1CnCxSjbrXQwTNs9sRkv6QxMYpLbUYAWYqSMu3pUl2VzAg7nk0OHpELPYCbIB32JWfVgKkefs46InViKqsnDCA1N9U5vqzpqmaZBt33yy6BauT-2xsKxsNXMrqYJYUZnhkRCSLm3FT34AwMJjgopU3FN-L0TyO6xxnXoExq-4hUUToofL_pruAhK7p8aSiOhXn21ogLWNmBWmJCp9h45KZijWZbCK1GnAHfW9LQ-rc5m2yvDk68rho1Hs-MlUb4-VKnoruQSMAWakEiCf4qlHswWyDRMiWA4oOw0AjbvwEcshagm3LKs2wDA1EuYhgwe5TTB6J6EHF5Dz405c44bdMVkwqkhV1gGEcJfxDAVhiTVs-mGbebTvwQPZTjFCDJ0wylLxITqy7koE9TM2QYTlsMRBoqd0LBRgzYWtz2joHHNRze6lozvxUSFqr4-jA1zqeUMk2WQkgcatA0zGKULB9YTlRc1M16n5N04XjNKFvT1hks2fhVlZkWPSjKeMLiOAm49xiQPPUXy16ATdEzCfwwHQSHHljfQwyyI5nu858LfSpnELp6LSunn8ppxjEa2oUkPQWpkf1e-JyJ0qOSeIHljAT4oDbHKuAZKhr1sxoMh_zflYZjPXRyZnfukW7tVIqaVYDyXyDlZZ4XK6PlcK_zmkC3lmo3nR7esu25YwbuQAxosAo3cUcJ_FrIaSCl8rzMESiMONPP2qQ7ajfWq_AhCDBIQ02Hfa-FlS0YzitxhHOsz7KsyFd3jpagbhdkx-1l-90Os0U62CYHNenrQEME5ri_7x4z-vslpugyCj1uW1VgUqwAEzBn3iRTU4xZc4gUrJQgbC5GerHUX4jhxzRPUvJ5u8XOFxdiHYBAPwW2FyRRmkgewGBK6dQKmgPwjwj1bmjJUsq5_D-FzQDNAS4-_wRJueLshYCmshJ2211Nnt88s6vV8V0vI644-uUuOFDT1EKstdBtiRYjddk4OjcrdLduIPX91s2Z195X5Ke9ipprPe6r_l-g_0ePZ4kL3Hbt3MzL-8o-iQPjfwUNnpaXcWDQz46Wk9orEAmiTK6CTzoBSKdhk-Zviedccrj034CWK9hZzMAjlTkBHIpKHICFpPHJYhmcOM3o057aPono1OO1UdUJIUpgdjK298aVxCOQ8d0hA44JZK1lBSP4r4W3PLtXnjG8_nVwjvbCEpKKI6naRdP11fH5HMP0OKGzqBTi5aBt30zhFTakRy_-XGqR2kYgysJTtahMw2M6UPcRcHnsR7bcGczK6o4Ip9iVC4jQrHk5y2ZuXa8wpMQd530q5PiDAgOD56S8onhjooxAuq_8grp3HH3MiAQW7giYF-ePywEmpA21QXhefzMdcau4zBjJlfyBcmMqhRG3s3LoirMpDlcA-1vA7fPbmJvXJFVewBSFZgah_LgX_BABceWopNdqPKW-TI9rax5lrCe7NoUKRb4TjMBJ4Nkubk8PhZTAhhEYRR9lG_pilcegcQOCaUDm4mePRYamDWeXncaWV4hveL0oW2xkCZzycFDjfnAaCvPa0Ea-I9C29cFFVJKNZCVoCDcIqFRg4kC1bsCQzF-TI_ugHGaFnK_521HgE9YRknTHKMjpG-aA0F6JcaPwQWaPIkon_rrAprexk1dEq65J7ay18xKuclyjwhUlIWXZxOjBGmJWQux_8kQ9GtWHP0FiZ9AkwHejDAE-RcgliQfS-B6q8aSWyYz4CvZ57aAt4DHtN53VQz5tsBFIiPMk37oCAE2sqPQ4oVb_l0SSBGmLI8O6Ttvb3OLUROsQCakHCLvo2MzLeONwAA02mUtm7mL4DjKFdeKTyY9xeuDsYnoHYYJnypTel7plsjhVBS3EMAxslsueKmx3C737gakNyn6qhY-Hws38H1NajSeSUiR2g-Ej0BpH88t8Av1r75xQVAAOo0-b8GR07kEy9-C4xtK9IG8TEgxEfHx6Rfa8BKbiCaWvuIV663d-NTTSfWGL8Wr4PEMS8Q2Dyk1dJl55rimZhUyinXQCCTctUw4gyYqF4qRj2DVFLhi6J_bZPAagxk0EhocdXTDow4j_7KQJ8gDpijY3vujlkrg8BKIa5K1qFU_KkOA4vOmhuLof80r_mB4KhLg4RGve",
  "id": "rs_06dbcf307b9d3ff0016ab45aef717c87d0a0fa930d012f5863",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.145,\"right_z\":0.26,\"right_pitch\":0.25},\"note\":\"The beige plush has lifted with the gripper. To avoid crossing the arms, I will use the nearer right basket for plush toys and the left basket for toothbrushes.\"}",
  "call_id": "call_CrVITrJqxMefw2ozxO95z3WR",
  "id": "fc_06dbcf307b9d3ff0016ab45af42a6c87d09ea295aefc368ac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CrVITrJqxMefw2ozxO95z3WR",
  "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]: [0.2897, 0.5152, 0.8394, -0.9569, 0.2211, 0.1162, 0.9995, 0.4347, 1.5532, 1.079, -0.0181, 0.3565, 0.1844, 0.2026]\nstate[eef_state]: left_x=0.2008 left_y=0.0232 left_z=0.2338 left_yaw=0.0258 left_pitch=-0.053 left_roll=-0.0232 left_gripper=0.9995 right_x=0.4494 right_y=0.1447 right_z=0.2063 right_yaw=0.0278 right_pitch=0.1115 right_roll=0.0122 right_gripper=0.2026\nstate[joint_eff]: [-0.0342, 1.0735, 5.9829, 1.6581, 0.1001, -0.022, -0.0122, -0.2256, -10.3863, 10.8786, 2.3614, 0.0806, -0.1245, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16c005a0594300086e6827bb235ea327c7557c9508c214aa0a5b698e51d67c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1657bfaf770eaf118117002e0ff343dac7b5c4312043523b65495da15165d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a441e58d100f4fc4dbbb7d13b63abab6cd0bfffe7ae966edb2157baee54289f4",
      "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 17 changed as sent

message 21 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]: [0.2897, 0.5102, 0.8394, -0.9535, 0.2207, 0.1196, 0.9995, 1.0657, 1.906, 1.0374, -0.001, 0.8009, 0.7528, 0.9998]\nstate[eef_state]: left_x=0.2006 left_y=0.0232 left_z=0.2354 left_yaw=0.0244 left_pitch=-0.0449 left_roll=-0.0179 left_gripper=0.9995 right_x=0.3186 right_y=0.3215 right_z=0.0657 right_yaw=0.0204 right_pitch=0.0088 right_roll=0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 1.2786, 5.8188, 1.7851, 0.0317, -0.0269, -0.022, -0.7453, -6.7487, 5.3128, 0.823, 0.2857, -0.1294, -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]: [0.2897, 0.5102, 0.8394, -0.955, 0.2211, 0.1192, 0.9995, 1.0657, 1.792, 1.2137, -0.2981, 0.7746, 0.7555, 0.2004]\nstate[eef_state]: left_x=0.2004 left_y=0.0231 left_z=0.2351 left_yaw=0.0242 left_pitch=-0.0464 left_roll=-0.0189 left_gripper=0.9995 right_x=0.3187 right_y=0.3283 right_z=0.1352 right_yaw=0.0359 right_pitch=-0.0121 right_roll=0.0593 right_gripper=0.2004\nstate[joint_eff]: [-0.0205, 1.4427, 5.9966, 1.6581, 0.0269, -0.0659, -0.0122, -0.2256, -12.4513, 9.1966, 1.3797, 0.5592, -0.0513, 0.8278]\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]: [0.2897, 0.5152, 0.8394, -0.9569, 0.2211, 0.1162, 0.9995, 0.4347, 1.5532, 1.079, -0.0181, 0.3565, 0.1844, 0.2026]\nstate[eef_state]: left_x=0.2008 left_y=0.0232 left_z=0.2338 left_yaw=0.0258 left_pitch=-0.053 left_roll=-0.0232 left_gripper=0.9995 right_x=0.4494 right_y=0.1447 right_z=0.2063 right_yaw=0.0278 right_pitch=0.1115 right_roll=0.0122 right_gripper=0.2026\nstate[joint_eff]: [-0.0342, 1.0735, 5.9829, 1.6581, 0.1001, -0.022, -0.0122, -0.2256, -10.3863, 10.8786, 2.3614, 0.0806, -0.1245, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16c005a0594300086e6827bb235ea327c7557c9508c214aa0a5b698e51d67c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1657bfaf770eaf118117002e0ff343dac7b5c4312043523b65495da15165d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a441e58d100f4fc4dbbb7d13b63abab6cd0bfffe7ae966edb2157baee54289f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFr990yyhO40gl9IdFsZmVwF5tuH3ZV5XKThcdY4W7ZplL5L5hKX4wRjH_qDpi4XP66PB4THNe0ZUQva3XpMuIzIbLTlb8SJgpmn1FhwZMv80j7n7J8aouHMlkyeW8w1_MNqpEed2AlugZZ5jqSq85rSm5t2lhq_UI6IQ1GSQD2SkVWqWitfMwe8xgH4JfeX6h0001ArlZ9_njkYq_Hen6hvFt8RsEEFtJH4BbjHbi13_rpvCSj8a6h8HadDx1ugqrpuZ8khGn-ICzSir41wTyCVhYiVgocRQCdkQQ3uPWDVfu7rmVXqQnmbNMgsKHDmnI-LGIG39yDBiwGoOXLdGtzgH9Xfqe2A2maVS5SYzFhCETD6A9XSEaCF285X0Q0WovotR-Y1eP9UlAHfUMMeIOWz3nKlpfQMOuNt8EVIu8GYWoEQROICEB5HI7BEa0vCLNwdNIdColjFrH8M-RtB-rlqoO7duWKr5jjmvF7qLQTWeohN56uEQuu-AYmbt2AGa1mMzEy3NGxnECj27goTV0KBR2NJ2iD6c2_odbmg6w67Ac5PjaHL3yMogZoBimDihy4azHBRiTLT2w_dPwZ_-bktx2xAphe1bYp6RK3Fv_8h0UhQhRJG26N2INZoZKB_KakAeskjoc9ASgjtxiUWYjAy5MpFdQ5xy9UfA2bLkeX6ahAO7gKfXxFlnAlwqJOBoabvic9A1BE2mzp-17-WlgDJSehvWT-6LEm1zOa-WS4iPjD5XiksDewp97LBbcFJgeCdRg2YM0N6zCFA_dLK17IDLV_WRAbapsQlYJ9YVESwTZew4JOXwUjh53kNQMjJN28RrQ9UtkpbjYFT-4Upd-MnGPimJFl8foIc4VLKXr6ftGlqYG4A_h1PD8r7lKKxGRf_Kwgp1-7Q78AYiQvD8wpBeGQ11ll2JdF_E8_tYgUDSR8Y0F5blqLe-K4DU4qlWbe7FPn3ZFe8yK3eaPpkYLLfPXvsiYbGq0Cv8g1c-0ouY_Wkyw3EgR0flaOLJH0bPv4KwEd0jm9IkbdhcuSqdOJKFt_zA1n8gbiFtFN0rUkZsZfLZS5_qR6z1PyKqzsRT4TePX7FR_AwIjGmf_S2zqQQ7XB6eBsSgvP68U0QKkNNNqHsFXcK0FaAlm2CfEGKVopvVnWPfiCsWKXSBnj3R_zdlskaUgZ6i7g89AU4Cc4RKuEiDWfG7S4z3vVIVmEmxHI5aXlVax7rb0yJ_JZ14QbDwCq7h8vWjYsuCJpIhorP_w2O1146xj48JuZKJCVy_HjzpWMOxjFrY8zw19X9uY_6omoCzHBzmKkm7Ir1PN7PcLA-iaZh-jC86leWxlpRMlASWBUrt1riHhKviPYS3hVPbr29uvCH6rjmUlbUpEITlTyd2RL7EYvLnH_inNdhnVvC2UlxZXQW1WPRCqhFbt-UoBhXFu58-WsUUV-sC-nIbZQerFf8RdRgu9z6j47Yi-LAl4l5Cw5egkaiTJm2KDqnuaugbUImhwXgOoKMraOp0PWVygEYPf9KzTxWaE8PXqP9PLVueaPqZTGuLJrSwtK8Di5qChNmBy1po2TeENJGoo2A9AQMwoKkxLDkIHZyCdUDYGUVpVLtO7ObUt011hsa5swhlO89R8uNMQi7ot8qpeNF6R2Dfg5v0H8n-EOZEplpymfIZP-MUDZuDSfU-WHV-mLOMqdv99djSlX7Xiw1N_2XYitF6CRhANSpz1V6soLKoQI6W5ELvLah0W8a2s5IEKdj1x4Lq3zo9taOvaY2biOCLgTCPf_Gw5mGWkhDcBsN-P8mbAFLUUO103auBCVo6euIr-L9Ark7mWO28lpfsprxI0QHziTvI2o96ssRp8O9QtKnDd-V28lNbNENd-ohqPWf9id9fyli0I6g4AN7Z7bTBeDyezBSwiB3bsgKZDahu_FLVibSe35ufIo6iR0B-_MKs0GdWCIDK5GAn-JpqU2fo6I1P2ujaRaEnf_FixueBee5tl1_RPA5nrN2WxItoaXBawSMHwkWrdEGahLro2gX4eO7xpOKquS9ZG-mwPV-nrlsz4NTziPnpfdxbVAF9HcpqIqQZRrPcTWCuYYOtl_vQMawsyr96-7aOqygEAC_t-dEe-Jov_hvBZVZ258S4-OZHfFjixnxuNCnoYLT-YqNNTQAVmLWNnVvk0lc-0px6xI-nbCTovK2ayKky2DUyXMw-4Pxxn4OnseHRGuIDYeECZdJ00Sx-UVQTEapz87fEdC-e1KZhmCEdd3DVGwMqEJ0vDy5wBdwnMiIEh47SmBpXx5rsP4V3wQegnyHk9Hpm7I-xCUYjSCyD_TrIeHZ-GTVhGA5QU73bh6tqZfMVDirDvrmsBxaX9krLpSo8mbBKt3ZNemlWabefpPuJxqGRorGOiWzjhk5aL2wb4Ck1d2Tc1GO3CeHvvsLEK4lwiCEpoy9RWOxtVYJH0ROimANK_GrPVWG1pSzsDeXLrOwv5B1RA5P_0LPYe3jNfB8Db1MWNlH0Vf0Lt3WvgCw5KeX6tYKo_y9BSEkjKElTx9lnEE=",
  "id": "rs_06dbcf307b9d3ff0016ab45af81f7887d097660692e447b124",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.145,\"right_z\":0.17,\"right_pitch\":0.35},\"note\":\"The plush is above the near side of the right basket. I am moving it slightly farther into the opening and lowering it for release.\"}",
  "call_id": "call_SalYBARTS8ILHUZwKDBZguAM",
  "id": "fc_06dbcf307b9d3ff0016ab45afcbb2887d0a5d2cc5913f20916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SalYBARTS8ILHUZwKDBZguAM",
  "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]: [0.2897, 0.5167, 0.8391, -0.9569, 0.2211, 0.1158, 0.9995, 0.3805, 1.8267, 1.0126, 0.4904, 0.3271, 0.0963, 0.2046]\nstate[eef_state]: left_x=0.2009 left_y=0.0232 left_z=0.2334 left_yaw=0.026 left_pitch=-0.0548 left_roll=-0.024 left_gripper=0.9995 right_x=0.5062 right_y=0.1452 right_z=0.1552 right_yaw=0.0354 right_pitch=0.2645 right_roll=0.003 right_gripper=0.2046\nstate[joint_eff]: [-0.0205, 1.347, 6.0239, 1.6435, 0.0562, -0.0415, -0.0122, -0.4991, -8.7726, 6.5299, 2.0098, 0.0611, -0.2027, 0.4469]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f9f7715761fdae0dd0412a1c271358bc3e7189e1492efc92192894a03032af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76627a25a2d9c78eb3c50aa0c93d2b3a0ba67430d346692f233b22662ce52c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4996cb7097e4208068106a61fb45c3675380a8aed6d3afbaab62bfa1a0036589",
      "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 14 changed as sent

message 21 changed as sent

message 25 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]: [0.2897, 0.5102, 0.8394, -0.9543, 0.2207, 0.1192, 0.9995, 1.0657, 1.9038, 1.0374, 0.0383, 0.8001, 0.7567, 0.1991]\nstate[eef_state]: left_x=0.2005 left_y=0.0232 left_z=0.2352 left_yaw=0.0246 left_pitch=-0.0457 left_roll=-0.0185 left_gripper=0.9995 right_x=0.3214 right_y=0.3266 right_z=0.0716 right_yaw=0.0182 right_pitch=0.029 right_roll=0.0923 right_gripper=0.1991\nstate[joint_eff]: [-0.212, 1.5111, 5.9692, 1.6825, 0.0269, -0.0415, -0.0073, -0.253, -9.0872, 5.9419, 0.9402, 0.3004, -0.0952, 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]: [0.2897, 0.5152, 0.8394, -0.9569, 0.2211, 0.1162, 0.9995, 0.4347, 1.5532, 1.079, -0.0181, 0.3565, 0.1844, 0.2026]\nstate[eef_state]: left_x=0.2008 left_y=0.0232 left_z=0.2338 left_yaw=0.0258 left_pitch=-0.053 left_roll=-0.0232 left_gripper=0.9995 right_x=0.4494 right_y=0.1447 right_z=0.2063 right_yaw=0.0278 right_pitch=0.1115 right_roll=0.0122 right_gripper=0.2026\nstate[joint_eff]: [-0.0342, 1.0735, 5.9829, 1.6581, 0.1001, -0.022, -0.0122, -0.2256, -10.3863, 10.8786, 2.3614, 0.0806, -0.1245, 0.4664]",
      "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]: [0.2897, 0.5167, 0.8391, -0.9569, 0.2211, 0.1158, 0.9995, 0.3805, 1.8267, 1.0126, 0.4904, 0.3271, 0.0963, 0.2046]\nstate[eef_state]: left_x=0.2009 left_y=0.0232 left_z=0.2334 left_yaw=0.026 left_pitch=-0.0548 left_roll=-0.024 left_gripper=0.9995 right_x=0.5062 right_y=0.1452 right_z=0.1552 right_yaw=0.0354 right_pitch=0.2645 right_roll=0.003 right_gripper=0.2046\nstate[joint_eff]: [-0.0205, 1.347, 6.0239, 1.6435, 0.0562, -0.0415, -0.0122, -0.4991, -8.7726, 6.5299, 2.0098, 0.0611, -0.2027, 0.4469]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f9f7715761fdae0dd0412a1c271358bc3e7189e1492efc92192894a03032af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76627a25a2d9c78eb3c50aa0c93d2b3a0ba67430d346692f233b22662ce52c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4996cb7097e4208068106a61fb45c3675380a8aed6d3afbaab62bfa1a0036589",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The plush is positioned inside the right basket’s rim. I will open the jaws and leave it in the basket.\"}",
  "call_id": "call_VXjDVOBNKh1qffWUd7FUIzuQ",
  "id": "fc_06dbcf307b9d3ff0016ab45aff93ac87d08a8b26356c7d644e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VXjDVOBNKh1qffWUd7FUIzuQ",
  "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]: [0.2897, 0.5171, 0.8391, -0.9569, 0.2207, 0.1158, 0.9995, 0.3782, 1.8496, 1.0115, 0.4896, 0.3283, 0.0902, 0.995]\nstate[eef_state]: left_x=0.201 left_y=0.0233 left_z=0.2333 left_yaw=0.0263 left_pitch=-0.0553 left_roll=-0.0239 left_gripper=0.9995 right_x=0.507 right_y=0.144 right_z=0.143 right_yaw=0.0377 right_pitch=0.2413 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [-0.0342, 1.3744, 5.9829, 1.6386, 0.0122, -0.022, -0.0073, 0.1026, -11.2205, 6.3932, 1.8193, -0.022, 0.022, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21ac1c8a4efaef7b6353dc7884ba5183f25aa5d3954fd7d32d353f2aa82d83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f8ab05cd6264fb88217ae97f011d873ea1585a65708e0d7f80af1806b016e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5694c9e79e3540b5620417643cd3436752bb59277a9c82d93893e1ebc7bc1305",
      "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 17 changed as sent

message 25 changed as sent

message 28 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]: [0.2897, 0.5102, 0.8394, -0.955, 0.2211, 0.1192, 0.9995, 1.0657, 1.792, 1.2137, -0.2981, 0.7746, 0.7555, 0.2004]\nstate[eef_state]: left_x=0.2004 left_y=0.0231 left_z=0.2351 left_yaw=0.0242 left_pitch=-0.0464 left_roll=-0.0189 left_gripper=0.9995 right_x=0.3187 right_y=0.3283 right_z=0.1352 right_yaw=0.0359 right_pitch=-0.0121 right_roll=0.0593 right_gripper=0.2004\nstate[joint_eff]: [-0.0205, 1.4427, 5.9966, 1.6581, 0.0269, -0.0659, -0.0122, -0.2256, -12.4513, 9.1966, 1.3797, 0.5592, -0.0513, 0.8278]\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]: [0.2897, 0.5167, 0.8391, -0.9569, 0.2211, 0.1158, 0.9995, 0.3805, 1.8267, 1.0126, 0.4904, 0.3271, 0.0963, 0.2046]\nstate[eef_state]: left_x=0.2009 left_y=0.0232 left_z=0.2334 left_yaw=0.026 left_pitch=-0.0548 left_roll=-0.024 left_gripper=0.9995 right_x=0.5062 right_y=0.1452 right_z=0.1552 right_yaw=0.0354 right_pitch=0.2645 right_roll=0.003 right_gripper=0.2046\nstate[joint_eff]: [-0.0205, 1.347, 6.0239, 1.6435, 0.0562, -0.0415, -0.0122, -0.4991, -8.7726, 6.5299, 2.0098, 0.0611, -0.2027, 0.4469]\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]: [0.2897, 0.5171, 0.8391, -0.9569, 0.2207, 0.1158, 0.9995, 0.3782, 1.8496, 1.0115, 0.4896, 0.3283, 0.0902, 0.995]\nstate[eef_state]: left_x=0.201 left_y=0.0233 left_z=0.2333 left_yaw=0.0263 left_pitch=-0.0553 left_roll=-0.0239 left_gripper=0.9995 right_x=0.507 right_y=0.144 right_z=0.143 right_yaw=0.0377 right_pitch=0.2413 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [-0.0342, 1.3744, 5.9829, 1.6386, 0.0122, -0.022, -0.0073, 0.1026, -11.2205, 6.3932, 1.8193, -0.022, 0.022, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21ac1c8a4efaef7b6353dc7884ba5183f25aa5d3954fd7d32d353f2aa82d83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f8ab05cd6264fb88217ae97f011d873ea1585a65708e0d7f80af1806b016e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5694c9e79e3540b5620417643cd3436752bb59277a9c82d93893e1ebc7bc1305",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsRXUHhucGbFYXkbadXRJqF8zdASimVR7-LkZ3nV1QShQMQes8DeyzqWCHL6MN4odawcXhLwJhtqi8qpfFk-czHgcEyH5hV4_yqGC6GcALjMhqyORoEyUpfwWvVKl36J0NOLgGKq0xw2TBmU2QkohGQjrbccWg_Cn-B1_f34qOYTUiPa6jTwztTq8Rmom8436HXdydafL-xgG3snxR6mFP4mzocV5r_NwdzDb7rECtz2xaD-6FO2AanvpHn793y0OkRCSqxtE1EaMErkuEyo_9Zo_zVcc1q0qVI9dRuRouaccrjU_-WkAiiyBjrJPFjWjFD6stIJgooykRy2vVAJOG4kTiOB3rirgBTkt4VTE3pDJWB0fA6r9CmIVChIwNlMrE09QB9GQXO9thEsS1nG_M_SAilH0ZDCDiFQFmnlvloLzoJlJ9dMIhBqN8G-t3limARammOflqoJG7tAXMZImA49FVKg7TxhMVsKKOZ4vrreKC1x-YhyuMVuQOE3TVrLEht1htQejKHRYcWUekanm0dn4FXOtY_eTeYa85qnZTzMUVwBtZwkW86CeJkywCNdt034dF90xISfosqPCZsNJrRh0Oh2q0teMGC3hXQixYds9aS9bgktfZ8S0AYjm5-c9ac-KccP4x0bJo1syfvpzifMKxJeUYHF-YoeqN3wF4aeQdc5rpwHddBlZzLSUDBEPdmj3ElmTo16pjgo0segKVg3ivvTNlfepOT6MLHPB9Nx0Ols9R7LZxP7rgbDpgeYQtLXyy5E1yDPiqPPpzZkeTmE_QcJdnRe-mMGpYKfMzKz3nRAseQjBSBGabJP43uqbX1R3Z_sqjc7kUM1_BdBrBJSQ6fC6x1nkArVZORvxaXlIihluBF9A88SqP7BKIFwqXhDWJ4D-nRmM-utQ2w67A1KF4ogAogCglEkxmVxEHMUwCWsobbM2QCu8Nnv7PKqOvblctuDRwUJdGCn9n9CHg5FOIxf6PYqsEwKCboM70EMtEpTYOQxpBOCYMZezJrP23TK5HI8Splg3NEZkkgK-10udNVF9d6_fmi1FJ_y2886a8LtEeOR75pVYHihqjx5-pxtdSRwBaCk0mZ4EBOyBnqIV7XZdAaT8WZ96a9qBQCwhabmkuS9MFaPgVEt0ubhVywTf84X6K0aPFmbKTs9_i6VHPeG-JjcRTi6uscTTguStAZEZJ-T3FuKWM8krraWp1Jz-SajYbBw32ze9t3-uhhE5uUWRcf8-1dZ3wELxB2Y9oo_P2N_hdAnnVJKz1ZZMy1PBaL2K8tlHDe7aTvDPPn6vNbO36qXOBaNdqHJ79Jk0G1DaFCTYhDi32jfHbmFAFlvgM-k2akcvjOMPK2WNb_h4jOLu7UgfSl6vphjMJHgJE23HaKXMdvOeyD-F4_O3dknJke7yqwJUZTqwlf1LKZVUxu8qnPWA3PwJfS-YUVmzes2PvB324kq6gl_iRJmxToIc3j9xasvczhfyNyY0RGhFKP0hcZOC3A2Fo7r1NDvWQT4XjN74C8NHUnk3yPXaPbWozvN3dJ7M1D3MaTCp9vRBE9RmffCt-TOurHzBXmGDJVnaXfYW7wYL_x22ikoB9Nd6AGiLK1YyHfkEb17wq_Un8494laphC7rZ85WtqVtvv0EaCvQwkKdpUYRiDz1YOMAo_kWtHYHg85MIE4QtFswYC8fdRZbWsBylD62ykZNzZ71WcKrCXjd_ZYJRJLgH6TD6uU_53oZZim6cfGPRRvACAA-nlppThQ4qqdT0v84iKBRCN1vS1j7khhHWiqMxuBJN5J4JVABEWi4saeazMPcueThmH7fYHqC0RI9PhFdPx5mjBgG0_i2WDdbht423jkK5pfVjFbrawLPAISw3QBx876x52ovGLTrRXLxZO1aDMHzRsPv_6Iuv46kxYozoiAQ62pE1aGNXSn9vUjITkvCCYpdoBPZ0gGsPvJVvw_FoyuOChu0VTrs7a7BDSvMtMiRlECE07j1DYd1gdySca4-iAVqxdQeAf3wndYJyj1WhX48r5odr_xzxvnRizPUXn6ZHhrJa0xJDN9H2hwOkemlhYNTq5dstFkb1Ov_B8lBPJ5_CV-fp7axTev9ur5L0CwnJZ4QiXC_C67duAjBEsHEwTzUEILwckeR6HY7Mc0BhjgdmedsscDZOrexCQL0M0Y8Bh5RLVIlU9wRn5W16G4Qa3HWHk6yd1Zm4gvbyyCEgq_AczteM0bqZdgy2c7cmmJoxBT0D6zBG5gibPXNkl-5Xz2wUpNd9_Sv7-14KsSlydH4_MPtxwJRUy0QrBVMoQpHl3HUxXy2OJaPXW5CsVUmtxzmV4zbYiRQgE4nu5Sb6GE1AMrjcHUGxtKnHQw0AMP_YxQCUuv7EuhPaSpTqtc4zbFTYzk4MYX3dbvJusgtYmVHf6x0gKPoNm-pkyMX0lLGd22bQifHrTM7WbS7iBoYQt_TFROJ6d_xXQA5tBiTaMLZ0h_4b1vedfmMLpwLB19IeShaywzyF8huUQc5gkTOzQuwfeEXz0PsTQMeJnhW-u4xTM8ISQhkxypQMHWjfNmZAJl6m11u7VcY72LmUsK1YgZaEbqB2Haza_H-BfKsGfs2yBTrIswK0jWADB8SKkxrKcfgBdyAg1ntIn-DqX9-mO5f428vGdxEi4J2SkjGJOO76aohJrVABzJtovQlqUMMw3HHWheYeMKgK9DM-9SBVknwfg3kmqfrVOXvYTaGv6_qz5RKp2xfTO4f9VfPuv16lp_k64qoSwziF-AAvGK-UXMax-U9BNA03QQoDG9RhCN2hZDYDVvJQ41jUAL9dkWYoBIB9_lclBg9pzL4kgdDwHI7K2gGUNLU6KZaOEACmFypKSMEVy0Y5MMOyVfRqdqLFBR-owR3VNKwHG0QWzD5kYuCmzNODIrafVmqqoYM4qECO_XKxmttdqX-4G6oYzFK4o2WlEuEGY7bilXDWXqbFa2qLcTK6ss6_XnnsVSpdgFuEJWrEQ3R0bsqMZYbGnJnYpCD8029qrPbYFtra5Q870WzIyLWZTaxkiHSjEpAElroEJ0gdR1C_813Nl2gqVOVTRXz-uuE091rNFy7gptWbBXAdUj3a_L7bOyKWg8Ze9Cmslcnre7pgLTkQgw7Zo3i44kgFvULsG_0POFkr6FfdnpBIN9y1zEGRnBXiH9Yk4S0_X658G5Eq5U_wdOjYdueOsV_yg8kGqjyi1qkGK7rItJIfs4D4qp1bPtQn12QuyK3ovViRO5BFsworgG-rQnoYsCKEFOmU74yTh1pZGE9S50qqp9QXtHQRcXPboyu2HsImdsVlOZGfW41tJPwkRubthn3Yg3XiJtw9SiA8PtN1qiwbI0DMLEexKcbbXZMafq_mApLgoLlLb1B9fqDHyf7vIMTOJQTxuNsrgZGLvJJrqZQWz6LucDA0dley65iRne6F-_J5CHE703qyEqRvHhQ_yJshlLNw-VLzIUUddS2byY1jTbB2FG3HbpmmfcI25rpNE5Abxa322XgzRJ_LNucndr94M8O6sVqPjiuMmjv_J4qAv62Vnc88ICgq-n0hUbdwicBmYtrPkLncntzN9FUZ7c50U6zKFUtGqn2NGLk4G6c9iSFtmRDBMdsqXKqr7hoZ-uL4Zu4VmJbchcAwCioOrbkc9d1KVuwwD38xpW35eLFNJzxstkOQmh7iKWcVZnHSZusjebWqnZyYKf38p2dugt89aOkK7DJryAwkCill3ApT4i0w64z5Pwa6HqITZR0kiY9cbXhnfEHE4TVpoXXwhdIO8cbgFQ4Ntp_aXP7h1PrDG7lILjxJq3QjDL82DCZsZG-gdKTZaHlr_-PW41aAhE-m4FOj6b7mc8eTq3nXexYzSCnlQpZUG4MrDYiSDddIWfwcURDG9XH-1_KaRLvh2n7VjM90451hH_7tl1sxRVasyH1brBl0WRTfCt7gxlXxrKK4cOiEp1OcRKVjas",
  "id": "rs_06dbcf307b9d3ff0016ab45b027d6c87d086b4f8ca431a3766",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsRY_UJ9Tg6Wp82Vc5MBDTJhlcJ_u3KxQf8MKLjRP6gGd6GQluZE29ICgS7U4n79JrPRZvjKXlCzUq-ad24hitB4oWH-onqqANa_l1N7BCffWysNnAbTlYyHsO2n3nK3Fp8C2YWBxAvg_oTfYaEHuE60h5Kg0Ffr-yZIYrnVziWgp7XH81_Us-ey-c27OLlrhpx9AcCTujCCKJbHnc3Z8_dwSNCCcKdVaTlDzcyWKgAdRYnTPi5sSWrVEzGg5BJC5BB6cH-KB2u3TQW3-SKJmPIn4K6d0Rj0PWI9qtH0jo4pdaRkZb_7f_VfqFU9Dtfv5DvHddKiCRcBZRgxxge9ckKJKcHd3VpPVIzrf4s6vJ2RdumWEWW4bilx5mRFqy324v42OkzoVD2FmYWfXsAxBxMN3Czu90HUWamgYj9pWcNU8V-nuGkn9vSwqHIWPQHX6htKuFQEZ8RJQX32B31bNwBRD0eTsj7IgmapA_XEIGX6WsCvBteGIY6sVXdF2hzy0TcfyYipEdn73_oE5E9_2oz2RUCRE3C8j9SPpB83Q-LrNtFMi3oJ3CwOQGnplmuWPToej3oIoW0QPirKLeWee493C9zZaLiCRIqNyzqC3aQjHWlsnXjNDSvlLHubpNEYu-qXIwcA2Zk3t2X-WFtuESnui0_CAzC9745jetPAN1LLw-wfES7d3gfW3qWwmRDvAjynxLh8eSRdtkx8V_eWsstlvysGtakrmhBwIxD3y22b1LW0JiN22xOPTuunCF486DemIYI_LHpNMR9Bz_-dfaKt5_-buBxaQo6e5nrdoCBQ42QSYPlhhHHzTdaJY4dSTmH6VE1qfIlclzy7RGnzqKLCLWix1Qlu_cIivHap_y7hgkI8l4H7VzECWdE2f73ERdSiCGycpThZDm9Nfg4rIixP4OeNoXtV5R2dfja5QqqlGBaXlS3mT4xvoXwvusxPz3fvZUzPYaJJvreJDpZhQTh2XlzlAxWua4kpxTIXcmFHfCU4zJUfdaAoKuX1AdOn5DN6Anm86NDIwCZkWYBcK1qHOpd0QgjzyV2_947Bi6efheyPeZB0wKhR3-75oMDw_JK8chqif4xFHLycEAoIH988infPeJHcmsX8nHo3HNHIirZn_p6XhJ97sDi0AVHc4MDcntC1nCsQ4GdZPlkFO9TLyrb0-GJytZY9B9OskdA1Hpq1c454T79gjHFSPXTVkAus4qdWhN8hgthi4v58ekBYDnN5OgDCIyPHRTrThxV-fWXjp4HHKe_CaD_AvUC3Ra3MP4P2X-XVINDUnYVwvVMuUYGL2rl6UdoAp-nBhpYp_ogFgOgHeZQFpl5NzR_kR2PLK3MmXVGjTq2ISKQtL7zzBBDYd97w9riY-V_5bbfa0gsBxxktQrj6VmvMZ4K-ny0PUvgsdGrtn30And6mkrFPTFJp0tqc5lMFlxsv9B7GZl9-yJxF_t-DaJXazNqij9sOi3e0Zk4xKAqqqcmfEl1V4dhOiVRzJkz8MnbAFs7jBMI9yjys6IAUAAYJ83ju7mUfieEah2re87jTaaGYnTJTYn7N5BqrrKVf_QOtYTzdbIjCDC2Jabz1Dzwl1ZjJCf0XRubxhBnaDoBZo5jNIWuvuA1RlenoyNcdNqPeFiLKvaBjwAVr1R1bGjNZnaRlUpoxRrKhsHEsTovXOQYGaD1Ig9u7OXpPXrr8rEZg5HPc-G4cXEjMIdAp-RwNZcc9UpMZfAOyAZH--dnmiFI1tpfNV7q-WIVZLjqJhXmhKkGqd0hSMvx7Nv1_AttCsP6XtCayoaqHX4uqc71F8h3d4rDa1HpSNpyfmaZ_JKrL6jJKNoVLWCkEeX0NHgjeirTcc04OZu9VHab5ULWfJNDyWrBRi6p_HVF0CtR3G0Yi3lmFSJ71Z_psu4oCiEnEKTii6LZm2WsrREs9Ti3Pb6vobrBv1A7QyoRZuo7Q0o8EW1XXVEIOaLnz7R6hhVSQpn2_b0wDU9fTjSikMgCoVP0shbF3x3L-YpuLqkeuVoqgFSNJYXlKdyEQEI4zXF-raO-6peI0hYQZhwGr0OWwyYS_50cMH_DYcQJEpQhwznrX3mTKgy0_uZCnfNDfYqTUx1CBWcUZ10pO2sMUj0OjPoBtOtKpb6aeKSipGl9CPCvwPvvInyc4-1xPFiikWxiGNiuEo1aFlWwREV6XKgz_rP3X9kWQGxlPl2odZqcVIWfkEJt3XLSRU4vc1Hu1Nf2lhSIglFw_YKE7VuU9_oDBlf8w4Q_-vS4AzGAP03prL581FiU4L3A5Ql8oUWMDKkz_Q7bpss2YGIfUAxpRCzOMIRpX0tmXU2lZUvTTyCrxMHgqGMGwqaqJEC4Zdsw8QMUpIpFVeSn8ZZjC-kr1VmEAwd9tBpCMEgbh-sQVEwic0K_QNFIUiIhOCGEOaFMNtYHf6KHsnGJJZNTGRGTRPk_NoEyZ6u7WHFbb26sJXd8l6A0HSHrYNYqomImjvm5mdzFmEdQ82K3pVmRv4wig_iY-gleArXcUfkHcoK5PBMzfv9mCwaGRsKkvjELRE74S13AztZWuLumX8BoIPQPIIm9Hdcd8bZ4S55Cil58t48MZPmT7O8XSFKRIu-RrnKxnzsH29p9YTpAnVRZ8jtcoK1kGJKmRqftplrj4oYVXUOjX_iBC4nMeRInMgoTR175XPCGaaE0Epf8COSsNrq6jhtTewsjV7QNp8cpKk7CmF-kdUPjzYV_Z-7avO090frWDBEshucQGguB4CWXZD1jluKYGdY48lbZZPsmllUpzyDQ8DwCNM7KUTr2LBu0GeL1Dyxa6MWlWZWksP3v1zAiMWR7ka7ALVcLFZYTz1bXOJtkGIrBt8VkZFJKj7-_JzOIitkGphs5cSs-",
  "id": "rs_06dbcf307b9d3ff0016ab45b0ae37c87d0b200d0636c21bb79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.14,\"right_pitch\":0,\"left_x\":0.3,\"left_y\":-0.185,\"left_z\":0.14},\"note\":\"The beige plush is now in the right basket; a brown plush, a gray plush, and three toothbrushes remain. I am bringing the right gripper toward a blue toothbrush and the left toward the brown plush, keeping them apart.\"}",
  "call_id": "call_kNar3UvghwBfoAtqt5mg1jcX",
  "id": "fc_06dbcf307b9d3ff0016ab45b102ab087d089cde081ce471120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kNar3UvghwBfoAtqt5mg1jcX",
  "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]: [-0.8875, 1.3155, 0.757, -0.3714, -0.6754, -0.6743, 0.9995, 0.5346, 1.0218, 0.5339, -0.1013, 0.4004, 0.242, 0.9963]\nstate[eef_state]: left_x=0.2887 left_y=-0.174 left_z=0.122 left_yaw=0.0143 left_pitch=-0.1144 left_roll=0.0295 left_gripper=0.9995 right_x=0.309 right_y=0.1071 right_z=0.1462 right_yaw=0.0633 right_pitch=0.0332 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.6547, 8.9504, 1.3162, -0.4957, -0.0269, -0.0122, 0.294, -2.7145, 7.0085, 1.6874, 0.3687, 0.0513, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347283759eaae395ce6936adb585dc188b2f214fb91fadfd79d4fefbf9c5e560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502ec506edd4391819a6bd46601ec633deef9b61aaede1fd04780d11f85bf427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61efc6a08b81c49d8b6c8c05e4321b38f618bbbee3d348a68a928ccaa1416894",
      "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 21 changed as sent

message 28 changed as sent

message 33 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]: [0.2897, 0.5152, 0.8394, -0.9569, 0.2211, 0.1162, 0.9995, 0.4347, 1.5532, 1.079, -0.0181, 0.3565, 0.1844, 0.2026]\nstate[eef_state]: left_x=0.2008 left_y=0.0232 left_z=0.2338 left_yaw=0.0258 left_pitch=-0.053 left_roll=-0.0232 left_gripper=0.9995 right_x=0.4494 right_y=0.1447 right_z=0.2063 right_yaw=0.0278 right_pitch=0.1115 right_roll=0.0122 right_gripper=0.2026\nstate[joint_eff]: [-0.0342, 1.0735, 5.9829, 1.6581, 0.1001, -0.022, -0.0122, -0.2256, -10.3863, 10.8786, 2.3614, 0.0806, -0.1245, 0.4664]",
      "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]: [0.2897, 0.5171, 0.8391, -0.9569, 0.2207, 0.1158, 0.9995, 0.3782, 1.8496, 1.0115, 0.4896, 0.3283, 0.0902, 0.995]\nstate[eef_state]: left_x=0.201 left_y=0.0233 left_z=0.2333 left_yaw=0.0263 left_pitch=-0.0553 left_roll=-0.0239 left_gripper=0.9995 right_x=0.507 right_y=0.144 right_z=0.143 right_yaw=0.0377 right_pitch=0.2413 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [-0.0342, 1.3744, 5.9829, 1.6386, 0.0122, -0.022, -0.0073, 0.1026, -11.2205, 6.3932, 1.8193, -0.022, 0.022, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8875, 1.3155, 0.757, -0.3714, -0.6754, -0.6743, 0.9995, 0.5346, 1.0218, 0.5339, -0.1013, 0.4004, 0.242, 0.9963]\nstate[eef_state]: left_x=0.2887 left_y=-0.174 left_z=0.122 left_yaw=0.0143 left_pitch=-0.1144 left_roll=0.0295 left_gripper=0.9995 right_x=0.309 right_y=0.1071 right_z=0.1462 right_yaw=0.0633 right_pitch=0.0332 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.6547, 8.9504, 1.3162, -0.4957, -0.0269, -0.0122, 0.294, -2.7145, 7.0085, 1.6874, 0.3687, 0.0513, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347283759eaae395ce6936adb585dc188b2f214fb91fadfd79d4fefbf9c5e560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502ec506edd4391819a6bd46601ec633deef9b61aaede1fd04780d11f85bf427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61efc6a08b81c49d8b6c8c05e4321b38f618bbbee3d348a68a928ccaa1416894",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsbd9WU7W_HLQ-LxqbNS1XWVzCZzKOarrau-BpoMV0e_xxoCEuxGyr1VAlZJZizotJETgJXck4Vccc6GyExgjv1nKhD9UKB7oYckpY_BoS93iBK-0lhagJSjVejOMUNXb6u5AXs-WiEUqceGNU0k85yypjfMebaF3zdfkJLhHLa7iH37jsvGxHHvxV6rJNr6jNqaaAK_W86r2Eeae5YdhmuT8ksToUzmQwSRg6XEmjQ16xGwpK9KT7RKOJ0naTssnyMQaRJbMuy_le_UY3fxm-6w2uGwJpQJJio99Y1ITlpwRqKs6XZD-wrMtfcJIDiPIv-VTufCorcNM2d-KJlPIUuQX8sujPcwTuqMNTbkoQHsc3sa3qJx3X2L4ooYyjcval88ehO0F0ItCjBv-9DNf3o36f39q7ekOVI1Domd7ky5RV-31tkC3a2EeKmbsI5oAr8zYt321stfWXXfliPHv70ikVaV1XCixvDt6L1lKTiDIt2uTIXuROZVkQmC4OuZzlHuj7Uta53hV_1Zwbe__VXevJDZj6Hcb-S8KgcQ2vjfD0cH5NqDCRpvJxoE-BD1oRWi3N1GqUMiASCoHl5ivn_VGkXX0hSale4oyFOSIriUN08bwUPMhEstCzjtBT8msRXxKVFXXXR-oMSz8faU4EmgxPsC8gLw0_zEGZc4Pb1sgDuemnLdfEeMTTE-oik0VktjZ6ykwguM63pi0UjgumUNQUrrCmolH6E-FCVBVYuv48Gy7Tm3ByX3f5ae2pHoFQ4uVHK2H8YEzpVa_aIJ5r6wIhQwt4Zgio4YoiAJ6zm-G0MOvcoLWkja9OeWE_a93FRCGIqPo-t3XjSFI4iCWJqD6T08MtFZbjBv4MKXd5rQv1fYHsdoot_eS0hcHLjAnbPgLeN-_ZKHWhxfCxykVd4OuP-ADRk2QE2FUpXU9te10thCUbYnnn5yjVE74JhYnXSCzxwyJEYgy8DJTzxw8uuj8bYG8wqStx0QtCJ3LjHNDNVBehQYkPAXVAyOGpyg1McLahkutzzsYJaktVg0DEnhoxGOVxWhjpKm-2OX9HWrZotDosHxvdfTJzJ8zUo1xGlQF1dnYwRfqkUdq9Zw7-_C46N5__uq8u3mSnA1hrGP09mL6z3sGgXvKuF93YO6PnbukZ6-pQ8OLn0COP2BKGIbziNoaRS31rJUhhDh3cJJ6KhGukNLQbM_KcRsWMqHXhciExe10Yrppk9gB3d0hX1Ltw0d3pxAe18h4QKYR81wO9r8xOy_m-8p01RjLibQSY8FTt4T7ujdj3phwGdZdGQs5l9KM3vnhRPJlIyRdRzU-sBGPhbEU--AAMIInizHWe9f5l8_KZytNFAZFK0pR9xgOUWhyK5sRzr--tGVSXlbW39BqeZU4PKKTh43gR-kb7NxWEecpa8Cy1oc4cKbDwGzUaKcWu3dtGanYX_6NMXSjc4WhARTm_cFgo9uexvJkDuMULqr8q2CPNIugH2iHAY1x3Xaryp0SMi1t8bWeh_QeG5s7aMUjuzw_ba-INEGc0Afi8x4b_zLVuPlATOfGGKpXYiuofy3hYmDDlnZwgvEBWGDdPefZ7Xi_jLRxp4vVxejKc_SJMMMfDl1BXNgDmwAUd0lKIDLgsjDPDaIlFI3XJSIy_TCh1r2jOyuG16j3vkzjQxJwxlIHa773IMwISl-P4Op_-iMGieqkDGNRLMygGzbrqz5qU4pDhd9jk9zcQ5CoDmrkp8Q1aAogtU9lwhO9jfeTVUC1G5DF7IfBKDesIw0X474c-SFnyHMq7VbHxn4yYBRD3_Cuhkj2oXrErL3lSBFiPkJvhCtlvkAdcJXz4yd0PoZVPPV_R0kA-605YiowSPj4jKAOwayhuCLomAFvNXZ1ZBU3OxjKoEc58P_Q6onv-kV0YIm7Fe_OwFwzZkhBcOPxVy79glmPUb4c-hKirCjg0N0gx7uV51-JOJslwl5PDaLYUtS7mM5RoWdOxTqVVD4keWEWWe7mM9F_Riq2I09v3Te99PmjCfua7wFb6yOWOOUSWd-1GAO7mfkoKNiuHjUsUAxTNk_X8vpC4NwPSi2T6nVsUPmPngDugcM4K7IodUMw6e4TAef3vgM4HeX-Myv2SJUDcloX3IRyUevLUBGbB6k9W1D_Hzwkh97ETMNNGaWqyIpkdxqhNfqR5sc1qsVFf2ggi9uOuxdACxbTP-q4YXBzWtSov7g_tQfGiFk00Jyf380VOO7u-TuXIcFn-ZWiRMAt6xBn7fQGzZlagNLZdx4FtPLk0wJHQ1994eb1rn-5-OQa2RybPsFxzLPueqDKQ7JkOQ-1R-kW8p2VDnYhlI0yYpjtI0aAR3Dp7DwyeVRU4Yc6rW5S_pgqwZB1mPyv90g1RyRSHA1HgS1VqGlbHebIjx8GetcICpn2EZcnzIAn8NyVOwCnhypvGYfIv8_VRnToKH3uNr7DmMw-_tj6rnealZBHbVJHR1_TMR_N_0WLArHQSLAgxlEjRWO2NztyqXa4EvolrQPqfh0HVXN8RMv9LsgnpSHSSafVeDGGLGXWfbeQQH5oFTFUtZdTWwhYv3Kl_By7RG8dm9u5JXWG0UwuTkBy9RNP-XTFsCCVTrqpAyeHRoGPP5bL-yMEHxe97d1KLR2kOTh_-Ze3KuaS5SkBCtIN1cS1zGTGNztHYby3bP7GotYgjFY-Vl",
  "id": "rs_06dbcf307b9d3ff0016ab45b14623487d0b72505f9ffe2b639",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.17,\"left_z\":0.028,\"right_x\":0.325,\"right_y\":0.105,\"right_z\":-0.008},\"note\":\"The brown plush and the rightmost slender blue item are aligned with their respective grippers. I will lower around the plush’s torso and down to table level for the blue item.\"}",
  "call_id": "call_j5NlMOaYxq1ilPXD1dynWLoX",
  "id": "fc_06dbcf307b9d3ff0016ab45b1a282887d098bb9db52995dd4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j5NlMOaYxq1ilPXD1dynWLoX",
  "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]: [-0.7731, 1.6169, 0.5983, 0.1314, -0.6296, -0.5701, 0.9995, 0.4931, 1.7584, 0.2493, 0.9836, 0.3626, 0.2329, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1648 left_z=0.0337 left_yaw=0.0383 left_pitch=-0.1167 left_roll=0.0549 left_gripper=0.9995 right_x=0.3344 right_y=0.1126 right_z=0.0127 right_yaw=0.0561 right_pitch=0.0818 right_roll=0.0391 right_gripper=0.9964\nstate[joint_eff]: [0.5538, -5.1214, 4.4513, 1.3748, 0.022, -0.0562, -0.0122, -0.8274, -3.412, 1.6205, -0.0708, 0.0708, -0.2076, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7825170f8d24354c95bcaf4392ab96c82396fe14a5e2dde1f85cee53fb2db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82054c785ef1859d1b4b0ef61102e5afab8037f33362b427bccdf877bbeb0cda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bdaca605bce645855ae6933f05c4c6dba3eb6bb3860b425da2da14c7059210",
      "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 25 changed as sent

message 33 changed as sent

message 37 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]: [0.2897, 0.5167, 0.8391, -0.9569, 0.2211, 0.1158, 0.9995, 0.3805, 1.8267, 1.0126, 0.4904, 0.3271, 0.0963, 0.2046]\nstate[eef_state]: left_x=0.2009 left_y=0.0232 left_z=0.2334 left_yaw=0.026 left_pitch=-0.0548 left_roll=-0.024 left_gripper=0.9995 right_x=0.5062 right_y=0.1452 right_z=0.1552 right_yaw=0.0354 right_pitch=0.2645 right_roll=0.003 right_gripper=0.2046\nstate[joint_eff]: [-0.0205, 1.347, 6.0239, 1.6435, 0.0562, -0.0415, -0.0122, -0.4991, -8.7726, 6.5299, 2.0098, 0.0611, -0.2027, 0.4469]\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]: [-0.8875, 1.3155, 0.757, -0.3714, -0.6754, -0.6743, 0.9995, 0.5346, 1.0218, 0.5339, -0.1013, 0.4004, 0.242, 0.9963]\nstate[eef_state]: left_x=0.2887 left_y=-0.174 left_z=0.122 left_yaw=0.0143 left_pitch=-0.1144 left_roll=0.0295 left_gripper=0.9995 right_x=0.309 right_y=0.1071 right_z=0.1462 right_yaw=0.0633 right_pitch=0.0332 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.6547, 8.9504, 1.3162, -0.4957, -0.0269, -0.0122, 0.294, -2.7145, 7.0085, 1.6874, 0.3687, 0.0513, 0.1148]",
      "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]: [-0.7731, 1.6169, 0.5983, 0.1314, -0.6296, -0.5701, 0.9995, 0.4931, 1.7584, 0.2493, 0.9836, 0.3626, 0.2329, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1648 left_z=0.0337 left_yaw=0.0383 left_pitch=-0.1167 left_roll=0.0549 left_gripper=0.9995 right_x=0.3344 right_y=0.1126 right_z=0.0127 right_yaw=0.0561 right_pitch=0.0818 right_roll=0.0391 right_gripper=0.9964\nstate[joint_eff]: [0.5538, -5.1214, 4.4513, 1.3748, 0.022, -0.0562, -0.0122, -0.8274, -3.412, 1.6205, -0.0708, 0.0708, -0.2076, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7825170f8d24354c95bcaf4392ab96c82396fe14a5e2dde1f85cee53fb2db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82054c785ef1859d1b4b0ef61102e5afab8037f33362b427bccdf877bbeb0cda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bdaca605bce645855ae6933f05c4c6dba3eb6bb3860b425da2da14c7059210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFshwlk9escZO7ScDHUTNmh6YrTHw3JuHM9pjzjShaeVWWPlscgrOeB8_PkuUL34Wo317LrvKSPVANwOnUDyrIydM68CmO-RICMdkd8AM5bni8Gmshh_Odsr2GyyQm9iXXliXHUfvdM096ENeFlZBuFY2PmLKm4NPdjKG2AQnrcxfbRtCcn_Pdqcb18AD_GSz3HLk298ekWkjLMez130zuZr8bP2tsnWAdbvXp3PAKGQ0359TeedKJv7p6xASpImsRXrFo42aH-cuK4y15dVUK5ZgSpFBZ_lsdE-fRHePf68xOB-arNBv_zI6YGHBb5yJewyuC-7rgDfbOHCjBWY2alJ9ws_kLdylvuuLbROGJ_hAzFflLTr8Czg49cqN3KjdyWE41_gi_MyC2B-tCKoagm1yex_CBKiPd1sK0yRRWBIKPqJ2ujJcb2_hzWG4_f1fYuP09zJhUgqmI_y0-qsH1clMYWylvezjVaUtMQUiXSERlIllXYaO9hsY4PNpR0ApXhzGCVzJSgtfC_4b3JZ5H67_HzoFSqI0Pf_4JVIfn8JstpSGO0lYObb4MWcsWdDe7JinxFgmLXD6tLAxllQEDmG16MIKISngp9VoHE7qVpfvsPc_Ebt9G_uLu-RnEKLMwM8EYd1pT62IQNgoSlb0m5sjbaKI6WN0lDrAh8DKLkUkVihv503DYmASveZ3w_WBtypLkx_sDB7hTE0LJt86zKDkGsQzh4k73nEzyDZys-WkKhK0dQCyuUJiOS8tF0VrWETl3zYBCiFtzu4hyuzHvd5UfARAClr94WADxCRWs6uy6MHIRxzkcKiUvsIML0519HUcTapAK5vc7AkkIllBTWCd6sHwMLt1Q88bm0PpkN43P63bT7VYXYrvayQSgW5c_LHY-WKA_aIUdaCnoISPV3YjhxfzeKk-Z1NJcz7MT4FBZQrCh7-jHSFljwfW-FDcakDiP3-2ovKsT7HfV7BRT6nKLCT03r5vVsUGVoTdP4wL6BLI0nxrbb0QQFzGV0jTFLZEeV-2hCJpL_Ef6fWbS0Cu5r1wsKRqVHJfkjPQuwJD-1LpvP80bc_VcqNt6hj5Hf69vbJwD-3keHDTzlB3BDiOpPQp3xvKtgDCBF07ZNjbXy8T3gMGjfhJnXHd3bdnf7RStZmTTPt60aRP5UqtgVe47LvswotM5aVxMRVT3Hfgjfx-TsQDu0TvMzuqh1nVaYgcfQ8nhJeXF_wzhdOwnrxY3FnXX6DaofazgJEQsczNTjsHs0Q5mOCzFmlQ5HGUAzGL6kIcbkgzEDxTdwzCd_cQamBm2XUDp6dCAMMVNblDwUSZsfRUiV8R_3n7zieixBzIRChHCoP36eUh6bCzAI2YB6kfrZWa-Q981mlH_n2EKLwH9RU200zymS0eVKUjQ-kAEcZBuLqoJlZy2LWxs2Ewo_dt31TjMjCF4vC_08J7_guWUEYD7KMEPj5R8HwupwOSHMXLM_xS7a1hLh1X5nwhiPMrmYu6SGWk2SyzYDMw1l3zsZ7CE-Sql1TG8diVo1MSu_95viPQYqRPe45mZpD0ClKS9RB6WjvGwK_6el4zs2p9hmzH9jcDtITwGTVaS4tqZ7FFEcAA1a0onxstKM7yOJtoRt-peW4yp4YmrZ5sfkXc6Ffz3va1dn73U-_-TLmSYr7nkPOZvzh_ZDvHWFloyIpmM9_hUsMmYdZbO0nlsM161k-jQzK33wJKzj2ceEBFLkmD8gUZakDAJ0gf0GIMXFYV9VYe-naKb1W5pFzeRRN8G8rEU95fjf3k3n6Q1LssZoQXPBIJ7DonyxxmlICUNVh-7yW82e5P9r5MKqEXUaSmzUGQ6g_tQsxkvei2Nhj4fxfUqjIzXSLDbNSdNXKKdV7IYN9I-9jXlZVMZ9hCMw=",
  "id": "rs_06dbcf307b9d3ff0016ab45b1d989087d0a3eeffa23d18de8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.145,\"right_y\":0.095,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"At close range, the plush sits slightly left of the left jaws and the blue item slightly right of the right jaws. I will make small sideways corrections and close both grippers.\"}",
  "call_id": "call_duFSVLsfkJbqhA2dPcc35qUN",
  "id": "fc_06dbcf307b9d3ff0016ab45b1fefe887d0bae5bb33389cbd5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_duFSVLsfkJbqhA2dPcc35qUN",
  "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]: [-0.7185, 1.5864, 0.5568, 0.181, -0.6079, -0.527, 0.0132, 0.4225, 1.7538, 0.2234, 1.0267, 0.3004, 0.1967, 0.1477]\nstate[eef_state]: left_x=0.3277 left_y=-0.1478 left_z=0.0356 left_yaw=0.0514 left_pitch=-0.1028 left_roll=0.0496 left_gripper=0.0132 right_x=0.3366 right_y=0.098 right_z=0.0141 right_yaw=0.0561 right_pitch=0.0907 right_roll=0.0437 right_gripper=0.1477\nstate[joint_eff]: [0.3077, -7.5829, 3.8085, 1.2576, -0.2808, 0.0952, 1.1306, -0.8137, -6.2701, 2.6872, 1.6923, -0.0269, -0.0806, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdc78a8b9c8b9f66a4c2c6a4db875fdd40963c96d5a21af7d698ed459aac752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50e6d30863d269d0f07271ab5264dd230f1458493748a6cb492ee747cbad4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c5a83906f394a2d3b5633644554b1b0f30bcfa73e24fadaa6319af7b20c5e0",
      "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 28 changed as sent

message 37 changed as sent

message 41 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]: [0.2897, 0.5171, 0.8391, -0.9569, 0.2207, 0.1158, 0.9995, 0.3782, 1.8496, 1.0115, 0.4896, 0.3283, 0.0902, 0.995]\nstate[eef_state]: left_x=0.201 left_y=0.0233 left_z=0.2333 left_yaw=0.0263 left_pitch=-0.0553 left_roll=-0.0239 left_gripper=0.9995 right_x=0.507 right_y=0.144 right_z=0.143 right_yaw=0.0377 right_pitch=0.2413 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [-0.0342, 1.3744, 5.9829, 1.6386, 0.0122, -0.022, -0.0073, 0.1026, -11.2205, 6.3932, 1.8193, -0.022, 0.022, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7731, 1.6169, 0.5983, 0.1314, -0.6296, -0.5701, 0.9995, 0.4931, 1.7584, 0.2493, 0.9836, 0.3626, 0.2329, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1648 left_z=0.0337 left_yaw=0.0383 left_pitch=-0.1167 left_roll=0.0549 left_gripper=0.9995 right_x=0.3344 right_y=0.1126 right_z=0.0127 right_yaw=0.0561 right_pitch=0.0818 right_roll=0.0391 right_gripper=0.9964\nstate[joint_eff]: [0.5538, -5.1214, 4.4513, 1.3748, 0.022, -0.0562, -0.0122, -0.8274, -3.412, 1.6205, -0.0708, 0.0708, -0.2076, 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]: [-0.7185, 1.5864, 0.5568, 0.181, -0.6079, -0.527, 0.0132, 0.4225, 1.7538, 0.2234, 1.0267, 0.3004, 0.1967, 0.1477]\nstate[eef_state]: left_x=0.3277 left_y=-0.1478 left_z=0.0356 left_yaw=0.0514 left_pitch=-0.1028 left_roll=0.0496 left_gripper=0.0132 right_x=0.3366 right_y=0.098 right_z=0.0141 right_yaw=0.0561 right_pitch=0.0907 right_roll=0.0437 right_gripper=0.1477\nstate[joint_eff]: [0.3077, -7.5829, 3.8085, 1.2576, -0.2808, 0.0952, 1.1306, -0.8137, -6.2701, 2.6872, 1.6923, -0.0269, -0.0806, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdc78a8b9c8b9f66a4c2c6a4db875fdd40963c96d5a21af7d698ed459aac752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50e6d30863d269d0f07271ab5264dd230f1458493748a6cb492ee747cbad4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c5a83906f394a2d3b5633644554b1b0f30bcfa73e24fadaa6319af7b20c5e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsmjG7F8SJNE7UBhS7bCyDojDAkNqucvfLFpUrgzyclxUI3lSimlZuiERX2AeFTyVn0BDfQVRiBUip9SvzQ7Q0h8qxVxOp3zY8l1R-Gfltt_MdRksSzMQ8l-XjsGGNckk6BJ_UbsjjdrRpMCFCucnOI2DFihkMPXPVq2w6XzNqFiTKm7dZI4bxvBGAzyLo-wwa9-BqoLcPhPFFhuUl3nGDT0_dlyrLrtwmcPzrnLgNERyUhkzfFUQqZhjyWx3s0P3i-EY0IEzaokLoBlECSwVqF6a9VxTAejoervRk2Z0OmK3nAdMGs-UVdyWULyWq0SPkI0Dl_cdmUJsOHudYiRmiS6gfTwpk6AbDWmlUNUBicmp6HlU9sN4TJ1dJw9zTH_3_WieIAVlkVXBofpqQVV3LaFzBOCZCaGixZ8yVOWSUTUUXebrS5DNKuGBpJ2nnGFYNpMLL6HKMX6FOt-2Hxvv5c8I-YEpYDUTgpTMOKiCiKSD6EDwWPjwlyBPulL17XxvmfwMCtHvfMYL9LcnKAvz2PcgcbM4_BgVXc-WZfiHrWc8hDDnc4tN5TXCHsbTSsgIQOm0Gk2aUNeKQIDf_mY3qD_OjWIloXk20-iCYprPUyXBIb6Eoty3-kqyqN7YMuT8X1QwXVp5ECzCBfT81JaG2MOqaCJVfti2a18bFvaYyYZ4B3cLQoATXnS6Yj7R4Db4_yu3b6OloqulvB_PczAsLL1S1vi4vpHnOWbbEm7obQMXA3499xYS-IYEvEq73cd7spW9unigatqIx-l5CUGmyN_jC8i6QIZBmbH3BqvZ-epaiUDZpLvg2vvmNhBVFx07eqlpnqfDCfVzC2nQk5sSA0Yc49zEAxVQ2QHvihfOswIV_I15gMETANsq9SqYR1IBWDkHhw04kI9iacp1xlFYnPGQG0F96f2e8noLPHbxsAh6hc8f3u6CXdqiV-A2kUgFQVQqI94smeMqFhzHffJoSoXa6ZBtOvgfdwsznU4Rc8KLJQswMAW_buorNWsjNdIFp5Utmyn2OY1cX74Rxy9wNNDisbkosxx0VZpqCvHwQITzVOa4AsZOyAKCBNBsTFZrHflRCLuDKtHE7dyIdq3cuHtkbqjt-4_g3ViDWxYYtuTZZowvS9noPPqVUYW6T0kik6LdOXzi3_5REWijRhBE2BtN8WAV54uJ2FUNxuBAkOTQaBtzNMBzPpcWaeorfgOtwVnA_RhL6mk3_bNsVuLebocOU22qgnelNKnx8ktBdwI4jE9VNvbfwjAR8CmFnIVxMc8FmEGayuUL-DzpT2HxGdFmTcyxzxwSSpS-C4Mm1wHDYDogtL_FtnSmweyw_uG5fa3Qn1mq2IX4xAqZmJNj-sMresWHsjRKYzHz7TSfQ23A4DrQKQtuH239xDU46ZsYjvO5h4G1n_UXIeq-xvNv3xAveDoEhtVMm6IRIpe7wa3DJA0bMnBa6C4EZSSsUEB-In2uMbxzyAzLpZ1R8OmInhv57B8RPdVatrkMKp3tri9y8=",
  "id": "rs_06dbcf307b9d3ff0016ab45b245d4087d0b178bd73bdaa85ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"left_gripper\":1,\"left_x\":0.35,\"left_z\":0.012},\"note\":\"The right gripper has a nonempty hold on the blue pen, but the left closed almost empty. I will lift the pen to verify it and retry the plush a little farther forward and lower.\"}",
  "call_id": "call_HDEfjJmkcZwrk0WbjIXkfREo",
  "id": "fc_06dbcf307b9d3ff0016ab45b254df487d0aac19beb0b0a11b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HDEfjJmkcZwrk0WbjIXkfREo",
  "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]: [-0.6704, 1.7115, 0.5781, 0.3595, -0.6029, -0.4786, 0.9953, 0.4187, 1.2976, 0.3153, 0.4725, 0.2928, 0.1947, 0.1519]\nstate[eef_state]: left_x=0.3539 left_y=-0.1482 left_z=0.0264 left_yaw=0.066 left_pitch=-0.0521 left_roll=0.0347 left_gripper=0.9953 right_x=0.3332 right_y=0.0964 right_z=0.0792 right_yaw=0.0599 right_pitch=0.0837 right_roll=0.0433 right_gripper=0.1519\nstate[joint_eff]: [0.6359, -4.7248, 5.5179, 1.0867, 0.0611, -0.0366, -0.1978, 0.0342, -4.5333, 8.212, 1.8046, 0.0952, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae898a33b450e12a66e960334aa6f95f5ba1dec4166f72955731e69c63f0a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5d84232c4256de3e80fe1b05cbb092cb6eca918eab4baa0523282d2457249c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2a3128af98818be27aa618d8b436f74fdf7029012f76abc0686912e780a740",
      "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 33 changed as sent

message 41 changed as sent

message 45 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]: [-0.8875, 1.3155, 0.757, -0.3714, -0.6754, -0.6743, 0.9995, 0.5346, 1.0218, 0.5339, -0.1013, 0.4004, 0.242, 0.9963]\nstate[eef_state]: left_x=0.2887 left_y=-0.174 left_z=0.122 left_yaw=0.0143 left_pitch=-0.1144 left_roll=0.0295 left_gripper=0.9995 right_x=0.309 right_y=0.1071 right_z=0.1462 right_yaw=0.0633 right_pitch=0.0332 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.6547, 8.9504, 1.3162, -0.4957, -0.0269, -0.0122, 0.294, -2.7145, 7.0085, 1.6874, 0.3687, 0.0513, 0.1148]",
      "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]: [-0.7185, 1.5864, 0.5568, 0.181, -0.6079, -0.527, 0.0132, 0.4225, 1.7538, 0.2234, 1.0267, 0.3004, 0.1967, 0.1477]\nstate[eef_state]: left_x=0.3277 left_y=-0.1478 left_z=0.0356 left_yaw=0.0514 left_pitch=-0.1028 left_roll=0.0496 left_gripper=0.0132 right_x=0.3366 right_y=0.098 right_z=0.0141 right_yaw=0.0561 right_pitch=0.0907 right_roll=0.0437 right_gripper=0.1477\nstate[joint_eff]: [0.3077, -7.5829, 3.8085, 1.2576, -0.2808, 0.0952, 1.1306, -0.8137, -6.2701, 2.6872, 1.6923, -0.0269, -0.0806, 0.9988]",
      "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]: [-0.6704, 1.7115, 0.5781, 0.3595, -0.6029, -0.4786, 0.9953, 0.4187, 1.2976, 0.3153, 0.4725, 0.2928, 0.1947, 0.1519]\nstate[eef_state]: left_x=0.3539 left_y=-0.1482 left_z=0.0264 left_yaw=0.066 left_pitch=-0.0521 left_roll=0.0347 left_gripper=0.9953 right_x=0.3332 right_y=0.0964 right_z=0.0792 right_yaw=0.0599 right_pitch=0.0837 right_roll=0.0433 right_gripper=0.1519\nstate[joint_eff]: [0.6359, -4.7248, 5.5179, 1.0867, 0.0611, -0.0366, -0.1978, 0.0342, -4.5333, 8.212, 1.8046, 0.0952, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae898a33b450e12a66e960334aa6f95f5ba1dec4166f72955731e69c63f0a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5d84232c4256de3e80fe1b05cbb092cb6eca918eab4baa0523282d2457249c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2a3128af98818be27aa618d8b436f74fdf7029012f76abc0686912e780a740",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsvb-hQQFhAeiCgrKRDSF0jjvUVoeR5F-rAWvCkJQ8HC1_RNDbFTqzHRB2p78o7WLUipPK6MsOOmMw03Xhw_STHGD5OBqb7JtQzIJCu1HP7jSZmEo9dkwTxt7nn6mI4_PHeh0c-J_KyKBHDo73Mby4oOAfPGy0wSj1Rw35FAbUeZQp2cRaUihUTGbCydOpBqwb8FDP5MLMOweSXshDYQCIXMR5w8w8pHWEc9sBnVch5tNZfuI1aVMvvywIkimqaiJd3I3NS2aoovTXYHUhOFc7-exX__FnU3fgkxAeQ1zV07VzI0VIA_QyuGn_T5E7nd1d1rGEDtSm-_IJQucWZ4g2HH1lFZXG6z_8FeckFmBGxhp7oX6UYf_1hEVrfuQfRhcwWCOUYbNRgZPl9kKuUkFOXv9jGRsIvfmdGESM__Xr5LvB1cbM_H9bPqcJ7PZjmMD__4-0CCnA4IIm-UNPCtdkoUoTBQRqEC8XoBd0vaXRgObgbCqxduN2MIASTqoqyzeJNRxp2o7AbM-V7HpvJ5b6j47PvXoD09t6xklJNf-kDpao338k_MVYd9IzNI0wdq7RFx8r239tft6RGQaNF9q46fuoz-3USPjSaJlpjhbpR7D6knAtZULnOClzFrH3AHCXeHYPjF96G2e7d9cynDzS_IhKjXX3YRjd-vD_6JuBsvr91ohg6MOywo7BPKoQjEAxnyhaKreIIOASofp-BC6g-aUB1tFcgHWmfp1K-7bLY9k2V7avHzvSt9Mv5M813OSYOoW4r1w9doMtanzSqBQYYTlE649K7rve7rAgIb-gxPeMq-G-2BUfocdCkJ8Fzsmo8Jwu_QdMjsLgZUlCc2dKb_WrtMYDPjwshk4ifUw4T9aD7qU3jL9dZYVCV2Z7SAf4dY-HxcHn7He80YOhwsiVbj0V8gKh0oXN43Kp9b41B8tRek2k5hnovNcXMC1wIV8fIf96hcPwALTB-SSKN63wsS1lDrOr_ZAxJm-iRy4RjO0r1qhs_kfQm_tO7KkmfdG9HVydQqf7VYmQJa-7GE2qlkVgE2w_LjjFByb3GMT-wOR5MlU2B-YI34R-sJeNMknlBoQioc_gn9DkoF3RAcgnoQfmJJt5YBPRL5A6nLTvuTZUNWH-AAp1koc-CUu3DzI5kjF2izITd6t6a7AAvHmEJLsprTvMFlckciKJeEO3aIihE2k2LDEJxVsZC7Sat1Y99gdO8s95i_b8IWS2f79p-WzsgwMAGrlXpMaeDct7A7liErMnaaaic3b8pOSTidb7KGs506VtNE648lLndxf4MQ-os3yFb8smFApTV-zPmqKfoj3TvRt9A981MU6QEKYPC96ixGnE2jE6bXS5T6x-kui2eTMdaaJaWvSwYBqcexHrtFkSNHSgGH69sc5MsGcpnkaftR6sJRIXRo0WGX_V2aLsBNf2DSTSMN9JhebusaGu28egSFxkAG-2AYsNzrdbFU0MKUY0Lh0_dKN85G-Da21pK8WqwGADt8G2LhHwY9jqkGopfdj0EtPERf3NNAHe1gfoGWg4o2NvEtHcjOe656r1L_1qCN6miEi--ZEE1x3N7VDlQJEtvPY5lLCx1PdvEaQS4pUmDXCLjLl06PWCF_hX06KuH5fgicTDgr7f89gJMQ7JhZ26167PkhIE230gs_YTkdfLoKYoYMzgD8M90Lov0NFjakWCUth7dNpwpmTLz4tRDlLV15pldBj_AEA2ig2VFZsP3CE99bk_11ZM3QdfyNr7cNx2nzRenKjH4mJoU1KFXyjfWUocB_wXp8ocd0sIpeMuL6_83utYuFFuUsIOSvevBdEHmnjokn-EU_m6Q9AAzOrYGLMg2nNsyZBsrIgRiqf2tkDy8XRCwc0-kT3NfK-lG8lyDY7UJeFGwT7vJIvhaA9Y3R7GNgzjSt5oeffUXIzOetg8PhRZ2hYfqW8n-0D4eu4QlY_suLI58syyl_T5Rp9cKzWuH8b_b6jvZKhW-HbKiJh1qrlX9zMprgWqrf9XrdOMnjJ_U8eU01bYlphwTalVtVkGH9EM6aDoSlRncSsMGP195WyhCHGUUAGQ1LsheSdglXNJwHc65IlIZz4j1TweIdnl54s2X8ybIXTasd0rQxECpTh6DruRStJfwSFXBJz9J7jtSXdmE-t8iofNtoU0gZISPUZyWGCPb5tOFChpxoicreqNjvV0BQPeeTgKU53seoMVK5qc9jCrHLu7o1FFCAHm-f2cVWgWPHrrYPchwLrgSK7bblwUaS_6k59rKxIsbDreE7Q4kibniUA1LLtddIxP5tRTGlTZHjQGc3D9kgeeOe32289tUc0SUQof8jkjYtH97qTG-NHG9jb2spqsO9IIkrORuMT7jodWCseeBcJFWOQkGKVSgOznKnscFTXhFLyeQRSRfMoQ8JwEYc42oh03EwhZsdjWFFTHsQd5xckFDm2QUznrW5-j7PERNP1gIT7SOtUdl3l7dCt-8QIyNeYglhjRaDWubVNp0pZ_49bWiesPjUPBwp-V0LfdYM8oUxkY7rTi3df0uRG3DAkqXpO16VtS2uBBEXRGeTJkNkEWL0oxRzg64uHn-CjwuY2Ihg1KB2K3oWPzLPObAeck8r1khcmDuBVpxakVfP5wTNTQb3gqEDLa3sbI9LJy8SPOBXklI1rXYP3kVxl9FSC6B3N1pMcG_dK0hUbyKNSW2mg0chYNqd_0bjHVpY5wkXvgOnBL7L-Wchrg=",
  "id": "rs_06dbcf307b9d3ff0016ab45b28df0c87d0a8ac268069ad0264",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.25,\"right_pitch\":0.45,\"left_y\":-0.085,\"left_z\":0.07},\"note\":\"The blue-and-white marker has lifted successfully. The brown plush shifted left during the retry, so I will realign above it while carrying the marker toward the right edge of the left basket.\"}",
  "call_id": "call_USu2uIQIB1KebHLOmHlYn2lO",
  "id": "fc_06dbcf307b9d3ff0016ab45b2e4df487d0931f4f7f7763214d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_USu2uIQIB1KebHLOmHlYn2lO",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.4599, 1.4471, 0.5137, 0.2325, -0.4557, -0.3286, 0.9966, 0.8856, 2.1777, 1.721, 0.244, 0.7708, 0.16, 0.1546]\nstate[eef_state]: left_x=0.3554 left_y=-0.0853 left_z=0.0654 left_yaw=0.0807 left_pitch=-0.0564 left_roll=0.0342 left_gripper=0.9966 right_x=0.4782 right_y=0.3963 right_z=0.2334 right_yaw=0.0891 right_pitch=0.4183 right_roll=0.0267 right_gripper=0.1546\nstate[joint_eff]: [0.4444, -6.8855, 5.3402, 1.7265, -0.1734, 0.0855, 0.1245, 0.5402, -12.9026, 9.2103, 1.707, 0.4274, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3776ceed06adac957291943ca857563d5317364596cb6c2c035ef05f2a3e752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b90ba28063f4c0c88a391aaf04715c67247dd35d89bc638d8ab69284826f2d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d999b12295086080698f1fbb546d9c7fddb4f5f97a581828198a7cae0d50f5c",
      "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 37 changed as sent

message 45 changed as sent

message 49 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]: [-0.7731, 1.6169, 0.5983, 0.1314, -0.6296, -0.5701, 0.9995, 0.4931, 1.7584, 0.2493, 0.9836, 0.3626, 0.2329, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1648 left_z=0.0337 left_yaw=0.0383 left_pitch=-0.1167 left_roll=0.0549 left_gripper=0.9995 right_x=0.3344 right_y=0.1126 right_z=0.0127 right_yaw=0.0561 right_pitch=0.0818 right_roll=0.0391 right_gripper=0.9964\nstate[joint_eff]: [0.5538, -5.1214, 4.4513, 1.3748, 0.022, -0.0562, -0.0122, -0.8274, -3.412, 1.6205, -0.0708, 0.0708, -0.2076, 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]: [-0.6704, 1.7115, 0.5781, 0.3595, -0.6029, -0.4786, 0.9953, 0.4187, 1.2976, 0.3153, 0.4725, 0.2928, 0.1947, 0.1519]\nstate[eef_state]: left_x=0.3539 left_y=-0.1482 left_z=0.0264 left_yaw=0.066 left_pitch=-0.0521 left_roll=0.0347 left_gripper=0.9953 right_x=0.3332 right_y=0.0964 right_z=0.0792 right_yaw=0.0599 right_pitch=0.0837 right_roll=0.0433 right_gripper=0.1519\nstate[joint_eff]: [0.6359, -4.7248, 5.5179, 1.0867, 0.0611, -0.0366, -0.1978, 0.0342, -4.5333, 8.212, 1.8046, 0.0952, -0.0269, 1.0281]\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]: [-0.4599, 1.4471, 0.5137, 0.2325, -0.4557, -0.3286, 0.9966, 0.8856, 2.1777, 1.721, 0.244, 0.7708, 0.16, 0.1546]\nstate[eef_state]: left_x=0.3554 left_y=-0.0853 left_z=0.0654 left_yaw=0.0807 left_pitch=-0.0564 left_roll=0.0342 left_gripper=0.9966 right_x=0.4782 right_y=0.3963 right_z=0.2334 right_yaw=0.0891 right_pitch=0.4183 right_roll=0.0267 right_gripper=0.1546\nstate[joint_eff]: [0.4444, -6.8855, 5.3402, 1.7265, -0.1734, 0.0855, 0.1245, 0.5402, -12.9026, 9.2103, 1.707, 0.4274, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3776ceed06adac957291943ca857563d5317364596cb6c2c035ef05f2a3e752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b90ba28063f4c0c88a391aaf04715c67247dd35d89bc638d8ab69284826f2d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d999b12295086080698f1fbb546d9c7fddb4f5f97a581828198a7cae0d50f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFs4iX_vZLiZqY2H37uwGAoXjCLPh3Nonus-9IC34aEgPlNsLRU11387GdFyhDboT3h0JqjuWYmgH-Woa7bdG_-tWS_PapVzrJ1a9gG2u84sMj9BhMZm_efTpGw-vZ2i_VtLL4zvVxGxwk6_Woj8IYYbV0ljSu-IywmFjeUBow4DP47qo9BIBe0VpFArTepEYAvYJT2ryKVViKinPXxkZ29eG30CGxoJMEXtdJuC0smkfgnDXbEfXda98jzkudbvwtUmf7DJ5D7LP4ZBUZ5TOtoSA67ELlfQBbTU8xX9OL7_71QiA3xk4nZeIVgi8ERqojL-0EdnWFPb4GMusk5Gl9ijSqFxO8LLSzbgchkDhOZH_vE0OEVJIOspiexSiF-vrs97voP0Zcqgy8ZqOUePf8CYAWRDHjqXy2QKnZzt6xm0lqLmtSveBLpSGwKBsZCWe_PC3_D9eUITXDgE7fTvh3jJ5MLdAJVpzWgCfbjEHU4XXj5m5GX3FYXurlTekpdiiN4e7ThWAjfDOEqAabvyz4Lr42m3Atuu98-xcOtHDixFSFfP7uZ6dbaHKtX5A8fnH62RXC1dyGFqaHfpob4yzQFqA8d1jXlegmQEREtlsyjxA10Ld3aNmzCmJY9ZYCPHVqiYUifIALC9f6Qi4gO2jHVaRivRYsN7GY-yXxWEDfm4ZrG5pd5qZPI5J43ZygjQ4q77L4pLiTWYWY4d5KWk6HtoNKKKgwXsbUF5Q-WtzmsRXqYx9akcPQ6maKbOXxgxD-_fqSbM5-mkp7myJTVkyiiQIcRjgcPqU0vGXYcUAdWiL3nOjCknkyPa90Qx6L3jmtFqHxboOupfWkEAjwMYazWtm3S01xDPxywGam357B-rL-Rh9kaSMowVRk7qMdqYi0PBThxH0LxKBk_MBi1BoUXJOg41wi7QO201ACxEBuRfMpOsOuYZoonCuTfa96B6KpZjvPJthS_0Dr-CfgR9uPm4rSio8SKyammQ0p6BYZG1NFS4lrOyEUvItiuyipL6mOkuS8161rBbyqawOCw9bOgT1UrSGUV2-4iCYrz6X-uT9vO_IbBQD9my71mTWOclDg9FyEwfHWniQH4VNAYZl9AdYNzWrvUlemV-Wb1uhPkT7c8MFhnI4kuH-AYEEo3ffhnNBVDG9wzJpSxpUelHkCupwSOdGagjBU5cECv3jk3ts9WfEC5IVqfTJoZYvjqNROOoawMcQp1TjkEcfowMeloPPAr0EK2vAJi6M8EHh0504Ebo58AbKab8wqxLLM_h6Es1JmD6ipi5qG4XfYmVkokvQehwZsfPHG2NkBVGtAmAbxVkJftj-EWjsOVmhrdLowz8er2GtqgCVAjgT-RmJziD3j5DACORG4pZ-oJ78wVDOcU5vwdz92J5NGdSxHFmQ_PLdXs1QW0nCQBMFjqiIyTwpkbWwDFakhosa2Xbu7s2A-JrCo0wp7JvrzTQ3gmbl4133W9TczmA-bTefiyV6wRQ8kGmxULKzyBiITVDxxPAiJgwulCwy1RvKSgnZT3_Q25VyMQ8CiETAtKJqFSUs_RZ9oGC4Q87KjrHhiVll1NtsSKiZY5NTASr8jV6vEg8F3UBaySyx17fbLLh9nEoRrDwSWDPPVqWUkIW9rgusLlkKnFe1oBIeQjcljlMSNtWojLJjjCXRIUPmFlAJIf2RbgIba62U98fjULveg39Ar2c2iWdQGqFZfL0VMA0Evaq6VSG0phTJZxfgaJj-T69dhCjptAaVlusMAekH-vskFiXxZYXal6G9Kijr6ugxJ3UskiXh-BRdaXIZQOGsglQfTy2JdhtpgyHp4UDcjNXKF-fg-RPNX1Pxm9oRK4xxHROW4MGNVi5ZF3Y9J2uCNk5jcWUk1sXqLuKPfxjfj0L7TtY7g81fzcLcoeDNky1MUUoCvMtPcrt2qztGtJYuDGXYyLMVTHfynwcKOtviy0oV_3AuqddOaxpnhsjQTiM8cQsZWMknJmvZNAGasGbAGqnSXRPlZtfuraKfHXFVGidofKHWqICpTvjIa7l2R3eWy5kKzN2tVMc9Cxg447gXyqphyXR-GCWCvv_vTZDyrLgw8L13EWFxKZj64bK1t0mETcs-_ZdtWN2lZL3H2uA9RAQ9j_gmbR8Qriwyt0_5exafgZgI6ZHt2BmT4f-E-wuWYqVknZUdqWgZEk_im1RiMWZOD-rt4n9HImqb2gs3gtN2KxQjn_0KMeJJ-hwAYI5gqI15fE4RQ7vTAQwWXejqQuPskbGBTiL3AphYp0cBpnFpUFzZSwinNcuSUp0BXNRnWdXVEyhE89Tyd4jeO0p08FlDbr0IbM2Ht6VnNgPSi4jqiUsiP0=",
  "id": "rs_06dbcf307b9d3ff0016ab45b339c4887d0b60a74891b5973fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_yaw\":0.5,\"left_z\":0.018},\"note\":\"The marker is above the left basket’s right rim; a small rotation will put its projecting end over the opening. The brown plush is now centered between the left jaws, which I will lower around its body.\"}",
  "call_id": "call_uEmSieNisrYZvijsFo2tiuYn",
  "id": "fc_06dbcf307b9d3ff0016ab45b37a6cc87d09b4387f7c1bf877c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uEmSieNisrYZvijsFo2tiuYn",
  "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]: [-0.4603, 1.6386, 0.4397, 0.4389, -0.4541, -0.329, 0.9967, 0.7605, 2.1555, 1.3689, 0.5163, 0.3584, 0.07, 0.1547]\nstate[eef_state]: left_x=0.3485 left_y=-0.0823 left_z=0.0114 left_yaw=0.0818 left_pitch=-0.1076 left_roll=0.0635 left_gripper=0.9967 right_x=0.4811 right_y=0.3771 right_z=0.1384 right_yaw=0.3973 right_pitch=0.3177 right_roll=-0.0131 right_gripper=0.1547\nstate[joint_eff]: [-0.1436, -6.1607, 3.9726, 1.9121, -0.1734, -0.0513, 0.0024, 0.0889, -11.7812, 7.1179, 2.3272, -0.0024, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90d983102a55839ebfc63c34f3ca976306f598daa881f79cfd16d6885099837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b9ed2b14dce17423b35bf7e32e92d795e4298e789046f0de0ffdb490cbbf24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89216324583eb06985ae5ed9584a93275e83b1f722f4b72a316fcd3181d2a5b",
      "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 41 changed as sent

message 49 changed as sent

message 53 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]: [-0.7185, 1.5864, 0.5568, 0.181, -0.6079, -0.527, 0.0132, 0.4225, 1.7538, 0.2234, 1.0267, 0.3004, 0.1967, 0.1477]\nstate[eef_state]: left_x=0.3277 left_y=-0.1478 left_z=0.0356 left_yaw=0.0514 left_pitch=-0.1028 left_roll=0.0496 left_gripper=0.0132 right_x=0.3366 right_y=0.098 right_z=0.0141 right_yaw=0.0561 right_pitch=0.0907 right_roll=0.0437 right_gripper=0.1477\nstate[joint_eff]: [0.3077, -7.5829, 3.8085, 1.2576, -0.2808, 0.0952, 1.1306, -0.8137, -6.2701, 2.6872, 1.6923, -0.0269, -0.0806, 0.9988]",
      "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]: [-0.4599, 1.4471, 0.5137, 0.2325, -0.4557, -0.3286, 0.9966, 0.8856, 2.1777, 1.721, 0.244, 0.7708, 0.16, 0.1546]\nstate[eef_state]: left_x=0.3554 left_y=-0.0853 left_z=0.0654 left_yaw=0.0807 left_pitch=-0.0564 left_roll=0.0342 left_gripper=0.9966 right_x=0.4782 right_y=0.3963 right_z=0.2334 right_yaw=0.0891 right_pitch=0.4183 right_roll=0.0267 right_gripper=0.1546\nstate[joint_eff]: [0.4444, -6.8855, 5.3402, 1.7265, -0.1734, 0.0855, 0.1245, 0.5402, -12.9026, 9.2103, 1.707, 0.4274, -0.0073, 1.033]",
      "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]: [-0.4603, 1.6386, 0.4397, 0.4389, -0.4541, -0.329, 0.9967, 0.7605, 2.1555, 1.3689, 0.5163, 0.3584, 0.07, 0.1547]\nstate[eef_state]: left_x=0.3485 left_y=-0.0823 left_z=0.0114 left_yaw=0.0818 left_pitch=-0.1076 left_roll=0.0635 left_gripper=0.9967 right_x=0.4811 right_y=0.3771 right_z=0.1384 right_yaw=0.3973 right_pitch=0.3177 right_roll=-0.0131 right_gripper=0.1547\nstate[joint_eff]: [-0.1436, -6.1607, 3.9726, 1.9121, -0.1734, -0.0513, 0.0024, 0.0889, -11.7812, 7.1179, 2.3272, -0.0024, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90d983102a55839ebfc63c34f3ca976306f598daa881f79cfd16d6885099837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b9ed2b14dce17423b35bf7e32e92d795e4298e789046f0de0ffdb490cbbf24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89216324583eb06985ae5ed9584a93275e83b1f722f4b72a316fcd3181d2a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFs_1Ql2W-URD1dZhVYTxX31FY9o-sG8PtnTIBhyf4iTaVeZvfZv--b6zaW4vKBKaQlhc6ttshHjhqxmkZv_JnAYubw2OOD8dvxdGp_qWhmO4OnNiFCFQ-XDgsRw3vnjzl9umH3LhLYAfmtTyyX8fyzQmjT0nto5AiAGIU9pNFx3L6sLFsFOGamUtwVnDc5Cfxn_X-nQpDQcHPPnx6q8NwBuBl0TCilO5HasduDuSoGjtM06p0IYTSs_xbnHoIsn6a15IT6U2VY_WGC4hRdx7YxYe7jl-GuUv8VMm-uQvxSZ7dpI1t8CMJPlpF5v0rqv-5FCx2G4bP6ovSLP7S21ZWpsFeeQndafhqJe6H6NWfSKYWiU_1YFiGQsDKC3AF-OylvJfvsOVcZqa-0k8Q_qljcJ9qW6o-ZpLogiNZk9FOjjp8zbO7FWq6ckZtdDwIB6QZgja7ka6RxQ8H31Nr41vOKtYr4R5bQQnS4-gVbE38F85LRssPMa6MI369R393zH5yTdfUY-YYy7bb77pAkYOp8tO_WFwPY6gChswnrzxwJ2zwac3v8rd5NupSLYCO_h99Q9nQaI-As-gkx7hnUjFNocYRnPXJ7wnY0pyzALseEdIIN5YQjbwKWczp4GtcDU3nUztut1cxdYwKk0x0e9b3PDfN3uLM6Gc_Pd3TVDyZyw2kr29mA6gVlX-V9KhLjtdin3HNI9GTgvmpMjPGP0Ws0XtUYaa-H6XoGjauoV5yMz11ZxLhzj2MyOYzUM5LAGcwoJ0oAsEZIB6--L3xSJWihN-7KX5BtwBepDiRe3b5tkb4CRvszYF9_bi42VnragFTuIP3jHNqZ5IaYIQYgGuaC4IJO59PTInn6fG_tkrLaUmtdqQJeGVWDpo_7Yhw4yIaWWAeENCBMzs_rZdLzbSpL9ZDLFG8H4yyNz5fowPBZdWB415xQ21z1p3jogsPadK_hWle1nrvSI0TH2wFLrrijVBHqctU-QYN0o1vp25oHN2RDGlGFy28OXJlF20vjaypR90PdHsHJKKBdOkvn2sgQe0-LQRJ3aowX_PDRCMf8vBx3AyUIXwvq7hiGbPDNF4yw9kJkcVeaeoiy8TMeCuzcjReOUjoRyhR7eTvyXWX_EKvT1QXjuuFpz5EXP70xW9kkQXw7AE_ufMrebg3ze-mNgQ0b-Z355ADu6dk_QXefCAM77pq55R3A2iyF3IEChVB69W0_8_ocQtd7UUH9UYjuQoRnB4wnBfukAtCAWTgzhEx0yq-KSGZztq2PuAV1J4cB6j-ac3vPpwEuxKGiqPFDaCJQkIE7daJQCsrBYIpsJSxAQCWYcbOVng2xj2NNYEXMNHi43zutnvAfgtXKk_OUlBr40fWzPbU-CXfk4I90gPIxde8lIcwlUSP6PEkO1rAQrVSLIzqHddx2-vR2gbQaJWcPkvofea41wktYekvqFwaVkNqqa72ZpmOPK43XsYQDQlNXAUgGMjzUam3_xc3wL0zTEUjlqNRuQrQRPkGJAFIbCCz86y_D1sFDrDqOex7b4u-wHNAM-r_KzUX3gZlOhjSjRKfi3UhEh0lrcJo34nM2IfCn68Xb9yRGNyHCwkCI8hj3hkjP_-p3KFbOkpoQlENHZEq0CDp5l0APHd7NOfpDK6gey0vlmymaMjjKWwwCD64VH0FFmhwFrZVHtc5h5omuytYFnS4brgyUQyPK_vvJJ0MU9minoZHC9nCKnZSDuGO17A4CSZskuaSu9YfcPstM3L_c_WirzR03iht3v0xUOijAiuSEFtE76IeSfKnaOIN0jAcYHhA3a5TTuvzMksTLiOhpGrLj2JWLDIQ529e8t5y7wf5Jqb8U8vPSO9D-MYflZArexhvOAeafEbP5OdzclBp15hk8aMcbY9nrGwysLgA3OXfR3oVS_R2pYPjHGzmxXL6e3OoCrHmeROR46wGX5i7elEgtetfvMRdjxt6ejmK8iNH79ph8XaLCBM_jz8MKsTaqzAAeBjPGCt9UPm_PNTOYArLQUIv-uic5PShvbdD8kBJGgMOj5lvVBzzYzLZpQFkiP1rJeycv7ZZi1g-WO6cs6VYS2p5u4x2lRvu7DTABtwaxLR9S9JjevHGu0A8GIJYYTAWOBXD7eiYR743bLqOa22bz-3JpErNJWMtN2ibfrWIbEGNdRsLK78i24WN94I0GGT722hJE2hF1a7UTmpFALKK32TRUoxT2Fypk=",
  "id": "rs_06dbcf307b9d3ff0016ab45b3ab1b087d0ba34532e64dde10f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_yaw\":1,\"right_x\":0.49,\"right_z\":0.16},\"note\":\"The plush’s torso is between the left fingers. I will grasp it while turning the marker farther inward so its weight is over the basket rather than the rim.\"}",
  "call_id": "call_sNBEWxKB9qafr4gmszX9CIYK",
  "id": "fc_06dbcf307b9d3ff0016ab45b3e9b4887d08c2eeb788b224477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sNBEWxKB9qafr4gmszX9CIYK",
  "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]: [-0.4603, 1.6531, 0.4309, 0.4534, -0.4557, -0.3321, 0.2057, 0.5396, 2.1597, 1.4223, 0.4274, -0.3531, -0.1234, 0.1547]\nstate[eef_state]: left_x=0.3463 left_y=-0.0809 left_z=0.0065 left_yaw=0.0852 left_pitch=-0.1144 left_roll=0.0666 left_gripper=0.2057 right_x=0.4928 right_y=0.3705 right_z=0.1395 right_yaw=0.9085 right_pitch=0.2802 right_roll=0.0009 right_gripper=0.1547\nstate[joint_eff]: [-0.212, -6.8855, 5.135, 1.3993, -0.2466, 0.0024, 1.0085, -0.759, -12.4786, 9.4291, 1.9463, -0.1197, -0.1441, 1.0281]\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,$blob:9acd1f7f3928748c29c4b8973b8717c9a05a840776cf88746e41226b7e2a7575",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60d0df09bbe81b151260813a34363cf0e24e446824eff88db769071600fdee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6aba382496f8d16f96a3d1b5294655a97448fabd258e97b5f90014fc6569ee",
      "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 45 changed as sent

message 53 changed as sent

message 57 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]: [-0.6704, 1.7115, 0.5781, 0.3595, -0.6029, -0.4786, 0.9953, 0.4187, 1.2976, 0.3153, 0.4725, 0.2928, 0.1947, 0.1519]\nstate[eef_state]: left_x=0.3539 left_y=-0.1482 left_z=0.0264 left_yaw=0.066 left_pitch=-0.0521 left_roll=0.0347 left_gripper=0.9953 right_x=0.3332 right_y=0.0964 right_z=0.0792 right_yaw=0.0599 right_pitch=0.0837 right_roll=0.0433 right_gripper=0.1519\nstate[joint_eff]: [0.6359, -4.7248, 5.5179, 1.0867, 0.0611, -0.0366, -0.1978, 0.0342, -4.5333, 8.212, 1.8046, 0.0952, -0.0269, 1.0281]\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]: [-0.4603, 1.6386, 0.4397, 0.4389, -0.4541, -0.329, 0.9967, 0.7605, 2.1555, 1.3689, 0.5163, 0.3584, 0.07, 0.1547]\nstate[eef_state]: left_x=0.3485 left_y=-0.0823 left_z=0.0114 left_yaw=0.0818 left_pitch=-0.1076 left_roll=0.0635 left_gripper=0.9967 right_x=0.4811 right_y=0.3771 right_z=0.1384 right_yaw=0.3973 right_pitch=0.3177 right_roll=-0.0131 right_gripper=0.1547\nstate[joint_eff]: [-0.1436, -6.1607, 3.9726, 1.9121, -0.1734, -0.0513, 0.0024, 0.0889, -11.7812, 7.1179, 2.3272, -0.0024, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.6531, 0.4309, 0.4534, -0.4557, -0.3321, 0.2057, 0.5396, 2.1597, 1.4223, 0.4274, -0.3531, -0.1234, 0.1547]\nstate[eef_state]: left_x=0.3463 left_y=-0.0809 left_z=0.0065 left_yaw=0.0852 left_pitch=-0.1144 left_roll=0.0666 left_gripper=0.2057 right_x=0.4928 right_y=0.3705 right_z=0.1395 right_yaw=0.9085 right_pitch=0.2802 right_roll=0.0009 right_gripper=0.1547\nstate[joint_eff]: [-0.212, -6.8855, 5.135, 1.3993, -0.2466, 0.0024, 1.0085, -0.759, -12.4786, 9.4291, 1.9463, -0.1197, -0.1441, 1.0281]\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,$blob:9acd1f7f3928748c29c4b8973b8717c9a05a840776cf88746e41226b7e2a7575",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60d0df09bbe81b151260813a34363cf0e24e446824eff88db769071600fdee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6aba382496f8d16f96a3d1b5294655a97448fabd258e97b5f90014fc6569ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtEWtotzoRn_wqovULsxXfuR7f4KCy-YQcl0OGuOpB4VcF2Khd8LezXGf2QCX_t9oSo3gk9XcJ5M5torhXJLwphAinmWx0gxWORon_Djcf8ajzM-QHaXwDN2Zw1sxlKS8fKd3qhD9v93Ps0bqPBDa3QKCCBJ0_IduESu0vOazsHq3zwX25Tg94CDqD7TBRMek2BIUYI-oOkhGyoDsWVMU6I4Pb3mrWXGxRsQ-cBzE8Pj0i8p6VZ4rjZ1n3r6LxyEsMW4P6BrHvmfHa5kcTbsY5hbSDahFrjRbiNzyyoeNQCbxfAd_bimhm_NNfX6C44tHkUkJpVbWxHnoRGbsi3X2zeNT4DwhNJzZMIQ_qoTeOaJ7GTjBBz8tjDGb9XDda-NiBf0jNkTiADCckdmjMrMuFcEA-K9OwvTCn8L7bXKWD34G37UqlpyTO0TsCRltxhBBdQaf4OLEyOU9Avs5xAX8AlrBEuKvojXm3uTOsXywMd-im8NAPAgz8_HlhZ-MvOq5ozU89XDkjUw8y_55rjWWo8Xpg9skJUrfJyki41LgcwzhKPOhOpRvL6kHKDsxxct1w6d-seJmuRPU0nVgXTFdFsFlET4Jx1LWPhnP3jt6DRrDgY5-dn8d8S0VXS_aZinrWpl9b4cedrE-9tgP-Qy8yoEqsCy6MYH-uSvOzWAPrl7MSt4TQ0oeenR_aWG5h-WXqVF9GTTdTPw7-ifT2FMJNB4-1OufAeQ_wAvgaypRES7VgbdRojswVpdnGqEFtOmrFMpgwdj92NZXxw1XS2n33KBirmSb_mB2Z7YR_Qv6s8-sc16eCsFXz99nKrY_GFSoH85_y_Okk3KxJCHaIs8SWvvnqvKPyKyH8FTj1VaTtF7E62gQOI2B4Vc2a7IJ64vjjE87PfSRHf6IKri72rHoJ0hPravM80GR9ky0-sX6ePUSKb9pUMYuYjabqNciuBxENueitABVwQX2I07tUMw41ewSiTNEaiX5xydk2C7oNvz0iMHcz2q3VgfN7xv1x9UCXdGriivOMlRNT0NIXwSV6_dFYlOE_hi3rFBKBBaDSwQLDOgRE0DB09iiXfP0NNHp0Aw4fPenF-VPTtFYSr4KrDTEsbLML4DvkN3fKzdZ_F3TGuvhaNzKfAKzfBCPqz5xFdscQIntDKKmzIXTyX4o5dYgjq18H6CB0U8vLBYIaYjLZkkbG2IG2sZwnzSfeyECrHztTMe6osuGA4WprXSgkGCfh_vDbeax02DUUJdcYHGpEqVqIOqIlo83lzuKBjW_9QEzR7iaWnYtio4yc_uWH35-PngtWSmG5zbTwXZP_pz6AVVsp8_xCYclWoj_BFPy9gCmgeS7SI0ptTqzdRdNMqffPbShCDsd0C5Aafar1ZA2SJ6yiEjj5Bg3Nws7OVhbaewRPUQr4qs57A-llYid3Z92B-F7-QFcybJEhu4kXK34DUtjhyCqBuFmK1BZP9lTBuM-YrKKeAhgZaj7qU0Eid5VcWV1h6xYC1OBnjBFjWk-8Ionau-DneAJbcYh7RYMHBAFF3UGI-aYCz4qn4sA9a0z2asX6aqotS4I-DwYbmwVg=",
  "id": "rs_06dbcf307b9d3ff0016ab45b42096087d0a3f02f983cc0551e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_z\":0.095},\"note\":\"The marker’s upper half is over the left basket opening, and the plush grasp has a solid nonempty opening. I will release the marker and lift the plush to confirm the grasp.\"}",
  "call_id": "call_q2v77u47j23Krt08RRH2MrB5",
  "id": "fc_06dbcf307b9d3ff0016ab45b438f1487d0bdd5cb18acdbe249",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q2v77u47j23Krt08RRH2MrB5",
  "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]: [-0.4603, 1.3605, 0.5812, -0.0029, -0.4545, -0.3367, 0.2057, 0.5308, 2.1597, 1.42, 0.4084, -0.3664, -0.1326, 0.9949]\nstate[eef_state]: left_x=0.344 left_y=-0.08 left_z=0.0796 left_yaw=0.0876 left_pitch=-0.126 left_roll=0.0693 left_gripper=0.2057 right_x=0.4926 right_y=0.3667 right_z=0.1345 right_yaw=0.9143 right_pitch=0.2619 right_roll=0.004 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -6.2974, 8.6632, 1.4432, -0.232, -0.0073, 0.823, 0.5402, -12.4103, 6.735, 2.0391, 0.0366, 0.1197, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb7790496fbd92695e48777b7ea95e0ea6a0f690dacecd719e8e0bc257ee9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84869575549e1e37cba1786094992d9008f726a4a4cb692da09a3fdd0d682486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbdfd4bfb6af871fee5adeae97903d0d6b48ae0722968586b4c74efdd2d7120",
      "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 49 changed as sent

message 57 changed as sent

message 61 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]: [-0.4599, 1.4471, 0.5137, 0.2325, -0.4557, -0.3286, 0.9966, 0.8856, 2.1777, 1.721, 0.244, 0.7708, 0.16, 0.1546]\nstate[eef_state]: left_x=0.3554 left_y=-0.0853 left_z=0.0654 left_yaw=0.0807 left_pitch=-0.0564 left_roll=0.0342 left_gripper=0.9966 right_x=0.4782 right_y=0.3963 right_z=0.2334 right_yaw=0.0891 right_pitch=0.4183 right_roll=0.0267 right_gripper=0.1546\nstate[joint_eff]: [0.4444, -6.8855, 5.3402, 1.7265, -0.1734, 0.0855, 0.1245, 0.5402, -12.9026, 9.2103, 1.707, 0.4274, -0.0073, 1.033]",
      "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]: [-0.4603, 1.6531, 0.4309, 0.4534, -0.4557, -0.3321, 0.2057, 0.5396, 2.1597, 1.4223, 0.4274, -0.3531, -0.1234, 0.1547]\nstate[eef_state]: left_x=0.3463 left_y=-0.0809 left_z=0.0065 left_yaw=0.0852 left_pitch=-0.1144 left_roll=0.0666 left_gripper=0.2057 right_x=0.4928 right_y=0.3705 right_z=0.1395 right_yaw=0.9085 right_pitch=0.2802 right_roll=0.0009 right_gripper=0.1547\nstate[joint_eff]: [-0.212, -6.8855, 5.135, 1.3993, -0.2466, 0.0024, 1.0085, -0.759, -12.4786, 9.4291, 1.9463, -0.1197, -0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.3605, 0.5812, -0.0029, -0.4545, -0.3367, 0.2057, 0.5308, 2.1597, 1.42, 0.4084, -0.3664, -0.1326, 0.9949]\nstate[eef_state]: left_x=0.344 left_y=-0.08 left_z=0.0796 left_yaw=0.0876 left_pitch=-0.126 left_roll=0.0693 left_gripper=0.2057 right_x=0.4926 right_y=0.3667 right_z=0.1345 right_yaw=0.9143 right_pitch=0.2619 right_roll=0.004 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -6.2974, 8.6632, 1.4432, -0.232, -0.0073, 0.823, 0.5402, -12.4103, 6.735, 2.0391, 0.0366, 0.1197, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb7790496fbd92695e48777b7ea95e0ea6a0f690dacecd719e8e0bc257ee9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84869575549e1e37cba1786094992d9008f726a4a4cb692da09a3fdd0d682486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbdfd4bfb6af871fee5adeae97903d0d6b48ae0722968586b4c74efdd2d7120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtNXT8LLIf9N37_W_2WIg1Gr5QSnMsW_5Qr80hu8uxb3dKD950M_-cL3uyKBershNinmq4uUQMd8fK2SQszjZnRskfKHVez3uijzgzYiEzOV3SpCV0yApqdhtZrpyDc3xN9nGtyxE8t-90PSx3fB5hT6at03h2hY-gt7gqpukTh32qAuHXguSvVMMLz8YjnEShvenoo5af-ihe9HvrfsyjMnNzQRI_RtmLV_IboqW3vOBPpOefMw4OZ1HfsscQiB9VpoRK24lXkhUaeLOfsYXRxpTF9kEHI2GWJ9mgv44Y55pk6JhBiB-rB3mUfKuVt8I-iHhkvLS-My1kutPw_RHHKikfMZuLA1bBmIRpjiRxOrh2NQYk1Fy4I7fQpwLzdvKurBt9ILM1rRfbMIujqkDbuUOXOjDzeAd81MnuNwssz25fUkC4vWClqcu5rDUyg3nc5UqNvZoyrVup2OmhIsDM_GZFdw6Cuem6RTbLJLdJ3NY4GcdObIzZO6xUIcgdfGsLEtRtmFGpe88HuO2Ahapu1f6SXwZVwglom53lxvN_Di1x9gdfiJK6oDsnstv93ibSKWT6wVj0cI8i5nyLnFm2OwQLzkd1Lgrjdz8sciJpVM6UyJS2CMq8lwf51pBsUnHuDvJi5GtOagZiWwshCbqOQ2rqJyZxZlDas9Sq0p2bJ_H5KoU2fnK6PCb5DPby2Hguz3L3LD-V3iSLgHgqmusRSCDNHyA2TkbcN6aBsgHqj3LL7OZWxCXcxUxCmc8tzMOV9SDDQJM7ElaLozjw4qzZGdXec4-BurRFKsDSpLrE75AqDiDw9yauLOIdhiEjRRjFpSoZggFx4I7ZEFgycEQ2TMPk88BapIBMgtLVOmlFhjeeMR1-JwpmeXv8yj1xCRbZMNWd_3xHj3SFh47KWFG4EeU-uV2F4O8-j6Yxl_6pup2sfs_um3hkCMFpK2Fy38zqsL51yzfSlrWAYwOgKAyaKBj_K8jKy9kTi4EsRN6IyDzfJD5wBr9fLjQhSSB-B8uRa1SNm5gfPDgxTYELS4NVmpebnjV-e9sh9nDnHh-qMgCEY3s3EjLZDy8ocfzsw3pyQ-G_LuXE1Q_8iWrjL0fHoAFFXNPMwjbyLSqgqZlj2lVpRudBNJfN_jDJo3uapGYranOQO1bl-ogEdib_14ZKMduILs3Retlno150a9wisxMCzP0169bpTOIRQnIW7Qy2Dd7qLkzF9E9jLU73kZqFdk6I23MO5KXOv-1QAd5TIqYyrr9527jAnB78x9z95mDkWUOCi076O4-_c9VVFjs3HsjsmNA2RTZwqUWfsPAuClqYTDdi46X3HDxs_NBPao6uecOQegWjMnyZApc1Kwzti50xavVlu-aKM7C7lXAxIvLsdkCoV-NYhuDG0ay9vqbS9r2GzPwMT36KAbBY6YnuSas3l-k61vEhqeIVB6GfIyuO-LfFQj8GbFbfYvv5D0BNF5zYocx0vUY3IvczoW3Btw5axtuVc-pl4WwjVSvE8QvBxy7eCTgUD4oB9F1e5cUGNoJg_QzkPTre9dI3iCLudAXN5Es3-8PrkDPj8V_QNQn3ZGYCB9gmqMuraIjW_CtmCh3ywpGhjRSGuBI-C45fBDjDwOBWYHYkn4MDzeBua0xaklQuoTr4rf_fN44PUoageg9nXeS1ABC_UUbic0Z4qWqmP_SWq3Pb-UxOyEX9OIyuSFAoi5eUtrQulL8lHGOoMiID6fjQa7ACjUUAmzNppEPUM_WOlWjUXz6aLkuaIePp9-kRBf0faZWsi4PRhDyZfyXiOWwpQUyPincp5wqXMM58DExKQUV_L43VCaRvs5--rqW7cXIVe-wB5g2C4xjr_yGx-arJDQC90vug09VOZqcSs33Fj6drKpp4wbXm3hld-5eDA3mWTaSjptcdoaRqzcRB0aoe_tf6NDpjSSchti5n3tZy-YOJ3S4J4AsCgub71adiQu2o0x7gf_l4g5RYcnLVYXhfeMr0cLpudRHVdBoohTZA8nDsx8WD5eIF3OLhL4zFQkvAvsu0JeQ46mTylanqS645nebNSW8R3h-_BDkkHgy491TIs8Oi54JMO5pFGDV9EoP6h4YlBYsuP9IGrple2RO2mLWn0Y4PZqiBNDkFOp3_FbFUqogvNXU4bZ1RtSls0jc5_75IkcidmcfQRhWIYCPjuRLQK3ZJ6Q_OQYYC8VRLKJRKXkdvR2YiaktimDPBVXBFYsoWsoxmL-ZegDpjmtTf5ADCoFKlKDazIiflZtzUaQRjcmMeBwAQqoGQN98ERtyr6LB4QLQDa99wdDENlOjLOMzztitzNveXeDs2JsVPW9mhm-I38IgHxolfco5JvVaRouzUbeqzQosVkOL4R65etcHqcrx4ea__dJ-wjCLDVPRIMTBEIIa8NusJ23_-tru3X6QR8ShLDqEwcCsO1OcsoSgSOQF6ED2XhjTq2QRfgghWh3e0CQc1ZlGr3wY6ZbyspJCJkKu736ZkAf10fhp8mNQwhLW2ftttwgeeXzMsuiPqE02i8bUvqViE=",
  "id": "rs_06dbcf307b9d3ff0016ab45b47191087d09c1cd022cd23794d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.06,\"right_z\":0.23,\"right_pitch\":0,\"right_yaw\":0,\"left_x\":0.48,\"left_y\":-0.39,\"left_z\":0.26,\"left_pitch\":0.45,\"left_yaw\":-0.75},\"note\":\"The brown plush lifted successfully, but the marker fell outside the left basket and will need another pickup. I will clear the right arm and carry the plush over the left side of the right basket.\"}",
  "call_id": "call_TRJScNqgANCtnbxmvqwRKIQq",
  "id": "fc_06dbcf307b9d3ff0016ab45b4b835c87d0a78ca1f2f473fd07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TRJScNqgANCtnbxmvqwRKIQq",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.6739, 1.99, 1.4342, 0.3332, -0.0425, 0.009, 0.2058, 0.3634, 0.9237, 0.8051, -0.4763, 0.271, 0.1635, 0.9962]\nstate[eef_state]: left_x=0.482 left_y=-0.3707 left_z=0.2206 left_yaw=-0.6569 left_pitch=0.339 left_roll=0.0376 left_gripper=0.2058 right_x=0.3056 right_y=0.0695 right_z=0.2187 right_yaw=0.0408 right_pitch=0.0 right_roll=-0.0014 right_gripper=0.9962\nstate[joint_eff]: [-0.8957, -11.6718, 10.0991, 2.464, 0.442, 0.3639, 0.7057, -0.3897, -2.6735, 10.2222, 1.7118, 0.2271, 0.1783, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5418c70672f4b780b323b9c3b8f800e88bcb2572e9ff53214d1ae2563143ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4356784d34dc3fb641df95c71885f828e86d9ce6ca55405379b59c0364f431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40341d5cc5ee5850246bd86c26a2f4b8850a4224bcf6618b036ff780528adce",
      "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 53 changed as sent

message 61 changed as sent

message 65 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]: [-0.4603, 1.6386, 0.4397, 0.4389, -0.4541, -0.329, 0.9967, 0.7605, 2.1555, 1.3689, 0.5163, 0.3584, 0.07, 0.1547]\nstate[eef_state]: left_x=0.3485 left_y=-0.0823 left_z=0.0114 left_yaw=0.0818 left_pitch=-0.1076 left_roll=0.0635 left_gripper=0.9967 right_x=0.4811 right_y=0.3771 right_z=0.1384 right_yaw=0.3973 right_pitch=0.3177 right_roll=-0.0131 right_gripper=0.1547\nstate[joint_eff]: [-0.1436, -6.1607, 3.9726, 1.9121, -0.1734, -0.0513, 0.0024, 0.0889, -11.7812, 7.1179, 2.3272, -0.0024, -0.0757, 1.033]\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]: [-0.4603, 1.3605, 0.5812, -0.0029, -0.4545, -0.3367, 0.2057, 0.5308, 2.1597, 1.42, 0.4084, -0.3664, -0.1326, 0.9949]\nstate[eef_state]: left_x=0.344 left_y=-0.08 left_z=0.0796 left_yaw=0.0876 left_pitch=-0.126 left_roll=0.0693 left_gripper=0.2057 right_x=0.4926 right_y=0.3667 right_z=0.1345 right_yaw=0.9143 right_pitch=0.2619 right_roll=0.004 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -6.2974, 8.6632, 1.4432, -0.232, -0.0073, 0.823, 0.5402, -12.4103, 6.735, 2.0391, 0.0366, 0.1197, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6739, 1.99, 1.4342, 0.3332, -0.0425, 0.009, 0.2058, 0.3634, 0.9237, 0.8051, -0.4763, 0.271, 0.1635, 0.9962]\nstate[eef_state]: left_x=0.482 left_y=-0.3707 left_z=0.2206 left_yaw=-0.6569 left_pitch=0.339 left_roll=0.0376 left_gripper=0.2058 right_x=0.3056 right_y=0.0695 right_z=0.2187 right_yaw=0.0408 right_pitch=0.0 right_roll=-0.0014 right_gripper=0.9962\nstate[joint_eff]: [-0.8957, -11.6718, 10.0991, 2.464, 0.442, 0.3639, 0.7057, -0.3897, -2.6735, 10.2222, 1.7118, 0.2271, 0.1783, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5418c70672f4b780b323b9c3b8f800e88bcb2572e9ff53214d1ae2563143ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4356784d34dc3fb641df95c71885f828e86d9ce6ca55405379b59c0364f431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40341d5cc5ee5850246bd86c26a2f4b8850a4224bcf6618b036ff780528adce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtV5etnxJdXXMu5RhpmPYKkLr_77BmHPg4W0xCGwIHxRIaGyKxbpI8ZkAMyltXHqKotdgfDD8wQQgx8fQn1q59aSAEAiNFrHMNVIwPgsz442R_9dOQ0GW_yzfCnGLW7MfiwkKyTvo_-fgfD2p1vOL8XPVcdzJGrX-boJa3vAoSJQxuRdMwKSvs24bcRHMwxq-URGZYOcvnJJE9pkNmPBNZ8StCB-v1XGK2bC3riS2IzOIR0IE3u7Fyw8wnpJVzC4f7jxkDnxb2TZXvL_6PmKLMb71gSjXpPhjXfPIpAFAhghr_t54D95V3_xgLHEK_OngQIhsAAlsMKM-B-lAGn7YqmFdvCm1V9fBjLxmW3PgkZnYeoxzqWa8AlP2lcvvYH4HfitH5Set1V0GuKT6kSqtUJV3XU17lTICByfBLI70sJFv2qE3AYg4KqB-IOkibSQ_YEU8dFzRi-oZdV5FFMIGXMPxjX-RSkp4s51GehSlWKuY-aE4OzzuXWemFR06Do2cZyRPMWrlt_MBtxc_jWOjH7n34UUdmDyiat6dNR4YAhdkN1DwyfgAuIa3jCIjGeJH0CnBVrGl5Jr2zy5ZRDVN9eOJF3sG25VfEZcfg3p9LKmE40WlzksrKh-M9emvKpFH30-s97nqNAklYYItheeHyxK47NWaKGWSkZYdGIdiMDHc-jGjpHl4WgkzzTWJ-mlJ14T1Jo0HOloG9VpfqCWB2r_Wijf-_64IwKgyvth8TBBH2Od4LUeeJ_bzDBWPCmHPEpBh7TMrw8EeDB93b_B1QttgtjNz9EivlZaDxwGKRfnnactWyi7JyTfNAH2Ig2SX5IfQs-wUU_iC2MK8XxHyNsG8pxvB0Lca6BY0I5s_Sol3-92lw3lxUY4T7EqU5wfTzkNTXKD5Nyzjp7xjFDhMcXdbFIGNOLVj004pUXsM78NXQPLRd1NlULzJBYy7D2Av2eRIlWIzm89YnH5AVzVIX0kT75vmYliGsz-PwVzsGryFG0NXD_VPZjpRSCwkhFvtOkXnnkP7HHFtO3OLiTKJ0piX7tO21uK8st2SNaAfg4PQg7wq1Xp2yaWtBshFLdD9kJBasJVoLQu-FN77JjNzNn-ONWRJtzYJr9IzIMTTL-DsQoXBzX6BbWacW9fDDL-V1-48beiKYz-x8KAHp8Ogd_5wXCZpeZLAVV7pX53nz4v6Cs7BKm4KjJW1DVf0ddu3ZkrZ6ONJyV6knUhXPS_1-JstFjRRteI97hUuiyVYMQeKPXiEWp5DgF2veeB7QIVU7anQ2Xx9SykYx26RcrI_JW3ZY6Z-_goTBEriuOGGCCeR2r5MoP0aJRlZrVrZ7T3PYR8hNqVhnHYvE5z91wdKDH-LTsRyQ-6e8HrJ84sYeY-HtIhM5uDrOrKFFAxMxJCXOvHdAucBsg-6Mumy8BJ89ZbCy5XmVhvHE7VMnuUrc--f_3aFjhKakpEZs_0ma9kw6zph2nY9gj2gvTdRdbWi0O2erTSCrQ7T8_wZN_eLpMv0MIBx6fLb_OgMmHhtNuGlEAjMDLbbiw5de4ZZ07PG9i89k9ZdRPt7N03h1cYIejI3YRnoE55wblgpetbDGUA1vJe2aweelK7G7bxboOiArD9OuWGcRhovRcZ6OUhrs5i6DrIGg5vVPjgca7ZlzRqWsfADh07Q87kk3SfCPkLytxfoE7ZqK2DXloRTdl8v8zH16nqEUDh3huLDHwnXB2vyFQWCCsF33T57ZaTLlK0_uKX91Ng9XxvXTfkrZYWu3XZIM8U3slXT8SeCyWfTY06_LV30rnRjNJrdK2EdIWdsbbwEtqYUJnZ0YWyNuULsPS4lD9-YPtzSUEYBrL_pUaJ2huKOgyG8V-hSSd1TFl7nS2HSNGJapSv5y98gTlSZ_HLP2WR8WPztpMnxLpht0aN5jh",
  "id": "rs_06dbcf307b9d3ff0016ab45b5203cc87d09713ca22d21dd4b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.325,\"right_y\":0.185,\"right_z\":0.025},\"note\":\"The brown plush is now over the right basket alongside the beige toy. I will release it and approach the remaining light-blue marker on the table.\"}",
  "call_id": "call_yz0WDQU8bhQYZp2x6lngd2y2",
  "id": "fc_06dbcf307b9d3ff0016ab45b546b0487d0845c699aef5b2b8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yz0WDQU8bhQYZp2x6lngd2y2",
  "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]: [-0.6727, 2.0029, 1.4292, 0.3157, -0.0483, 0.0002, 0.9974, 0.7662, 1.6756, 0.4896, 0.4095, 0.572, 0.4194, 0.9963]\nstate[eef_state]: left_x=0.4827 left_y=-0.3691 left_z=0.2065 left_yaw=-0.646 left_pitch=0.3038 left_roll=0.0309 left_gripper=0.9974 right_x=0.3169 right_y=0.1772 right_z=0.0169 right_yaw=0.0621 right_pitch=-0.0603 right_roll=-0.0447 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -12.5744, 7.4872, 2.0244, -0.0073, 0.0317, -0.0317, 0.2256, -6.7624, 5.8872, 0.6618, -0.1587, -0.4469, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f0af05cb500ce3681630e8fae914976d808a05515c30fec87c926ddbc02aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfa7153947f6d1527d7cdd09468227232d5bf652a8b27f4eae1653a1052778d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83031f3ac420077feb9c15c18600d4c859af34c3307d0566be88e8a219de14d5",
      "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 57 changed as sent

message 65 changed as sent

message 69 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]: [-0.4603, 1.6531, 0.4309, 0.4534, -0.4557, -0.3321, 0.2057, 0.5396, 2.1597, 1.4223, 0.4274, -0.3531, -0.1234, 0.1547]\nstate[eef_state]: left_x=0.3463 left_y=-0.0809 left_z=0.0065 left_yaw=0.0852 left_pitch=-0.1144 left_roll=0.0666 left_gripper=0.2057 right_x=0.4928 right_y=0.3705 right_z=0.1395 right_yaw=0.9085 right_pitch=0.2802 right_roll=0.0009 right_gripper=0.1547\nstate[joint_eff]: [-0.212, -6.8855, 5.135, 1.3993, -0.2466, 0.0024, 1.0085, -0.759, -12.4786, 9.4291, 1.9463, -0.1197, -0.1441, 1.0281]\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]: [-0.6739, 1.99, 1.4342, 0.3332, -0.0425, 0.009, 0.2058, 0.3634, 0.9237, 0.8051, -0.4763, 0.271, 0.1635, 0.9962]\nstate[eef_state]: left_x=0.482 left_y=-0.3707 left_z=0.2206 left_yaw=-0.6569 left_pitch=0.339 left_roll=0.0376 left_gripper=0.2058 right_x=0.3056 right_y=0.0695 right_z=0.2187 right_yaw=0.0408 right_pitch=0.0 right_roll=-0.0014 right_gripper=0.9962\nstate[joint_eff]: [-0.8957, -11.6718, 10.0991, 2.464, 0.442, 0.3639, 0.7057, -0.3897, -2.6735, 10.2222, 1.7118, 0.2271, 0.1783, 0.1245]",
      "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]: [-0.6727, 2.0029, 1.4292, 0.3157, -0.0483, 0.0002, 0.9974, 0.7662, 1.6756, 0.4896, 0.4095, 0.572, 0.4194, 0.9963]\nstate[eef_state]: left_x=0.4827 left_y=-0.3691 left_z=0.2065 left_yaw=-0.646 left_pitch=0.3038 left_roll=0.0309 left_gripper=0.9974 right_x=0.3169 right_y=0.1772 right_z=0.0169 right_yaw=0.0621 right_pitch=-0.0603 right_roll=-0.0447 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -12.5744, 7.4872, 2.0244, -0.0073, 0.0317, -0.0317, 0.2256, -6.7624, 5.8872, 0.6618, -0.1587, -0.4469, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f0af05cb500ce3681630e8fae914976d808a05515c30fec87c926ddbc02aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfa7153947f6d1527d7cdd09468227232d5bf652a8b27f4eae1653a1052778d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83031f3ac420077feb9c15c18600d4c859af34c3307d0566be88e8a219de14d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtbg2_xIUeA7uvs6jq5hMtMzZQ1OPgOgdgr4bDSuMlbkJxmu_KnuJBsZs6BP7P1NjRXB76b3oSFymgEqsdQd9ZwQAz_kjyyfY1snZxLKaBz3jOigwcpNoi4omsTAez9SpCZ9Bh7BL9qaHBivrvu_6J0FQBRhOIHmUw7AQ8_BgaPyxiqTHb48otPTsTHohCy9o1evevJ0jPoAOO-nW0NUiPe8h7dGE4ib9-ty5niPG0rAgEMqGC7d1s9TFgJ_tVmRq4y2vcaZB7Dir0Msmt8GXP_kmlKuDJgie-QlCf4CZwg1tOWR6h6ivak6Q4o3w9spPSDkI2yzwtqxhkhL1PuRzAZ7vOEI69LuRrzfqDTNxJjptWsuyFyKniR5guemTJy2AGEYCl2l6yQ7jWfyCfAYBjHO-xSBOHXhjUAWzrGEJxM3xyPzoZOOO2BtU67hZBh7xbPn4ufXwcpZpOIOylV7WQZnM6pF9CgLJTrALo_E1xEybfPQ4nr4LBZ1tEw3pK-GTU5PxQUl7-xOQj4q5f9BSVs-l8ISOSp0_tTRf3q28yUg4CF-p0KuorRUrrutSvORR5lnAPfogu-816wuPS_nKGsr52MP46spV94GhXFgP9SskZzEAu-uFoIfCMzp8inHQcQ0EQpPkP_RX_8mnhbfVnE3K0wDG1JKQUs4vWABRYQ4ISTnm_gBWUwZnp2JqngMYAGlweMnuMrQGjjzZLd6cLk3hNQHsvSUPSg6DvTJod2_eaJFbgQTV0_-9KrBVNa1IkQlaOOhDRD0NiWjt6jzBaOdsoizq9et7HOyj6TjYchVimG-j0WlBBUrLok-F1ePZmC5P7uKDcYF6lagxpntF6GOkumzDfwGyYsq-FWeJ4s5MQTZrIhA8Ovls0hnBNIOnM9iIJgkM_ELwqQWaEcpcLnWWPTVHkgCZ8KC2Z5085zuT977VE-JmxTNvB0-jW0gNLGAemNvBsa2_uc1QAXJ5zDCjKq1Zpd3nPQLaQ31RVx6VFsnGD7Upyak7IVjuecYAb58m29wGWcvsX8X7EIgPBJL0gxhhdFBzPoAiyW76PdledyLQFw84jD6yGo6WLxueasFZYQJ2P5vQJG6KdPtFq9FEieDg0kreduPe2QXDJAtpoq_rrb5cbV6UrNIGmvqQNKUkyWmXB-5URUEgN63g8MVpJiLvlIYAOs76pcqBzGx3IXPlEyH9PkY7uBi_zMN9KIJ7-PQBx6WgYc303SSL5AIX3Rq6MZL4aTCxJfeCKc-69x8b47FkjzzpPD3w9lSMqM08282aS3Y51B6fAPjy1BD2rgtamW1Wa2pQI-_VAgbcf7WLroCkRONfIRop7B3sS8EqTFqQ8gfN7CQNkqG_DhtigA66b2e2KGtujJwevn4syeCQdYKnGdXoB9xtfOrA5Km3ovhp7cjpzP2bvZ0CZPQVvgMJaeQBrcOPd40DcjU328i8DcqglVlux2LZU5KcEOTmmxwTJUEkz6Kq-jNvXbA4v6Rp52xOwKiHSp1AS45nVJlfLcpiEmSGUNxgT7AtqMKVaLGiK-8SAyA_f-KLHuNUiTQjTSTm4EVH0f2OWfzZ3_k0HSHW-wx8yupivFlMCogKxEYpNYVEjaQ3kLEVJoEfV4bD1VqfEEvEfd_s2ovllNGBr41EYP6t0qVXF7D6JsFYM0m_dweyTcuPa4xaUbGnM6uSPIaexn5WaUt0elrLWkYRwb9I2SCJ8ORXfh13F0Ie2Na_WpxJnDjYXymkfMw3-5iTzBY-MlW-9WBQNJXr2GbGWEfbx_4i24p7zULgsarYgm8WhHa5NmL5MZBO6-Quo9q1ZibeBUbNFgZCdPInkU80uym0UtPo0LjxrAx2vCJiPFQuH02dCj_sEA-lLohU2zZOzJmdXhw5WWoMdnzG2hMFKbJvWBHYf-pFcr2AnbzGlpMu3eJ12hkmcz8sUKp4LUKIPxFN9PkMhZxjTEpYWTGwQ_wS1C7uOSIdGJ5yMx6mQXULiSaJIvKoTJmmpR8clvjfokenN_ffk-tJ1HIiqZmwQKqQmideNd1hm0WGch_aJaXqkA6N8WsxDCbbQDQQ==",
  "id": "rs_06dbcf307b9d3ff0016ab45b57f95087d09dbee9386ca5c11c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.006,\"right_gripper\":0,\"left_x\":0.39,\"left_y\":0.005,\"left_z\":0.14,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"Both plush toys are visible in the right basket. The light-blue marker is centered between the right jaws; I will grasp it while moving the left gripper above the remaining gray plush.\"}",
  "call_id": "call_qbjgwzCaSB8GDrASXG7iRPCM",
  "id": "fc_06dbcf307b9d3ff0016ab45b5ae78487d080cb6d6655b6639a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qbjgwzCaSB8GDrASXG7iRPCM",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.0231, 1.3144, 0.6724, 0.0834, -0.0498, -0.0143, 0.998, 0.7704, 1.7618, 0.482, 0.5709, 0.5758, 0.4194, 0.1603]\nstate[eef_state]: left_x=0.3946 left_y=0.0033 left_z=0.1382 left_yaw=0.0114 left_pitch=0.0036 left_roll=0.0273 left_gripper=0.998 right_x=0.3255 right_y=0.1868 right_z=0.0118 right_yaw=0.0649 right_pitch=-0.0072 right_roll=-0.0029 right_gripper=0.1603\nstate[joint_eff]: [0.1162, -6.735, 6.5162, 1.6728, 0.0855, 0.1343, 0.0513, -0.5265, -4.465, 2.8786, 1.2869, 0.1099, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc10d970f94a3f9e2c005a140c4f522188e68afd8eb0559706891e185928119e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35eb409a088d04c390b904b19cfd09f3ca1c4f59b7ed9940b9bd839e8487ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1ffad45d0df34dddf7a1e4702b54047ed824a29778199aaa3dcb2d0fba88d3",
      "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 61 changed as sent

message 69 changed as sent

message 73 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]: [-0.4603, 1.3605, 0.5812, -0.0029, -0.4545, -0.3367, 0.2057, 0.5308, 2.1597, 1.42, 0.4084, -0.3664, -0.1326, 0.9949]\nstate[eef_state]: left_x=0.344 left_y=-0.08 left_z=0.0796 left_yaw=0.0876 left_pitch=-0.126 left_roll=0.0693 left_gripper=0.2057 right_x=0.4926 right_y=0.3667 right_z=0.1345 right_yaw=0.9143 right_pitch=0.2619 right_roll=0.004 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -6.2974, 8.6632, 1.4432, -0.232, -0.0073, 0.823, 0.5402, -12.4103, 6.735, 2.0391, 0.0366, 0.1197, -0.0073]\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]: [-0.6727, 2.0029, 1.4292, 0.3157, -0.0483, 0.0002, 0.9974, 0.7662, 1.6756, 0.4896, 0.4095, 0.572, 0.4194, 0.9963]\nstate[eef_state]: left_x=0.4827 left_y=-0.3691 left_z=0.2065 left_yaw=-0.646 left_pitch=0.3038 left_roll=0.0309 left_gripper=0.9974 right_x=0.3169 right_y=0.1772 right_z=0.0169 right_yaw=0.0621 right_pitch=-0.0603 right_roll=-0.0447 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -12.5744, 7.4872, 2.0244, -0.0073, 0.0317, -0.0317, 0.2256, -6.7624, 5.8872, 0.6618, -0.1587, -0.4469, 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]: [-0.0231, 1.3144, 0.6724, 0.0834, -0.0498, -0.0143, 0.998, 0.7704, 1.7618, 0.482, 0.5709, 0.5758, 0.4194, 0.1603]\nstate[eef_state]: left_x=0.3946 left_y=0.0033 left_z=0.1382 left_yaw=0.0114 left_pitch=0.0036 left_roll=0.0273 left_gripper=0.998 right_x=0.3255 right_y=0.1868 right_z=0.0118 right_yaw=0.0649 right_pitch=-0.0072 right_roll=-0.0029 right_gripper=0.1603\nstate[joint_eff]: [0.1162, -6.735, 6.5162, 1.6728, 0.0855, 0.1343, 0.0513, -0.5265, -4.465, 2.8786, 1.2869, 0.1099, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc10d970f94a3f9e2c005a140c4f522188e68afd8eb0559706891e185928119e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35eb409a088d04c390b904b19cfd09f3ca1c4f59b7ed9940b9bd839e8487ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1ffad45d0df34dddf7a1e4702b54047ed824a29778199aaa3dcb2d0fba88d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtx26WWW3sgtm13snlqlDiBf-rDldo9I6cVB6ROXRNbmoLUJnaUbUPX3LinsBPfNhZxf8P_l0vstCafuAbFOrHGdMhnlxH9c1dQoieq_UUux0kFXjtr9_Jl-EP3YLZa8AKsG6Z9qKbQ633n0hLcICAMOqmqQA3NORN1iWs6TJBjj4ZdcPaGnoWMXOUqYTdsF4RfWtGe2lGoLrIy0JjNaehzXeeMRzMh54MkkS58zLZoKt3gzFNr5z9rxqAPRclMkGWvLiI1RECSUd2BmpO6xRkXHpeTQmdE3oBAoUMs2EffXLrLcAyI4_8ByBJl01GfGRGwiFbF6tD_MGbuO-Lgs8QrMAv-UGcKKHjpqicv4i2by5PsqUKttbIbLGMKNkuOWERO_cAdOf2KKNQPvQS4uq_q_Em6Q32txX5TX2_pqQ3J2pwoQsUYsvHQ0kfhequQWaTPI-y49c_UhVB1duvkBsFXwh65nOET8M3swL1VyCSZEEOYtbtn6jChJ4duL0vqzRGOLGQHwr7rv0bgLng-C94eRzYEDBfQb6IKDgTPsnxAdBj1htJAXaYhyK5xIzN2BxM_Cqxb7O6GgwCP2BYvToTcwfGPqlLSvtcwBOgeLRfLskigYMDJ7jnV_E4JHUNq_nnkB0brj-DsbW5oBgRBDWyhqxXVGYsuWXkL-JAIXP1eCwUYWDZQAFdLwn2VVLprdbSyguob9kDUheNMcEcmQrsF_O9xaGh-D9jHAr2qpEyG7jJXXrZ8HTx7aNZRIVcOd0sbbXXj20uodRKGXXtV_veYUxJagOCJUax_E8Dg-GkjiPJ-FvJu491Ap1vfgorLNO7Ks-LYA72_EE09bXBA5lvU33GTeWRePX08LAqTNKKca40PwoMgYmRtEWgU6KIcsQuMk8hMOJE5IrEfU7jX9935wkT4ZrVLCgsWjfYUqWjbkrQ2qwTfIIuQD4-FpmsWHVQZxl6D7KHFgY9IgzTmmdDZa_XhXoVoFesj-9SpE6-bIhKyLKgELrIfrF8kLgL1fiveQ5wnOH4dedq-h45ZwtEt4evHIjqYRXyldDUaKDlUkvTAiALmuRnfQAMsvXOyD2n9Iy4AuV5YOzt4zoE9XufUo7hfE18_de5VTLN0g_6GvXbB4ai-_tZTaucz8fhVw4lLd-K0NrJ4ZkmPQI-ZzvnlASE9raOehlSdeLQkzQNJ48FNzHDghUhHakKw0kW_H30DGFMsGBLkwM7hBAOgKAqVc7lXzuxTB0046ik2qXoqUC1WcNDweUExN39SN_Z4Jq_CkhZ2EY2Sz7-iokn5xMnwEOSyTK0w47ya_-D0SOWQaAClwCGtT7Ms9hJxWvvBzxjbRq9S4p18s_b09KLcREJ5ZCE-G3owqw1U_XmSVsqsLMIA75ek2Z8EoLdCl343nvIxhE5qn1-gQ12vddryR1reDlJKEMu1_JGW50dC4lOO__vnDh6BOqhsQCfLAim5dAcMa_cpAU0bhLDXn57v3oRZlPEWAQkqj1NuUtBvv8aWni6D9LoTtjRtbVyAo8SfjzBbbbH76KHGbiHfKTa_86o0tIEbR7RUWVfgJwZXqQ6HmgzmCxyNFB0Kt-WVBCYi97E3Ik-c_u2zB4jeENPDNUsOMSjA4ne0RbPjGIR-QLRnYfungxwYLHu9rIQpRo07uXoaqwfMxgFbF2KYrj9vyDFzlzbJit6kPrmi1f0TxcolTuiXPBiOzimTM3YooBCYvuJxXlJFGo3ocmdNox0kGBuXNzAdV9wXfGJoI9h2XE2whJlBVERCJkeq1sF1jmIzzn9RfqVf76JbzyQK0jGSWDQEpZquLjmLmISXl5zT_IuIGZfffS2frCfccTE-gL55HFwUB2T6Jurw3nbz_8NRg24bv1F-yS9ojCO40bdEt3rJWeA-3oC7rQgFtVEJOx6PwiQ8JZMZ_6H2iVECPRf_K-5FvrEJ4JEPkSGYVM3Alysv6NiGD6B_R2WPUn9h4IUaeijgZ0QfnfHyCKM6MkYoUwPnu9SgreQgPHHYPtWWVKF-7OIocF8smtwPzivrFtVKPrSBtIzQ77-wajXL1qHNKBS0CgxtT7aBE8r3tOZYkJy_msGl6jFuU_YL9SD_8OkJpbqXZNgrGvm6W1Yk-lM-MY5Wj1vsg5Zpi_GabFvmcLVOCjUIPxzOL2z61Umo10haYqoXH6v3_xn9qImjgAXiofsbsc_VkjmBtgzkw-yZDdNcA4suPMQn6qHbfN7-IHAwYg7W9fvQNy-aaO38lyUqTIVHBiw0mtBEq3loW2vz7fg4EASmVnUFj7ShbnvUk2sVfmI-K4hdc0LkopsT33NGbVfoguc8I_PKLd0FoOJYquJUXjzncBuJTcQfAQKIuKtNOMZ_ZHsAxM4wQQCd4LY3JNgS7-qKUsBJWmTHVjRVC8HTWLlxqKlJx7XuOoYTJsE5U-jtZ53AZPNqjB0t342LVHfSmm9quZTvchFOo7doc9LixYzX-wag3zTSuKR4-9ZgvMt8Xqd6pAPMOnkLdkP-8ImQt3btt_EajnuSUiLqmvlwvdZceX9HmvoHcM6-Q6bgUWqwCoL96CY2guvabVAYRZOpwVD7uDuqgNcs-dHOhvDLbA1NyRZ2xOnupH4Mt6iaQtzLtgNyVLYvH3pbMCbm6jJaKaCDcrgCdrgNV9IQWLEzqtDfgbI2btPiM3kr2HTzvowyaSZw9LKm7jTq9Xau13019r40bqLSEbSqjZfNhm04992qPGIlG-CwYWrFCbW1gyMwe9N3MvHjk5ugz0O_9ca2RI4n_GaUrxms9EZJTGrQiIOrILHaWxSD84dcbfS64UPMpgv747HbARjgvXKCA7UmRUzpe4ZtBfQOb36GQeMyTamjflk0RP_GsQLG8Itx_gigKzuhmSLRnrhhjJm76Mzjzogq9sG-DTEfVPHXY0sJ1CyFAOX1BZ6mD37iNl7V7fYYe0nXJ6S2ApFfqRNIk7KvVRV4TcxDs2caFk6utUSdD0PcvQKQpL20A0GbGpjywu__GdINvo_uqfHvQekmgRYlSvYlTb3zVO931Hrs8h3dZSP34mmBFfQt-yEBg3v2QfJoQuyVJ5PRYo7wy2V36o1JNK0Ye-imX43VzwATuhJPoPFEby4QPD7DagkU9mLf0YELQV10Vstp4mRJCuRb-EblWRN3WfZGWN-nDC_69SMwnOMPI9zh6GvBtN8B2p-PYvJORSB2H1IbYIIpXEYONJyCGgib2wxZsQgnf5cF41ezOhumHlBI6Oku_2uRBIMB9BdLP72WFe0e3RO7Uo3w3-a-UHA-IJsUOeFUHlWw6Qof-HLtthoZ0MLyQ8g3btrarSvDNjDBlTRTW53HHU0zZd0RZ_-y3aRmI9SxsUKi7DJv1QsWbBxP9jZNRBP_BRRZZy1K_WR_vhK5dechwRVwweblrMNc5uv_ykbu6KrLgC0w8lg4dSkHzQyj8_mcx_LJVmjHj7PVSyWLmHibrDuHF3qG6jMN1Vb4Q38VuTU04KtCToJmFNr2JIbdkGW8bYNeBtzItKKGLMby6QFc_vZXocS3Rfm3Kr0g_qOdBzi38NFsbd9KebHyHymKd7l6DL6qSJsqegpgMU7qfdWtNdNDgnhDiQ9edIJEIBMYpxe1Xu2L6ebWg_OKxDGObnqEQL4Q91IGpYnDBzRbLDvXN2debQut3fDN806657kRPJOURlMeozC2WZX-6mz9VKbO5PQfNfVCE3r2SsSGgou25zuoaGnUdSPvexTfGkIXmGHhm9O-f3ygiJ_nIihZY-PK8My2_AUhVoXaEpEtqxyBjTw-deVAUjYi80snZBm1R2-pfNFPOHOZ0Y4HNiA1asmsbx3b_oCzjUPzuIFazbldCtBWuEIUagsZyP2COcVfj6n6o-Fx_We2FCsSGe0Gim4ZdlzJ1SIxvfqyXn1qhRY0pvSW_fPx_uGF0DKY-DQxYIgJjdvpFeEK9X2v8BWDqFombnBkJZNv-WBwD7Grq9x8tjg4zVr33jPw68WIN39meadI-bHg7PJVhLjPU5sCQgP2RxNo1lYZAlM-sBLGFn-0dG_3znxJ3taRt4Mxqn0rrkH6kdix4NY13_yz0ra93MNfoBI31-pHNzaXnQMCjRanaGKlkWFOgHKXmDX7KMBqY0wIOfrKGk8wT_5zRx0DGxssNOPf7iLFXhfqxbHx1sCnoThZCFI5SjkjxiRc44fur5i2VAoMBHQ=",
  "id": "rs_06dbcf307b9d3ff0016ab45b608d3c87d0844448057b05a960",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtxrFLa7qUOkp1wHasR9iD1HScgvMHnyEP6l2hHXnXMg-TJvtUWpfQbB0rHXIPIvX-LL77JCT_Te7rCguDWhPiy0KUuli7MRsSyH3ub4tUaierD_jDw2T0XMvbrZOrInHJCeodfgH45wpyB8YA7xMZeCbn-z61sSwyEfUt4Vb7QQ0GezucGlUAdlXw8iq_DDa0A9zLsjCujY8prS0CLCM3IR7lQoXZh3YldcgZM3r7S3xF-2SYc3_cLcxQEuQJ7hAjeXPIxKuDIqCnnl1mw2z2R8h4oaVka795ZEZOGG1k_QmBOFjUDZQpSMR2pGWHjRUw8IFK_3-DlCPtMcviMrSldAAfWUlFazyx1KRV05Qjke1lQovzCHez8vFdWAqNWtpSD87ObrDnBmRe0umcoCvXqhROwuY2-GFwjNleIX33dnchTBzljPtxA5_YROfJL-OpL224qDHykvLPoA0212lomKW2x2lqB-kpgDZvPGOgBRLnKDObUL04md5tavmsfD06zGHMvQJuZR6-z80TlJ4qMd6iWXohRQV_b9fsSuwXjGCe6wJh_N0LJVNMQV9qVwCxb4vXouf8MtJ-DjoSwGwjnIZCCbBMoNGceCBW4yHF8cRbosA1oChwaU91QCQsOD5-R-zDCmtWjz6NEzCSDdyWa2BF8dnG-cck-y3f9NkcEMSE53ccbVaXxvXpRWtRy8Ix2azbzXl7X9eSzyfW6KD6IW-nn6Yo70m8ffpQCQ2wCAoMjc-CcyltSY3-DeMJXdP3Mf_4f5HDsdcccbi-dat2M6WVaIlpMxGF2nRRg8N-muM2uGGvIpTCuk6diev36AzL1GXdu52z1cKSExF8VmfQBsOBUY7ok2aKwz8LicvbVvjnaNnZ0GVxp7Q8y34JWEPcedVJRz2RMd8zorPQOjzKDcklKU8mTLKvdvq-gayHAWbx2-gVRjrvyRW3U9S3eKMMTjYupxTCtZQZQT_eeO8QuwVI6CMggQgAPtkw3L4KXE-DN8w5MmUCVWEDz4QOHcVKefqYMt88pRginF5AxD5in6I-1RSnGHYwpSzX-d_K0uuPNpZjbe8l2KHZCBGTQWj5C29Yj4fzOiGByPqN5NB-E5E2RGYsJlD6sN-nPQpuX_hsv9MxTKyFfd2mDQxGIF2h6WMmQcy9ve9ZLVBDeb1Tp25rgKjQozfsA9fyHjw301G2U5iRtmi8-CtNmCOEIOC-FAV24yccFak-KJySIMXUL4z-FWKG6s2u56tIldZ2w3rEAA5h9J6qrdEP_sYZU8C_TI3U3uiRoo75WM3t_NI7_gXQcnUZOB3QTbRXrn2yyViZxV_oHQgdSLgbovtcJgoemqG6VMH72sDXX7C1pgNiwRklhm04wcyQj-OP09vT2B424PKL9Ng5DaRxtdFxgkidrFwwgnQBH2OQiYAhzge-N5C8ZivZiRXf8HWmKLN94BEJr-95U_WN0j49-TAKp4IMf5xf3Q1YlRfkFbLyCVz3sSLFqlAw7NMfmpvPo5sNdoHOUnAUt_WegYP8tPWdnGggEkj3zrnNPyqMQiJzVNsb5lPR_Q1JFm0TC3m8r-b144r-pAI8NzMim1GMXs1Zy3Txn81mmgyABKjRVlICm3yxsRtqbpo97vwn0sUXC_Kt9owexo12jrwYh_CSQM7sm-DJYBnJ6a8n7ati-3k_jOjltYLX7sIiwwKuLFgzs59ViSpVz-vUaHJbiTvd8hSW4XhmcZUuxnZR_jOsPOdZ_Ee9Bw2_mw29WkltX77tOnDL-qcmbjM347qzJDjXLmpW7e5x6Mjplg6eaD9F3x2Vvl4_CrPDRAzpKEI6tiA9dW87LVZVyaQy4v-1tIor7GPZsdMkWLvFvGhpBRvApPW05YS4Fr5kfX8kQw82-mTzlMHONk7hEEuflKxWcnrBSVQQgHavnWkdesNYUR7wvp4LxtIqmC-hKWRB1DNauCzdruh_7K4n8CueIfnR8SsbYl2XlsQpvPt5hqq88v9TaCb15B4G4jT9AgagYnWzuLa_U9W5vQoy7fX2v7NqhrLfmk1lbw1T9Tff1P-1fVf1VBM1gkcd1ditTSOaGc-rODkMf8JlM1LBsGPA1J1xTSDZKDiPmnkWHErv_ROsETAbKsCfZDydiIfUesRbsbe651qk4kzeSHBYu03kwTezD1Cc_OLdipZbyBfE53NgACc9HjJznwOfB5Kv3nGquCrkiC693Yu0IJ-ZunuuFbxxZM7_p2MR7kQVBVnn56S2j7lLsUbT7D-hJKBXJrl76G5QNiQGnWFLXzhLjEoO4M6u8oe57VF4PckxieWqpnZzfe8fFKKVVDhFlcdx3-MZ00hVwvXkM8B7_p0W_WjL1qT08dxE50Wx09dKffowpvv9cHn0buhMn3ToKAYErUZZhlZVJ5j3TdSOdXn5eB3_I7xEcxHP7dLInB320SMz1bpQLnNu3_FC2_0tm8WylYxuDKJsKPZSoZx14ZLCPX2bZYxs3HgiN8dyvHOAgHU4xbbGt6R692QLrNlGn48HWHLnvBgnKG1lp6tdiqHXdtHc41cQqPCxgJvR3BL_O-TIwgwOlXUYDa-djzNcVHNNmpnS5fk96Du9UfVxGw_zxzNgg6w6DhGrpgb3tUZg-TeNrjPJas2NIc2U3-WvqCNsoqSHU7oKebHUWaH7bRjKEuITUiNxGgBh0bq59zEeOubh-T5aAA3HIalHZ8dBEuxUZWefddVE8os8PAJFzwdCAbfeF6BWojySmIRCgmeZV",
  "id": "rs_06dbcf307b9d3ff0016ab45b68ba2487d0ba950b9b0a93954d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.07,\"left_yaw\":1.57},\"note\":\"The blue marker is securely held, but the brown plush also landed outside its basket. The cross-table basket edges are too far away for reliable releases, so I will bring the empty left basket closer to the center before continuing.\"}",
  "call_id": "call_utwrCyevPyUwgoGXMvPl30g9",
  "id": "fc_06dbcf307b9d3ff0016ab45b6e9e2487d096caa368f734ff57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_utwrCyevPyUwgoGXMvPl30g9",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 2.5584, 2.1113, -1.5055, -0.9058, -2.0487, 0.9981, 0.7704, 1.3384, 0.804, -0.1989, 0.5652, 0.4191, 0.1636]\nstate[eef_state]: left_x=0.4423 left_y=-0.036 left_z=0.0397 left_yaw=1.4347 left_pitch=-0.0478 left_roll=0.0072 left_gripper=0.9981 right_x=0.3243 right_y=0.1879 right_z=0.1491 right_yaw=0.0729 right_pitch=-0.0304 right_roll=-0.0135 right_gripper=0.1636\nstate[joint_eff]: [-0.1436, -12.3692, 6.5436, -0.5983, -0.442, -0.4518, -0.0073, -0.0889, -7.1453, 9.4564, 1.5067, 0.2857, -0.0171, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64965601349972cbfec793ed485aea807a654e7e577f11ba0c642dd5940dc70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb585fad7eb2d0cf27a55880e101e151837f2a3c64961d547d761de0880638ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e271e7e4b8a5cc86f6da4aaa2eb597167c5a5a8623aff3fdb939ca2d1de3b53",
      "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 65 changed as sent

message 73 changed as sent

message 78 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]: [-0.6739, 1.99, 1.4342, 0.3332, -0.0425, 0.009, 0.2058, 0.3634, 0.9237, 0.8051, -0.4763, 0.271, 0.1635, 0.9962]\nstate[eef_state]: left_x=0.482 left_y=-0.3707 left_z=0.2206 left_yaw=-0.6569 left_pitch=0.339 left_roll=0.0376 left_gripper=0.2058 right_x=0.3056 right_y=0.0695 right_z=0.2187 right_yaw=0.0408 right_pitch=0.0 right_roll=-0.0014 right_gripper=0.9962\nstate[joint_eff]: [-0.8957, -11.6718, 10.0991, 2.464, 0.442, 0.3639, 0.7057, -0.3897, -2.6735, 10.2222, 1.7118, 0.2271, 0.1783, 0.1245]",
      "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]: [-0.0231, 1.3144, 0.6724, 0.0834, -0.0498, -0.0143, 0.998, 0.7704, 1.7618, 0.482, 0.5709, 0.5758, 0.4194, 0.1603]\nstate[eef_state]: left_x=0.3946 left_y=0.0033 left_z=0.1382 left_yaw=0.0114 left_pitch=0.0036 left_roll=0.0273 left_gripper=0.998 right_x=0.3255 right_y=0.1868 right_z=0.0118 right_yaw=0.0649 right_pitch=-0.0072 right_roll=-0.0029 right_gripper=0.1603\nstate[joint_eff]: [0.1162, -6.735, 6.5162, 1.6728, 0.0855, 0.1343, 0.0513, -0.5265, -4.465, 2.8786, 1.2869, 0.1099, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4084, 2.5584, 2.1113, -1.5055, -0.9058, -2.0487, 0.9981, 0.7704, 1.3384, 0.804, -0.1989, 0.5652, 0.4191, 0.1636]\nstate[eef_state]: left_x=0.4423 left_y=-0.036 left_z=0.0397 left_yaw=1.4347 left_pitch=-0.0478 left_roll=0.0072 left_gripper=0.9981 right_x=0.3243 right_y=0.1879 right_z=0.1491 right_yaw=0.0729 right_pitch=-0.0304 right_roll=-0.0135 right_gripper=0.1636\nstate[joint_eff]: [-0.1436, -12.3692, 6.5436, -0.5983, -0.442, -0.4518, -0.0073, -0.0889, -7.1453, 9.4564, 1.5067, 0.2857, -0.0171, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64965601349972cbfec793ed485aea807a654e7e577f11ba0c642dd5940dc70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb585fad7eb2d0cf27a55880e101e151837f2a3c64961d547d761de0880638ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e271e7e4b8a5cc86f6da4aaa2eb597167c5a5a8623aff3fdb939ca2d1de3b53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFt-W9T-GJk6n8W7F_DD_fl9mvoLfj_L-7iQTaNpwPMlJGRdTehIFTRH7Och8iBYW0noQ8SP1xbmcdeSdgStj3RGioBjUEBFaU1lmTW7O_qQzDD7-J04QuYLdXpOZQQPd-sT2JN8cjB11HNfLKx197sUX0PEiRFgzdisNrR-h0WxjmLpQphmrGndZGx5wDVNaXHhEngT8-uCZqvId82YSmdwfC9_iBKqg-IXKovHtjGRe3gV-y3tyWWjrj6fugV5DzLPe68yaRuOBHT08IVO_VHmkPgzbfugfbJjJoeRok3TN0U3HTtdcZKLzQlRMtDF7okIxLliR7NIfl-EuAx8xZsJm6HAmCDGkbptYT95fuxYdFHV1TTQViRTjYcLpv-6r65W1pEvr4cAbEp1OEE-l5Qsa73_eXwRdQmgBszLRD7GwBdNZHvksEVcGcZv2-m262nZV1JlbWug6cyEHkS9cbNDa9Y0bk5WsgEEuYWokV10SnFSJXbSNdQdBM9qzANoMH5I3tBNco5ILbIVYMEgIv5SXBvBBA_uqQL4XI9MAIzQMisHIaFA4DTcuv2ljPZnR3UNxq7Fv4cWAtLOFxz702ARAEIYtRrKcKp_8v1toYw2neAl1DZkLIlLxEfP7kmHfF51Ih-oZ13_0fG_Nc1s9VUm21EI65FmyKVCRCo1cCzQKKteAZDgQeT19aSFwPV0lE6Etou5moDZSAqUM3CTig5oaFJi3Nr7YbiXAULJoNuYmOpgzWBX5YU6RZAzBbh0vn-y_M7ho-DUOiR1qEMkZtRWWs56DrdSGS4kpxctwOieiH-bAsoCX-2WPgDropNUiwWPB9gttkHXZUydQjJe06n4HjsLPkax27A20mPduY8sd8mOK6DXw_Y2GkHN4jgbEanFJ9BF7xwySk5u4OUvjXq5RAryZRAjEQkMbQ_bONfCVxYhOEzzKFxvP-_Vubd5RrZzxpLUf8nYd8XhcI9sWwcBQaafhWAy2Ga_L_OQStjq0E1h8DvUXoSIwE95FSzdXe0KYDIcwCXQvNF4EDcfiA_FtbkW77bsp030cpwqIm2KCOlBuD5VDQjKUptgi1nsE_YTNj2e1ijXyCQVNpZbhTvuS5S1dnSuSAXjxbuxyEAm0MXGKxKCjF6BIkE0q1mqQbLlhvLvCTTWKt0tgWYKjRxQNLe-aVb7iW1gmOR0mu8yF0kEY7lPfjKGWcnpz18S_HiDvR2dEeM4kPDN-pKofdofNn0cl2ZzkNOcuu1EtleO4W6T9PYL5Y9lKULCEK7dkobJJfBPCy2tXo6Uyk8IuK2BRu-Gw4cLF_aEYySXYdN7UBAN6-E8upyTYYBd0Yh5r0oK2csYrea3wVlTy06f9toPF53HrWvxnjy3nKyhZuJlxfOg5j-f5HO-BKSwldVdII867eqQqkLlf7OtDW_NTSC6DA3fgb8gtlIE-nGzStslyffaGfzmgKq0G6RTP25qk_3p7-RZbNQA7pk7LTR7M1UrgSzKQP8iogm5LdMMSlRvpa6fxaopiRkRls1Gto1YEIibtu3RViFGLXnnOgNe4e5MzpTU4hLpBvRDm5m1X4U8eDbRGy3U_Ds7By2s77-dZPJiFN3O_CfdjBhQuBKgn6oZ8KnzerEa8FilUZy1kuEBzEkZIeErK88IU8qfj_68fdRzuhUHro0IbbfA2I5rfX-armyeDz9ROCgQ4HSaliVKmziMl15ptrK0tKMTe5I-teLEd5tNt9qOp8O-oXMDtYTsnBLEO4a-y3VkEyDGMj-594N4aX9gyCol1EcsOrkEvNRW1v3i4YYdKe0h3UgrXSVHhnunflTCelGP8xls6TZNKDlGPxN2117uvTXx0PfAqMnpAA8k12pa1Xpv2iBg5iE_VYqW_Mb-sL70iL2852Rw_1_-WDBNkdMVd3TANJbnr_dfHaCQ1hwPpuzkIb6KDi6-0VvQ4rhg8XVwwVYQEwFcEzdpcVmjdQxzaSm9zK1w-zBBc_NoqP62higCRVe5SyDzUJ2fgEsyuc70H7xytWNnFvRCFfDP319-i5wPv5sjnE0eR4ewLQBbdRkvmTYQZ4o486obXGUJDdejoHfKjYO_K1o9bqi5TwHAMJ-dXpdGdNEmcWrRC2-0Bs54-haUmbXmyByvCE6VoQKw68NaCpoxcwQYBoTgwKNo24NPAFmy369d1zaXBErLWr889EpFSuQSt5Omw4uKxLVzOMxE_I3RHXO1Mxjf7HLqjuW2A5EE7JjrSqG7gwa-9sdVIcWhNCpii-uiTpcx76fmEZaKPsf2c8rrGI5ca21jSGsBH8O0BqxkedCV0-SsDvqZsGNCfLaWQtkAo8FDgrJasAQ2te8l1e6pYpb14aEOxPMgI7uZqN0ljzasNkhHZ1vwzNYpYVbLVNI6TK8TdJkKkeZfbfeewhknpmJkBLo6EE0uV_Jx8r0eYMn6htjqeQD0xYS-8rLIuw6D1NIQYRSbMeo4SQoP0uOjaSaThJeMNSy_tMXdBqlYCkNmBqeqweChQOF6JuruQW9MgHL3KjZM1a_yj09X_juZwmYn4diMc0eT20fF-0Y28McB8ok-qniBFXWVaVuevoJm-_yP3tG92XxO7pjY-p5fn6Xyit0iQQ8y_0BmW7vyzwIx2IlO6Z8dFsBX7ZnTc2UvcdFpY7pWTm0sDrpeFFJHf55RKEFeElYeUyRbE3G7Q0triaUd9eW_p7kGg4LigEGM3NgFim2p5HEabGSDP4YUzwWVXe2x5O1QLdi98lTF2tWKbqhUg00-SSLdSKQwVY0lHdISunZUjD3pd-cGJkMbUAeHT9FARIxrn6aas9oW4CQJnyqMKrc4lY7mE-AVRvzEJIn2nw8hjwwswJKdC9H48vRrXnQH4x1mFc_OO7ksnMhBfGXd0TDxEX9BxksYIuwigQn3PDWudET04ZGQVQuLBlPEK-dJJBoGtS6yz8skxTf3NbSpGhJwoMIMG35sLeizky2jzEYZeu9A3ER6a2TqSsqzY4576Cfg2A_wEADIsD-y0TQoHcoQ6NiWADy8wqxxZPf0erYg5H7nN2pz68eXT8ze9JkftGIfwtRyPsGveF-eokRD_oqvEEzC0OtD9PYrtGV4Yzp1247RupWLvne7_CozZpdNiTg0ydlwVG7AflrthkPyQd39jhMl9FqJkwyf4LqjG9UZABAs2NUQebnhzoZ_NSjcfARGIWyPmAW88HqYRdnKR_b6Hd1zwBtuM-SkGGBSVE1mdFaEsp-DLfSXMW6LfASXq4_e68zUxDGTHm2IJBHx8l6OwKRPfYlCKfUn16rdqLXYYZT_kmNhTw8y141E1atNdGFSM4ZBWOmZ8qltNQcqC5Zjg7lPBltJ2PvoUlTUdZcWfkdsDaBS3foSEzuARMejefdWbivlopmgS9s9Vc7FjF-9b_NQ0G_oC8FR1Y6uJfPiXgAxoG1n0MdW_MHQkty1pegDkZWJjniBwITf728wAi24BmxfjAP5JegsGn1aHvSlDzmfTAHaWsJqYMWZBGBWeHZI_G9IqGSdW5tMcFy9H0wuym2CEmhoBk0pFZ7-e46fsNrHzO6aUoNfRyJP-vTZ3lERwucsfsPSgMYjwh3Thq8mY9ehyX86VrUaDmVcE2Lwqm5EhKIm88hb_1VwERhrvUZPVJzHvVfkffF19AEi7gaOABrMoApQ7sfRkl9G2HVvy5YO6qzpJnwlo8l5REFXO_zd6ptGKfqS1ObkmdKCd_w1iqDzgH0yV0tHKW9gWGGjx373zMX-0e1AXtPa_P72xiVbrucRQcwIm4XODnLMxbgY5xH2neO791LCrzxXhs1sZLV-wHANDXFNyKa4aVM2-SYIIx5gJPZBBHDPyzTqO7_FB1X-WPK0QrmnRR6bHgxUfaelnPhQmHpNSV7gWbgp9bqDgO0NbUDxV8Hbv-vxzpfupDtJeIEPEA-i055dJzUk6P569zBiBf1tfkSnv_QbHehhuO5IJq_i13yI97y1nbmg-KW6_UfQMUfiGVhsBAxwKSBGfCKCaXqrMEjLUeh0XTKxnzy_FpZEfje06tzBxXKiQ5inkF76CFa2qt23HoY3JywbuFtcC9AyiJECCTTJalv9Ky8hPlPWr_Q5Ki1DPJD0gc4SHwaqZopSjO7efxqiDcgsQGgKaEc=",
  "id": "rs_06dbcf307b9d3ff0016ab45b7490f887d0adbba964abd30679",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.33,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.32,\"right_z\":0.19},\"note\":\"The basket-moving approach did not track safely and shifted the basket away, so I will stop that approach. Instead, I will bring the held marker to the middle for the left gripper to take its free end.\"}",
  "call_id": "call_qNAsd2nK80qbO1purxmBTIIS",
  "id": "fc_06dbcf307b9d3ff0016ab45b7cb59087d09f2d10cfa07a8fa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qNAsd2nK80qbO1purxmBTIIS",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7166, 2.0773, 1.6871, -0.622, -0.7277, -0.7296, 0.9981, 1.1, 1.6135, 1.2793, -0.7399, 0.8646, 0.8394, 0.1628]\nstate[eef_state]: left_x=0.46 left_y=-0.2401 left_z=0.134 left_yaw=0.2555 left_pitch=-0.1265 left_roll=0.0789 left_gripper=0.9981 right_x=0.2846 right_y=0.2707 right_z=0.1898 right_yaw=-0.0315 right_pitch=-0.0388 right_roll=-0.0806 right_gripper=0.1628\nstate[joint_eff]: [-13.8188, -16.9368, 11.0564, 1.5263, -0.2418, 0.442, -0.022, -0.0342, -0.1846, 11.8085, 3.0745, -0.5153, -1.4286, 0.5104]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb07b344d7cffdfb7c7ab439769a7f98895e89ecb4ab707884ba37aa6b0cbf80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e668a16e7df825e8a2278394e7b56a1191dfae8c68842b77fda13add520866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a43f06a658cc4fb8558aa138d8914e1233a96455d67e30e19d917e1b7d01934",
      "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 69 changed as sent

message 78 changed as sent

message 82 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]: [-0.6727, 2.0029, 1.4292, 0.3157, -0.0483, 0.0002, 0.9974, 0.7662, 1.6756, 0.4896, 0.4095, 0.572, 0.4194, 0.9963]\nstate[eef_state]: left_x=0.4827 left_y=-0.3691 left_z=0.2065 left_yaw=-0.646 left_pitch=0.3038 left_roll=0.0309 left_gripper=0.9974 right_x=0.3169 right_y=0.1772 right_z=0.0169 right_yaw=0.0621 right_pitch=-0.0603 right_roll=-0.0447 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -12.5744, 7.4872, 2.0244, -0.0073, 0.0317, -0.0317, 0.2256, -6.7624, 5.8872, 0.6618, -0.1587, -0.4469, 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]: [-0.4084, 2.5584, 2.1113, -1.5055, -0.9058, -2.0487, 0.9981, 0.7704, 1.3384, 0.804, -0.1989, 0.5652, 0.4191, 0.1636]\nstate[eef_state]: left_x=0.4423 left_y=-0.036 left_z=0.0397 left_yaw=1.4347 left_pitch=-0.0478 left_roll=0.0072 left_gripper=0.9981 right_x=0.3243 right_y=0.1879 right_z=0.1491 right_yaw=0.0729 right_pitch=-0.0304 right_roll=-0.0135 right_gripper=0.1636\nstate[joint_eff]: [-0.1436, -12.3692, 6.5436, -0.5983, -0.442, -0.4518, -0.0073, -0.0889, -7.1453, 9.4564, 1.5067, 0.2857, -0.0171, 0.8425]\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, 2.0773, 1.6871, -0.622, -0.7277, -0.7296, 0.9981, 1.1, 1.6135, 1.2793, -0.7399, 0.8646, 0.8394, 0.1628]\nstate[eef_state]: left_x=0.46 left_y=-0.2401 left_z=0.134 left_yaw=0.2555 left_pitch=-0.1265 left_roll=0.0789 left_gripper=0.9981 right_x=0.2846 right_y=0.2707 right_z=0.1898 right_yaw=-0.0315 right_pitch=-0.0388 right_roll=-0.0806 right_gripper=0.1628\nstate[joint_eff]: [-13.8188, -16.9368, 11.0564, 1.5263, -0.2418, 0.442, -0.022, -0.0342, -0.1846, 11.8085, 3.0745, -0.5153, -1.4286, 0.5104]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb07b344d7cffdfb7c7ab439769a7f98895e89ecb4ab707884ba37aa6b0cbf80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e668a16e7df825e8a2278394e7b56a1191dfae8c68842b77fda13add520866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a43f06a658cc4fb8558aa138d8914e1233a96455d67e30e19d917e1b7d01934",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuFg_NtHExaOPzVp8sw9GbUd5q6ht-LWhhI-znqytptlYKEXVnG0vaiAv3TXtnbtoqpJyyHs6qwMJTm-dJY3fHtotKu8tdC47gJYy72rBssDRKy77_VpZ_aqz1H_U6qWMsvEW-v3ndZRILA8DyUebfGdlsLGTQhs5IzrG2-HOiHpq7eiVs9oUls53DQveN64JjSynXhKcuMsbev5gB6qQJg13QRoENoYa7d9ECL4_Ycujgwc_3IwRc2HsTGAFUlR5d5eogMSelEVyxUVdfI84_DeBeDKy_BfZEtYq-RRLWw9t-TPD4TaO3sphNnwqwoo4P1RoZx_77IUa3dIIvy9BX8whlb8VYs4GMCSiFVYm_DDFlf77r2wQh_fBSiW1GMu89sb3kxqYul72UC-mK2gBekgYt0p8fa6OS87I25FrtU2CgpBmQs9545sL2JcmYbL1soqW7my3RCCEXsweOwiMaH0ryVRbp1B7i8ZjtbqDOFhbth8c6jRJSnHZPC21tsRThP45EipaiKPg0g_AfAfj0PTzGd_u-Gn9R-H1Npw93Yh_1febk759mzbDJjYSqRtogkkH88r8er20Z3cBqybo843AwCa8v99tfsPtoFgFpRLazHPDsF3YuIkJJeeJgNEQ3GSQiruGYf8IhZwIBKvh8LokBkv8kSGUuVf6BRhiINKnJvnZmUqoI81bzQZfVJlZnAGfRXv6z-WUtusKrN4H7_p9qsAPgvD6VFf4eFJyHcnXOHwtn8TbPswbHUD5AFEb_9XIiROvHs_-fiMhsIDfjg85FX-tHLAY8-iW6AB_r1--ltnQkzjzCOI0YDeCeJ2sJ9RpDr581EyMoWk1_vz1PViLgDVpUZ5kDD_4l0NfGvwdsbx6XUL7WlV9gHaPJ5SIhKWxsIThSSLLnDgq_l-SIw5hgJ_8Ok0SMw6_8eJ563h7wsZI5IlX3Ic7vyvbyqJNe-Ib70ujOa4pkycdEYAdto3XT2VOmSO0oT2d_gQveEzRmubp1Zi17o6RR7jdR9Ar5iCVtI0wnRUIfo4snrnbWTGXvJ-aIw1uwSjaUwY0BfEUMYbWLEGl6NYXjixE3w0oqaG-gaUxPQWnmHNeCzeFC8u8b1so2YQ3baByiHB17RVKMo4auxROdkORrfxVu95Xq24nNsQdQA2rZmp90SUuF9IYsPgxNMACJyzR6kRJOwboUeXedri7xfqWkbK7_xKo-4OYELBnTJMt1rJ7DgKSbW9HO0T14f2UQQ92mNLFIHyVBEM2NhS7cldS3NCnqNNoRogxtOmDMk9-EU9QnW__AA-EHudNnM_CJpJpLd-duzwc3_kFat6uQQbhR-8xvHn4GysMNbAv24m69K3w9vVQ4F91neDCPcpl-aeHnmUQaceyLDxAFxuyYjqEILw_q2y4UyCowglfc3yrNeLVbo1UClUlIOtzGMKXRmCQfh1lah6I5B4L7917G1mSeQDRMsOyZnZ5aT8BxgsRr_Cge47rffHC-ONxMQfodV73jTZPrOODY=",
  "id": "rs_06dbcf307b9d3ff0016ab45b836cd887d08722124210e5d9ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.26,\"right_x\":0.29,\"right_y\":0.2,\"right_z\":0.18},\"note\":\"The arms are interfering before reaching the handoff pose. I will separate them immediately and use a table-level staging point instead of a direct handoff.\"}",
  "call_id": "call_NvinHdGM7ePkl31qxp97JGPR",
  "id": "fc_06dbcf307b9d3ff0016ab45b8481b487d08aa7d1ec95198ab9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NvinHdGM7ePkl31qxp97JGPR",
  "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]: [-0.7128, 1.3083, 1.2953, -0.9722, -0.7242, -0.7403, 0.9981, 0.9649, 1.3926, 1.0035, -0.5873, 0.7792, 0.6777, 0.1652]\nstate[eef_state]: left_x=0.3127 left_y=-0.1109 left_z=0.2552 left_yaw=0.2603 left_pitch=-0.1132 left_roll=0.0464 left_gripper=0.9981 right_x=0.2883 right_y=0.2045 right_z=0.1723 right_yaw=-0.0287 right_pitch=-0.0628 right_roll=-0.0913 right_gripper=0.1652\nstate[joint_eff]: [-0.2393, -5.3538, 6.5573, 1.116, -0.3443, 0.105, -0.0171, -0.4991, -7.0632, 6.5162, 1.3895, 0.3932, -0.1392, 0.6618]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed08a32a0bc04cf9ac7cfbcb431bcfeecae700696088656a1b5397ac85086295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb90aed1b751e459bd35145617b3e228e01904a3141824bb2dee25fe2adcf568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0758ca3f841b6cdfa26efca15b654a25b16eecea35425c81a70b33f6ab0fa5",
      "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 73 changed as sent

message 82 changed as sent

message 86 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]: [-0.0231, 1.3144, 0.6724, 0.0834, -0.0498, -0.0143, 0.998, 0.7704, 1.7618, 0.482, 0.5709, 0.5758, 0.4194, 0.1603]\nstate[eef_state]: left_x=0.3946 left_y=0.0033 left_z=0.1382 left_yaw=0.0114 left_pitch=0.0036 left_roll=0.0273 left_gripper=0.998 right_x=0.3255 right_y=0.1868 right_z=0.0118 right_yaw=0.0649 right_pitch=-0.0072 right_roll=-0.0029 right_gripper=0.1603\nstate[joint_eff]: [0.1162, -6.735, 6.5162, 1.6728, 0.0855, 0.1343, 0.0513, -0.5265, -4.465, 2.8786, 1.2869, 0.1099, -0.0611, 1.0281]\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, 2.0773, 1.6871, -0.622, -0.7277, -0.7296, 0.9981, 1.1, 1.6135, 1.2793, -0.7399, 0.8646, 0.8394, 0.1628]\nstate[eef_state]: left_x=0.46 left_y=-0.2401 left_z=0.134 left_yaw=0.2555 left_pitch=-0.1265 left_roll=0.0789 left_gripper=0.9981 right_x=0.2846 right_y=0.2707 right_z=0.1898 right_yaw=-0.0315 right_pitch=-0.0388 right_roll=-0.0806 right_gripper=0.1628\nstate[joint_eff]: [-13.8188, -16.9368, 11.0564, 1.5263, -0.2418, 0.442, -0.022, -0.0342, -0.1846, 11.8085, 3.0745, -0.5153, -1.4286, 0.5104]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.3083, 1.2953, -0.9722, -0.7242, -0.7403, 0.9981, 0.9649, 1.3926, 1.0035, -0.5873, 0.7792, 0.6777, 0.1652]\nstate[eef_state]: left_x=0.3127 left_y=-0.1109 left_z=0.2552 left_yaw=0.2603 left_pitch=-0.1132 left_roll=0.0464 left_gripper=0.9981 right_x=0.2883 right_y=0.2045 right_z=0.1723 right_yaw=-0.0287 right_pitch=-0.0628 right_roll=-0.0913 right_gripper=0.1652\nstate[joint_eff]: [-0.2393, -5.3538, 6.5573, 1.116, -0.3443, 0.105, -0.0171, -0.4991, -7.0632, 6.5162, 1.3895, 0.3932, -0.1392, 0.6618]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed08a32a0bc04cf9ac7cfbcb431bcfeecae700696088656a1b5397ac85086295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb90aed1b751e459bd35145617b3e228e01904a3141824bb2dee25fe2adcf568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0758ca3f841b6cdfa26efca15b654a25b16eecea35425c81a70b33f6ab0fa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuL42buTLr7LIG0EZTH2R1k26LhGie8s6IisvmqZK6h0dq1HmprQiwfgqmKrmBniYqQc7uLUEWrP3sMwW-SUrFzzdyihZ3TTWZ-JLcj47NDuy3842HZ-kMadFYn54mrL3Kasw9HKru0IacNI2NZBZT4ctfjYUUT4VrlO8vbCGXuWHznpTNhcXVlaINjEggzw7lVkanXGrXyzVoxxNjRwd3kP8cQC629BVlD0equnUpO9Tr8JS3lmVE0Y8ozRBhP32_ZJND3DVcC5W7Qqlay0DtWYGc_hhz64c71Sl3y1LAkbQ3j8t3r3pA02kWvU79gi0CiQCfLp74Zl4J7kSkZHeofspGTEXYvhAupIyL982lixWVdJ-tsAxzpkSNiliKgRjUavUIaAJ1q9uTrsNNEOczzDVyWzm1JJ8sZx2gubJRl31IpzR7RDNmXu5u5hh2uxXwVlhSo-sTB71pOym2hXJN5JIk2IGfqBFjWsJ1zxdzT36qdW5Y5eijTaQOK12JJWArPheHvBSioOjTZXSWCLRteNdnJ9kk-a4bQKM6yru85O1C6i2IZCE5JienT0D-196PmTs7iwc-GsYTXvDondGljWb8Yzv5MUJplHQ6bV4Wr0shdwQRUJB3j927CgHom6vLJ5H94Cmh920__YyzTp5S1CMs7_DGgShNE0S4-DWzecvUomaoJUmf8gRZl9mtYMYRQ_QIDluO7HBCkfC1ABM1eAJreyURxjBOxwGCSZLY4V4zjy5yXVJ1CY3AogeTT9uTKAM6VjaQz_Ot5iCygZrouxrWI3NAK-PlhxGXXYEWrcGYH8ub0jvir13y3at2mlIXR_blDSii9vZIobIjmJWC9qfIx_7_IBydN5mcZ_A5dkGaxZkAnHHUWFevir6gbVipgKN7xWI_JjVR8-Z_GmBMmtl2j9ueIx_yNkdDXAkFIvSCoB-ohNQYhaZS3fpiVT-jK0hArkrAJzPoo2iAiFyCoNFV0k2awpmAGYfxMPOI-KUOgSZGHRs7eJoVPPGhLmyKyiDBfkxUx50M8mUYGCP-HRucl06iZV9XMVUqmNN9t6S-UBQiyDqYGtaBSx3-Mxsq5zW_eC8ha3JbJ55-N7vklUuiRRIGKBlmoXB4NZvO0UpE4xTf8yGIC3lujiVWpLb6ufEQPsXfg1PkLT0JwYLsxeXWg91P5ENIdY7a2G-aVsAeNc2VCDOhdeAMcsYSG-ElQAzI9R6or1sUU4SIcfiNxltdmlkcZulO2KZj6-_uMi_2yPGu1O7-3hlwf8HTXJlhTfMVuIZyQDMjrzYpT4Vfpz9l_sOlxr1v_Vd6gg7GOf7Oh_Z40Q2-M1cQXubDVBvjUUCERvxCQBCXT-oez1cpytwF07hfua-7OI_UU6G_t9LhyPQU09kmfOglEneIV9f4EGc0OTCy-ZDW5Gc3VEsq-Gx_kTmcI4YJPt2AWRg9iySjUQMV0iXEa_o9TEOfNwtrz18x2LFE0V9SPh9eHi2Ie5WAbGBnzgroR5QwZv6nr5t5RKEqZTLH6RmFCYPkg_YaI2uMqS2xQ3pteH4tt0mm6MFccXO2pjTtIbdcJotEnGdfip1scAEepUBMn_U68-cnfDmiwGwH6wj5mRJf4zcoMm3nyhe1Ewx5pb0ObZoVpSmQAXo_NhhZDIhdY-EL_wI_PKQXai5RETZAVQn1JMgqk3CISgwEO5cfKe2EHixEmbRXc_NIUWMCZGtlC8KC8pCRn",
  "id": "rs_06dbcf307b9d3ff0016ab45b881fd887d0a47e264a7a03a15e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.35,\"right_z\":0.035,\"left_x\":0.32,\"left_y\":0.015,\"left_z\":0.07,\"left_yaw\":0},\"note\":\"The arms are clear again. I will set the blue marker in the central area where the left arm can reach it, while aligning the left gripper over the gray plush.\"}",
  "call_id": "call_pyT5LQ0itZRFGl0iBDsvAb9m",
  "id": "fc_06dbcf307b9d3ff0016ab45b8a4e8c87d083d781563fdbff27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pyT5LQ0itZRFGl0iBDsvAb9m",
  "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]: [0.0063, 1.124, 0.3935, -0.0002, -0.0906, -0.028, 0.9981, 1.14, 2.085, 1.2591, -0.3553, 0.8371, 0.886, 0.1659]\nstate[eef_state]: left_x=0.3116 left_y=0.0215 left_z=0.0673 left_yaw=0.0837 left_pitch=-0.1664 left_roll=0.0505 left_gripper=0.9981 right_x=0.2961 right_y=0.3388 right_z=0.0283 right_yaw=-0.0109 right_pitch=-0.1034 right_roll=-0.1306 right_gripper=0.1659\nstate[joint_eff]: [0.0342, -2.5231, 5.7641, 1.4188, 0.1343, 0.0171, -0.022, 0.6769, -10.5368, 7.5966, 0.7741, 0.696, 0.1978, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcffdf6d3a27da8f9427e90bf36e25566de22c947517abb2388a0dc336d39ed0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ec00049c291e9fd44c3ad1cc611b85af35cdd69be54f1384a68e285b8542f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e602e185ef7d7ba8d1c45c97542f7ac058a4853d44faa857fb4da7f2e1b6c02a",
      "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 78 changed as sent

message 86 changed as sent

message 90 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]: [-0.4084, 2.5584, 2.1113, -1.5055, -0.9058, -2.0487, 0.9981, 0.7704, 1.3384, 0.804, -0.1989, 0.5652, 0.4191, 0.1636]\nstate[eef_state]: left_x=0.4423 left_y=-0.036 left_z=0.0397 left_yaw=1.4347 left_pitch=-0.0478 left_roll=0.0072 left_gripper=0.9981 right_x=0.3243 right_y=0.1879 right_z=0.1491 right_yaw=0.0729 right_pitch=-0.0304 right_roll=-0.0135 right_gripper=0.1636\nstate[joint_eff]: [-0.1436, -12.3692, 6.5436, -0.5983, -0.442, -0.4518, -0.0073, -0.0889, -7.1453, 9.4564, 1.5067, 0.2857, -0.0171, 0.8425]\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]: [-0.7128, 1.3083, 1.2953, -0.9722, -0.7242, -0.7403, 0.9981, 0.9649, 1.3926, 1.0035, -0.5873, 0.7792, 0.6777, 0.1652]\nstate[eef_state]: left_x=0.3127 left_y=-0.1109 left_z=0.2552 left_yaw=0.2603 left_pitch=-0.1132 left_roll=0.0464 left_gripper=0.9981 right_x=0.2883 right_y=0.2045 right_z=0.1723 right_yaw=-0.0287 right_pitch=-0.0628 right_roll=-0.0913 right_gripper=0.1652\nstate[joint_eff]: [-0.2393, -5.3538, 6.5573, 1.116, -0.3443, 0.105, -0.0171, -0.4991, -7.0632, 6.5162, 1.3895, 0.3932, -0.1392, 0.6618]\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]: [0.0063, 1.124, 0.3935, -0.0002, -0.0906, -0.028, 0.9981, 1.14, 2.085, 1.2591, -0.3553, 0.8371, 0.886, 0.1659]\nstate[eef_state]: left_x=0.3116 left_y=0.0215 left_z=0.0673 left_yaw=0.0837 left_pitch=-0.1664 left_roll=0.0505 left_gripper=0.9981 right_x=0.2961 right_y=0.3388 right_z=0.0283 right_yaw=-0.0109 right_pitch=-0.1034 right_roll=-0.1306 right_gripper=0.1659\nstate[joint_eff]: [0.0342, -2.5231, 5.7641, 1.4188, 0.1343, 0.0171, -0.022, 0.6769, -10.5368, 7.5966, 0.7741, 0.696, 0.1978, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcffdf6d3a27da8f9427e90bf36e25566de22c947517abb2388a0dc336d39ed0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ec00049c291e9fd44c3ad1cc611b85af35cdd69be54f1384a68e285b8542f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e602e185ef7d7ba8d1c45c97542f7ac058a4853d44faa857fb4da7f2e1b6c02a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuRhVeSdqExjJB6ADThnzhBAGQCqedV1YDbZoX0ZC3Jt0L7oZq2fts7k3uLNrKmpI0MBO1i9kiUUfhxMrydkPIpRnbnPSRDCe_ueTZ7KFXWHeM_mhM7kj_oi6B4Z424KyNIibLD6ZLCQ6tSEC8qzKm_IDDAhxd7WoPzCDwPsqi7o34Mpno-oIYUD8JnnTQCpu_rMLypYCu9cpk7BcZdrm6OgBaHVU6zkzoXaRTBQEYlTjdKHECoI1mqdWyLYQ-KuHF8eH8FgW-MnUXJMTb8M2ORAZ5Ec_Dd0B7y5OZ1Jng6dRFuFjRTJWmNHISfBL5JGomRokE2xTCMlkG5lyGCqwoPVIHNK60RHKFkR_zj6pu6rzkdao1_OqcZgtwaqFxQKp7otoNjgSoAo1QiP5D0WaC8uVXcYNlqnxCZXIKPS7ynnMHY94fJwAG8QvTagSy-S2k_6SV6yrV4e_3K8Ae-TrmmMOiUXGZcMAyHp-Fmz8WvbR9sxWbh0AFc-yFI3zW_YKJyEeOxMKzNxy3WM05X6_eGszu6LWH-GJQOGcv0NR4aiQbU9aH9e2NWjLrKXtgwWIrGikwteL1zpCCCMfAoXh_otogsigPxeYM_3dowO7jRSkhPt2Bk7p7z4t0_gX7WCoJfIyaKMD_pwy3eGGp61Fq6GyWiiav2Cbfd5mgbFVfJKuTeA_yKS0YrDndCS6c5JXn1mUvkIEMVnzHfKIB0ixcKRKdTZAUBCAiwbVmRXJdrkgc5aSfk3mdhubX2RnrGk8VUzCplh9YgOk_lzM5F2dkEuMm056XyX7VsLkCwxYEe5y54UT1mwTRl_6KP4Ni69gF_5vJsQpNTEe53bpELpC6fWMoJwqB3cjefNZ0zX5q8a6Yis_UAAjP3jmkB9we9KV8GewyRZVZ0cQScl7hwIMN6PXxS0oOkU2RKkKUIN7RUIuVNhKIVcJvVFXoL4kJwCEfe3Ic-VZ2DW_DgoC4fXHPQklQuwg00wTBPdtPXaIU1f6TQm6UVwPIXWrtxmDLllOXfef-uPnPcLJU_tqql_JMGzAVCnLf1GSeppQerEIX6aMgKG32Eh9jg6zi6clJ_daJI9xFDwOavA6yHZAU2SERWJmhVw9ov-FIkw5v8oKF76J5UXyK2pZofL4Wf_dcRBs7yded4gwQNwPygvsKrXFgw27tu6DJb_zIpkuaPlZIhnVQTzE-TnUdbVla93_AJYwspVkZzOzcMWKSf3-dbSnyHKPIvdAQyucqI-JcWUB5DfFcLUIC8cf_Q4qObN1bWBT97GGGhU7xnQFcOOAvydmI5sm8mpLJdkEl_e3k5Ys60NojNnZavZubVaLcjS6FTJ8RgFnQwKZXI3rTF3WYPjfnMMydf4Fha55LUBQZCJC7orza7MSAFLqmDrvfgoMDPkv2rWHufavQwhant7kZ4I76iXZDV6SoKsvjojLtxofqkJGLaRHB-OESZXPX6_ylXXRXPkEYaV1CeO8wpPjLdKq4y4lRYxSgJkPZBCWsNGCscpC16wGiUrAqwBOpV1tJLpiqkP9Gwpd1goVNZ5W9UxkYWRUvpVLCdFWslpXRs05aoOenhx2XBI59ZE7xFv3tKTzDslaaOi6KLtqd_0J86QcqqRA==",
  "id": "rs_06dbcf307b9d3ff0016ab45b8e78e087d0a11f47a62c787b7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.35,\"left_y\":0.05,\"left_z\":0.02},\"note\":\"The blue marker is at the central staging point next to the brown plush. I will release it and lower the left jaws around the gray plush’s body.\"}",
  "call_id": "call_M3fBuIUymc66oEze8bBYj1BV",
  "id": "fc_06dbcf307b9d3ff0016ab45b90543887d08c3ebbb491bc3266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M3fBuIUymc66oEze8bBYj1BV",
  "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]: [0.1242, 1.4719, 0.4183, 0.4294, -0.036, 0.0624, 0.9981, 1.1412, 2.1078, 1.2633, -0.3466, 0.8257, 0.8799, 0.9952]\nstate[eef_state]: left_x=0.3634 left_y=0.0554 left_z=0.0474 left_yaw=0.1063 left_pitch=-0.0648 left_roll=0.0838 left_gripper=0.9981 right_x=0.2951 right_y=0.341 right_z=0.0193 right_yaw=-0.0027 right_pitch=-0.1176 right_roll=-0.1401 right_gripper=0.9952\nstate[joint_eff]: [0.5949, -2.947, 5.053, 0.6032, 0.3492, -0.1392, -0.0171, -0.1299, -12.6427, 5.1761, 0.696, 0.4664, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cbee67d088d7bbc550e847f206a911162157b773df9fe903eac3273064aa62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf32b3a8f8078279d77a9da49f14e90182dfd7da6edf828554357e5e62333e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fabda4df4017f0587eaab23e12ca4a5fae4fad8a2d845e44388288cdc98323b",
      "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 82 changed as sent

message 90 changed as sent

message 94 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, 2.0773, 1.6871, -0.622, -0.7277, -0.7296, 0.9981, 1.1, 1.6135, 1.2793, -0.7399, 0.8646, 0.8394, 0.1628]\nstate[eef_state]: left_x=0.46 left_y=-0.2401 left_z=0.134 left_yaw=0.2555 left_pitch=-0.1265 left_roll=0.0789 left_gripper=0.9981 right_x=0.2846 right_y=0.2707 right_z=0.1898 right_yaw=-0.0315 right_pitch=-0.0388 right_roll=-0.0806 right_gripper=0.1628\nstate[joint_eff]: [-13.8188, -16.9368, 11.0564, 1.5263, -0.2418, 0.442, -0.022, -0.0342, -0.1846, 11.8085, 3.0745, -0.5153, -1.4286, 0.5104]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [0.0063, 1.124, 0.3935, -0.0002, -0.0906, -0.028, 0.9981, 1.14, 2.085, 1.2591, -0.3553, 0.8371, 0.886, 0.1659]\nstate[eef_state]: left_x=0.3116 left_y=0.0215 left_z=0.0673 left_yaw=0.0837 left_pitch=-0.1664 left_roll=0.0505 left_gripper=0.9981 right_x=0.2961 right_y=0.3388 right_z=0.0283 right_yaw=-0.0109 right_pitch=-0.1034 right_roll=-0.1306 right_gripper=0.1659\nstate[joint_eff]: [0.0342, -2.5231, 5.7641, 1.4188, 0.1343, 0.0171, -0.022, 0.6769, -10.5368, 7.5966, 0.7741, 0.696, 0.1978, 0.6325]",
      "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]: [0.1242, 1.4719, 0.4183, 0.4294, -0.036, 0.0624, 0.9981, 1.1412, 2.1078, 1.2633, -0.3466, 0.8257, 0.8799, 0.9952]\nstate[eef_state]: left_x=0.3634 left_y=0.0554 left_z=0.0474 left_yaw=0.1063 left_pitch=-0.0648 left_roll=0.0838 left_gripper=0.9981 right_x=0.2951 right_y=0.341 right_z=0.0193 right_yaw=-0.0027 right_pitch=-0.1176 right_roll=-0.1401 right_gripper=0.9952\nstate[joint_eff]: [0.5949, -2.947, 5.053, 0.6032, 0.3492, -0.1392, -0.0171, -0.1299, -12.6427, 5.1761, 0.696, 0.4664, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cbee67d088d7bbc550e847f206a911162157b773df9fe903eac3273064aa62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf32b3a8f8078279d77a9da49f14e90182dfd7da6edf828554357e5e62333e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fabda4df4017f0587eaab23e12ca4a5fae4fad8a2d845e44388288cdc98323b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFubynPTNR5SzJw_LUrk-mztiOSthlMT7ie_W4S6hisZ8LPNBvWcU-ekoCDT7nvS0U_gOWd_BXW_Zsme7Nb8fP4FDPcyaBIZDQiQXqgMHBh5djREpY42MrY5ekhkNlmxdWBfCcJ9PnFb5gnZhg_lh4b0mZmucHIKVEmZgbqxi4Z1Rg-Hu645OGRhknO7D85P44DneALsCJsLuCdEncSKXSHZSwMS0wu7A8DW60IEkdyU50ppdk4tSniloDQEA_BP6JZpxg3_qRB6x8JiHA-XRJzllKxqWxXPNZ8JWqBn64xK7fW2vdvf5S7O-D_6O2vnjp0SE50WUqSdc2BiwOMLk1hD-3Nm8RCJNNUC2qXICwaNekA8EGW-wRBBD3n2BUaFHAo8W_oFTEFQpkNW7OtFn7y5kfs1qM5YHR2fA0M35ngUdanW2AnDsNP8f66evARlZHcMJK3EClqGoy9tTK4C_K_n9oIySLNA_pkbZF7gzTJG6cyTXD49jLEULJFrz4oa2B5eBK1FQrDAIl-Bnr37fFfCySUrz_1TBC-Oix3C1k9p5iT1ELIjQgh8E2rKeb_GbEhaUTJ3I29NnSQsm2wLhzAvLw8fDexwqM5o4DSxZwnUN-jLy-P4WEugORCvrHK9JdfRyFL-Zm0VUdPyI-nf0vibQjfJldDsTbGjmzy1q-g-UvIRx3vhvuQjaQ-ywmMSRffRU5gn0hjvjtulQvA0ixopLjXOmY2l8vy9RBM7I1Ld52W-1toHOUp-CR7s9ByH_ziqZ72SUOdfxvMYwOa7mTQGXXz1KhzeGSGARKx_91t0HPPc_dVBaz8m_2kQhjfAWpMwm4o98HLWmG5UFV2n7ff-4oR5VAtLPnXa6ah6NzoLtpVavZX4k2GQRxq03Ma4o4YZ5ShKxDot4Xu2rBDfrM-nWJgs59O9fHP2fR2hHtF34iHFlSgTqVKMm1J5rHefFBgHvUnNVuAW4p6H0bsrwLP3UEC8tOIHcSLSH3PjAGoDSdmATU8r30bXkr1e6d4WvwN9XNKhkEKx2u6QyZk8RZnV6u75AofTT0TdWnnp-JQQllZPOmPt7X4fevipwomKG8OHkxqrxYcdOR4_PvDR3bAAjQSFnqOsmh2oaMjaKecun5D7Gg_mCZbTdLEWY5iXIjuYChrfCy2JgUv1f-ZIK-sOFXGQ7Qw8IbwfKfDYMQw0EiF2XrfAbxIU6hl6izHSjxvCZG8AIZgz1DXbAZ8luf5rmVfAcEXB1Umjet94wj96TMcqsDGfx9r8cGPH2WGzdJc1kz2cnqKh0tcAnwAT8f2oXiO1FU2JzgV_VJe0ySKIzoCuxIggIPA4eJESRn1DqfbAKgCoVZEcODEFle1RG98julc09Zwz5YMYQ9blTvXBz48dOznWakoD8R0AWV71vEJ4lWOzq2XsZEqVIs1aTkzP7sjbMUvGZ-ZypxP05844HE0mbnNvW75oARu8WOnwOjY6-Akc15rpxq7v8Imbn4pm9wF0Lqacf_yxve58iuz9E2GgZlFxItMqwqgCH-c2E0l5U2AYgRfdBuoSBG388uHz6PmBgxmyMO7geOnQozIGS86IxTqtnV8TOQowUZkfpEIt-ktfvoYr0-JnziqApwiuZUWygAJIrgdiVuan0m9_virEBzZC4mIMEniI9EZAe_nfPznjxWKWr2U3CTKRzcaNMeZD8SnRV6VZNdHA20yXctPJz-aEhz3meb1L-8CRQgLbfOD5HCPmwCEX4iIS2W43nc_uogplSlRBZOcGW1dJAH0EbR6qBaXEYEJ3qF6eHfiV-azCeU24msa0RFezUMVMKf0YtnDNHIxxGbGpCgH7vh3yQ6C2oUTlH2Y-lsGLKm2T3kEbs_maU29uNRfa-vKhAU6p-7TpiPxHedzSLgG4ZLyVAdwdfH5NnPVcOIUPJoAJIaWzAlukspUiMFgsCYRJYQy_hX6Sze4GBVCSaEr_g_SOy8gb8_5G3JsHyoA339VQwWGtudfMVsUgxV6tBy7Mw9qqMl8edFnc7zuoWYiEVxRCgnm2M3qf5iwxipSB0Ko_nN34TRIzmj1Mrw88mnsvOzMwCnxXp_bsUZnywUpuWt7RFXSkkbzUuCmPo_UcCX5Tf1qmrUg0z8X7prbxVViyYN2VJget06k27Hhcj3bGlf6YvIkiNLsrmSr40xPyDwOEWTuEhpV7FPgAJ0g_A72iMWG4-IqzAOsdcLzFixdeWw_3KGZGQKMa6XdBos-6ehfRMbgEH_elzm_hQDggEMIJcyz33TSb_CapYq3NItg4fl5ZStVeC4mgFKcdZf4dHpNQ-_lNOp2NCGramvf3VR6tiG7xhJ6q1qKOOPY99Embe7AlKUPmzqzrfuUnbXDe14yJKfjFG48Np5STvAWMAqIyuKSHBpLbhGIcmcZk42Fo2wdXi9MScErhkgQOQr-ruUY5",
  "id": "rs_06dbcf307b9d3ff0016ab45b93dbec87d0805b947369ac6b0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.35,\"right_y\":0.37,\"right_z\":0.05},\"note\":\"The gray plush is near the left workspace edge, but its right side is between the jaws. I will try that grasp and align the right gripper with the brown plush for a direct return to the right basket.\"}",
  "call_id": "call_AkJrZIxQr9MLWfy2JdzixVYs",
  "id": "fc_06dbcf307b9d3ff0016ab45b9a4ef487d0951e3621ea178736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AkJrZIxQr9MLWfy2JdzixVYs",
  "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, 1.4719, 0.4191, 0.4309, -0.0521, 0.0444, 0.0099, 1.0618, 2.1944, 1.5169, -0.437, 0.7761, 0.7757, 0.9963]\nstate[eef_state]: left_x=0.3647 left_y=0.0496 left_z=0.0481 left_yaw=0.1057 left_pitch=-0.0617 left_roll=0.0787 left_gripper=0.0099 right_x=0.3432 right_y=0.3685 right_z=0.0435 right_yaw=0.0054 right_pitch=-0.1309 right_roll=-0.1312 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -5.3812, 5.2034, 1.6679, -0.0855, -0.0024, 0.7497, -0.6085, -10.9197, 8.3624, 0.7497, 0.4811, -0.0464, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991c17f1c401ba6773023168c076ba37168a159644522419cf4103baa4136f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ddf812fc36963846556e6e0bedc93eec1c16ff4a656d33c5619c8f1ebf1986",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9928e398dfe93e885aa54c8506bb9fd6ddd4992c31cdd5296c9905289ac435",
      "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 86 changed as sent

message 94 changed as sent

message 98 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]: [-0.7128, 1.3083, 1.2953, -0.9722, -0.7242, -0.7403, 0.9981, 0.9649, 1.3926, 1.0035, -0.5873, 0.7792, 0.6777, 0.1652]\nstate[eef_state]: left_x=0.3127 left_y=-0.1109 left_z=0.2552 left_yaw=0.2603 left_pitch=-0.1132 left_roll=0.0464 left_gripper=0.9981 right_x=0.2883 right_y=0.2045 right_z=0.1723 right_yaw=-0.0287 right_pitch=-0.0628 right_roll=-0.0913 right_gripper=0.1652\nstate[joint_eff]: [-0.2393, -5.3538, 6.5573, 1.116, -0.3443, 0.105, -0.0171, -0.4991, -7.0632, 6.5162, 1.3895, 0.3932, -0.1392, 0.6618]\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]: [0.1242, 1.4719, 0.4183, 0.4294, -0.036, 0.0624, 0.9981, 1.1412, 2.1078, 1.2633, -0.3466, 0.8257, 0.8799, 0.9952]\nstate[eef_state]: left_x=0.3634 left_y=0.0554 left_z=0.0474 left_yaw=0.1063 left_pitch=-0.0648 left_roll=0.0838 left_gripper=0.9981 right_x=0.2951 right_y=0.341 right_z=0.0193 right_yaw=-0.0027 right_pitch=-0.1176 right_roll=-0.1401 right_gripper=0.9952\nstate[joint_eff]: [0.5949, -2.947, 5.053, 0.6032, 0.3492, -0.1392, -0.0171, -0.1299, -12.6427, 5.1761, 0.696, 0.4664, 0.0024, -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]: [0.1005, 1.4719, 0.4191, 0.4309, -0.0521, 0.0444, 0.0099, 1.0618, 2.1944, 1.5169, -0.437, 0.7761, 0.7757, 0.9963]\nstate[eef_state]: left_x=0.3647 left_y=0.0496 left_z=0.0481 left_yaw=0.1057 left_pitch=-0.0617 left_roll=0.0787 left_gripper=0.0099 right_x=0.3432 right_y=0.3685 right_z=0.0435 right_yaw=0.0054 right_pitch=-0.1309 right_roll=-0.1312 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -5.3812, 5.2034, 1.6679, -0.0855, -0.0024, 0.7497, -0.6085, -10.9197, 8.3624, 0.7497, 0.4811, -0.0464, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991c17f1c401ba6773023168c076ba37168a159644522419cf4103baa4136f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ddf812fc36963846556e6e0bedc93eec1c16ff4a656d33c5619c8f1ebf1986",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9928e398dfe93e885aa54c8506bb9fd6ddd4992c31cdd5296c9905289ac435",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuhEJbhUx772VUV7TKSFkqXocw222SHFWOOxfXQ60Rv93KLvD2au02s7kWR7LwNLtCTV_cVJ0k6Ogi_iolT961WSpohmuO6XWl96xNNF6sVwExmqD16WP1uLAUV8pGsKmEu3HdvSlm65xI8UofAVa3hAfOPU-kBrSSVKQORDWmvO-tyyoA4Zc44dATStLPKR3UAyX-kSlDi4qTqYTVR738U-3nZyg9HAaIIvEpn3txnT5GBtPrbQn72JrOYDVIcUUl0wnRlPp9L9aZJrFCyMoKpE9w4qpdFTZsdmpBJWqHgCYoZtDfzbj47iaFI8Pd6PABAd-ru5st3BLsb7O5Nwj0VXwLqIu7V46k9HD0-Qyjd1ksfYEXFTmWBJZQRcvyPvCe1F4yxysAHl_T3Jl4w-ImUBx70G9RC7rP1Pvfg8ibwDK0vbT-ny4HjWIZbdCMOBZxYXHNdctu3WS7F-saN92zzjCjnvP1lUtc0SnaTi4GRfqsZbs2mCbN_35W8p1QgxaR50fWJdU5xIV5OtTC0o-3zvJ3pn81eTOTV0_nDjFXwbNu7LTqkpfF4RpO9rF1hJ1DTMvWIMdjG3bOqMP_xSbmTRFoMFyfUACjGVogXcnkZpypHEaE5XD25NmjuG08bXiSbAi5FKGq1H7PTrE_y0abOgxBIxc5mcXo7-syvKb_fRWv99SVS3O5yTNbP2eJCmhJV3neOLgb3eC8oWQuaj9m0oV-ZzYjp12_I_fK-nyWl9WqXZqlEzJJsl8V8OL89XitEOik_P8T_qd4QOeLkibfw1E6t9UaLdGfhKjoqVeu7Fok_VS8EKFOOFMPj83_xt9qAjc2bFWb7e1LlO1FHjbCtlO04KzOut-ovkqzer38bMiAxC08vihaaNRR2wRxi1riqnuyyc5UdPBF80-U9iaHagEbsoe2JhFOonc1B5n1fn62-xLF9HsQ6bf8jyf6pprds7K8CT0ZZVu6UkqZTiIuI4t4Xlnv_Yb2OGGlhIkntY7x3QNmiu3Ze61PZbiJIMQLQxbZnz6OhP71moo_RJxKoWm5fzjDcFZjM3NnxwxOwmglLMW2aDG2fyDVHiF6AUC57O9xDOJSNT39qYauEB5HPEL5ibRBhEvj0QQ1nHFakhdmSXxFJmeKkCfktDiz7rKnkZNRM2crjC2d-PfbVHzTLHwgSyK2RrRnC_RHQbgzKa1wRPRdBTK2FP8sZtbVpwKDvUHceJle6fatkQnjhLZgcaXR2Dgl53lNVe3es2Yx6UTEYEwGBq45uUd-y75FlYJZp2o631zIilbJWq0cg9mjOJ0aQhsn2GP9M7pi5P7o44V_M1wF9MRXaIAh4Zklh1CT16y_nwhghYEl-Jmri9mbXh_v63I4QzA06FP6Hx0qarfp5Cq6Y1Ozq49QsZAFIXBbTpXIIMrRplLoZUSfcLJATs8fuUdr9xG4TB0d4bE7t8t25GsUC7Xfxq97Aj6qv1vkHy-lZlGJ172GefnBjvw88epH-82KiWHwuvACtIdOK6vXYlLX6bVy6j4e1WMq5XXwLhenbg-x3FgpMpDGz438nIF2ag-iP_p9w5pHZ-rDtUbMoUPnFLbGxTTV931ElRWAN3AfH0IeikP_RD0VE7-vT-68lk3wDKdg0XtnIQNKdnbSKJHqTbJhBNEFQRzfS6p3ouxiSnpQl-hbxfcCQ-QuW9MH_JE_RW-t9AXdDB_YRBFPa-L2M3FzYEZSoYcO_onJqZjSd8VKILRZxgXvsYJMRGmfeF-FJIbrxU6dBxggHJo03A96FYMfDGUGx6vS4kMTjx6WshQj9KpZe1euzIaDQdPxQLd6YpVgBBoLGtzoOq621w7lHKSj1a48R2IWM6KiY8gojJGP-iI0ZcazEQLGSU6lC__4_AJitNurUWlFkfcwYNGR750tdBnIvHnYrD_UY6AkFU73ZMvIaXs4B7wqxLYztq2PcAoHjYDtCOaQXNyUS474vI8a0ItddkvlzxOtP",
  "id": "rs_06dbcf307b9d3ff0016ab45b9da80487d0badf52a45f1a734c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.34,\"left_y\":-0.055,\"left_z\":0.01,\"right_x\":0.39,\"right_y\":0.4,\"right_z\":0.025},\"note\":\"The gray-plush grasp is empty, and the toy has shifted beyond the left gripper’s sideways limit near the fence. I will leave it there rather than push it farther, and continue with the reachable yellow marker and brown plush.\"}",
  "call_id": "call_tAeMAS7c1sgBFNdZJxDLpYoD",
  "id": "fc_06dbcf307b9d3ff0016ab45ba09aac87d0a83e0e5de60521b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tAeMAS7c1sgBFNdZJxDLpYoD",
  "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]: [-0.3523, 1.597, 0.3408, 0.5816, -0.3958, -0.2283, 0.9953, 1.0096, 2.3756, 1.7489, -0.4706, 0.7498, 0.7174, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0507 left_z=0.0161 left_yaw=0.086 left_pitch=-0.0544 left_roll=0.0701 left_gripper=0.9953 right_x=0.3835 right_y=0.3906 right_z=0.0226 right_yaw=0.0002 right_pitch=-0.1467 right_roll=-0.1489 right_gripper=0.9964\nstate[joint_eff]: [-1.5385, -3.6034, 3.9863, 1.3553, -0.2173, -0.022, 0.1245, 0.0889, -11.6171, 9.1009, 1.1111, 0.2955, -0.0806, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3468a59bafc4d70e3408d6125a77444ac0f3da5a448379917c5d8f9aa6689266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ca61c94d085f0e35458f8648a7b946e4b6bbe514630bb7ba4d23d99473e9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83896f69e06a9ed7bc9a9add636a790e3c8fd5feee64e19456b4acb9b73a6247",
      "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 90 changed as sent

message 98 changed as sent

message 102 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]: [0.0063, 1.124, 0.3935, -0.0002, -0.0906, -0.028, 0.9981, 1.14, 2.085, 1.2591, -0.3553, 0.8371, 0.886, 0.1659]\nstate[eef_state]: left_x=0.3116 left_y=0.0215 left_z=0.0673 left_yaw=0.0837 left_pitch=-0.1664 left_roll=0.0505 left_gripper=0.9981 right_x=0.2961 right_y=0.3388 right_z=0.0283 right_yaw=-0.0109 right_pitch=-0.1034 right_roll=-0.1306 right_gripper=0.1659\nstate[joint_eff]: [0.0342, -2.5231, 5.7641, 1.4188, 0.1343, 0.0171, -0.022, 0.6769, -10.5368, 7.5966, 0.7741, 0.696, 0.1978, 0.6325]",
      "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, 1.4719, 0.4191, 0.4309, -0.0521, 0.0444, 0.0099, 1.0618, 2.1944, 1.5169, -0.437, 0.7761, 0.7757, 0.9963]\nstate[eef_state]: left_x=0.3647 left_y=0.0496 left_z=0.0481 left_yaw=0.1057 left_pitch=-0.0617 left_roll=0.0787 left_gripper=0.0099 right_x=0.3432 right_y=0.3685 right_z=0.0435 right_yaw=0.0054 right_pitch=-0.1309 right_roll=-0.1312 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -5.3812, 5.2034, 1.6679, -0.0855, -0.0024, 0.7497, -0.6085, -10.9197, 8.3624, 0.7497, 0.4811, -0.0464, 0.1099]\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]: [-0.3523, 1.597, 0.3408, 0.5816, -0.3958, -0.2283, 0.9953, 1.0096, 2.3756, 1.7489, -0.4706, 0.7498, 0.7174, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0507 left_z=0.0161 left_yaw=0.086 left_pitch=-0.0544 left_roll=0.0701 left_gripper=0.9953 right_x=0.3835 right_y=0.3906 right_z=0.0226 right_yaw=0.0002 right_pitch=-0.1467 right_roll=-0.1489 right_gripper=0.9964\nstate[joint_eff]: [-1.5385, -3.6034, 3.9863, 1.3553, -0.2173, -0.022, 0.1245, 0.0889, -11.6171, 9.1009, 1.1111, 0.2955, -0.0806, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3468a59bafc4d70e3408d6125a77444ac0f3da5a448379917c5d8f9aa6689266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ca61c94d085f0e35458f8648a7b946e4b6bbe514630bb7ba4d23d99473e9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83896f69e06a9ed7bc9a9add636a790e3c8fd5feee64e19456b4acb9b73a6247",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFums50Z0TmampQ-Lvrna9TGL4XvzKJdmce_tFHljoNbVpwGKTY2u9FTXYy9np9u2PO5QHTCy5u70ddq9FsEUDerqB5z80iTV3Iqx4mR4zGfaBFQzf4GvhkORQv6qg7CX29BookYx2TtJYVQwpYO5tdnb2t8p9LN1Pj-HdjwWUk8kZ9bWFVEE7dfVFf2VBQxHN3BDMhwdUtFfUCtn9yys2UhRTP9Zj6Pes80ppncY_XKQATi14iq6rKpOSuE0qVRwLeUnb0spqQjlYyuCKZ4JpLtceIQtGglTntruOL0TvBeBpWMfYpwN5ubk0U_gwsaKA3M3TCPsIV-O-6pMdWGHzVYFGE5_FMn1ligY68bIWsWXALnVVHTAnagUlzRjtCRkoJcHvF8zrXRlzJe4Jp00UOFixKtdmYGsUOwKT7mMELVkTZ-OuamjUaNyaPZz1h2qYgyZMM50I9lLwWoh8UPEnlMGaLwQv2AdUoCbFbYxbUPzAWI4KbiQkLt_inEvpd9EhKRZVhrrdQZMD1Y1782WLtnYza0i1poDWDFm6-3ioFRjy5QmS2fssqHblk2vHUZcOFDqGACjqtoybk2cp9l-9WhPgyN6zVmZXSNCDrE9o41o4LKHQYGe93zDHCkiVn0J-0oNsO504bwnPfe7eqVSWwH-RzL2NZTVS9Cn_lTwo8TJMSFx7ZZL3yVPpHggtD2_NDzLi35M1MKe6xIC0rV3Jikt6T9sBCYmmj4P5u6xtM-zuttVjXRh3XZauWDyhH15pUe3xo0uRtOdKn6ZCL9xxAruANEcokg2h85_zoSYbuG-_A_Wu4W7_zreviArdz1cY-qyZ0-Dw2QBAGeug_F7s6-IwXV0SXMkG09P1pM4SqFs672HKZnm4Zwim7CqRP6sKQMuswWBSCdFVCV-OT9zxW0B3bdcRXY649QQHCkaGYHndrTvu2kFebXNTaPkZMOODDphqiOaiTIQ7bF1rghwE475KzAYSqu6HqoYR1NSUUVShpC0MBQaKznmApENqXs2Q60qXqSlriFhSDNKntT-kIkpXgkKtMhPsTk0e02Grx5cZBK1Y6GetGIa9Y4dEgKBbJiOBjcD1hbykbPAK3E-NUqI9FmEISobb3Xp5pCPvQbqB73tWUrShSX8zdfAGBAYZaMa6anJZ6RPmcsvrHYp5G3fbhfhfqhhbTYcEt8NI4KRcgTdgG-g0LQzQ3DbX1dvmgm2HLfEKHeQnXsh44jMVQcPSPMachb6r2uumm6N-sl7fFBzcH_6Hjb71fX8vigifLkJr-C4WW6U1RHT2P2tyq2LCwNPWr6SBNMGeq32R9POdWD1G0OkFj5MYTh32JHhmnS8TNUsNqWCxKGyZ06_0rpM7tUuYO0FY617zc0Q0_iyR-3woNC3JfVD0MDJ20udRmN_0Fb41uNyxeabb3NsVrGRGNovNFlTpBNlfSrKc7l4rlB1ZT_ZjFhlQxTExdWVHEbH495wdMU9fXxwNoMi95AsHxekAFzBhYqjKNnkz9DlfNNZd5qVzBKc6mHNXvBmWdcKM-r4qcKluDsSWGlUwhqdWSRvO-Rv3fptHpmlGjpssk-6JmhDVBg3YlaJcaXlJdO8W_6gj7FwIb6cN6UmZoabacuu7T0diuBU6BS5qtqVpw6recKKMCMLzM4DRHJzoS-MYl-LeUkvqFVBvK4yVqsyLeZx73p1qFGaS4mYOcedyk=",
  "id": "rs_06dbcf307b9d3ff0016ab45ba3ef9487d0b3fb54bf999b8e87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.02,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The yellow marker needs a small leftward alignment correction; the brown plush’s side is between the right jaws. I will close both grippers on those reachable portions.\"}",
  "call_id": "call_3SrX4iUiDh4jhTmVO0B47Pmh",
  "id": "fc_06dbcf307b9d3ff0016ab45ba5e2dc87d09a693d95f99f222e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3SrX4iUiDh4jhTmVO0B47Pmh",
  "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]: [-0.2176, 1.5803, 0.3141, 0.6449, -0.3084, -0.1535, 0.1151, 1.0019, 2.389, 1.7527, -0.4599, 0.7383, 0.7136, 0.0123]\nstate[eef_state]: left_x=0.3514 left_y=-0.0191 left_z=0.0217 left_yaw=0.1084 left_pitch=-0.0276 left_roll=0.0629 left_gripper=0.1151 right_x=0.3865 right_y=0.3904 right_z=0.0167 right_yaw=0.0008 right_pitch=-0.155 right_roll=-0.1453 right_gripper=0.0123\nstate[joint_eff]: [-0.1983, -4.8479, 3.7949, 1.3211, -0.0659, 0.0464, 0.2418, 0.5538, -14.5983, 5.9282, 1.0134, 0.4615, 0.0415, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb3f29bd0f31901923d3fc6903a0b334a364c806a57864f31ca98ec5fd4c5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f214f0b0983befdfe4a98a11aa105f171233d5c53f77c771a5b6b784112bf3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cc5266f0d319a389ada77221a02bd16c192ee14d761a038d7d7acd06401a77",
      "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 94 changed as sent

message 102 changed as sent

message 106 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]: [0.1242, 1.4719, 0.4183, 0.4294, -0.036, 0.0624, 0.9981, 1.1412, 2.1078, 1.2633, -0.3466, 0.8257, 0.8799, 0.9952]\nstate[eef_state]: left_x=0.3634 left_y=0.0554 left_z=0.0474 left_yaw=0.1063 left_pitch=-0.0648 left_roll=0.0838 left_gripper=0.9981 right_x=0.2951 right_y=0.341 right_z=0.0193 right_yaw=-0.0027 right_pitch=-0.1176 right_roll=-0.1401 right_gripper=0.9952\nstate[joint_eff]: [0.5949, -2.947, 5.053, 0.6032, 0.3492, -0.1392, -0.0171, -0.1299, -12.6427, 5.1761, 0.696, 0.4664, 0.0024, -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]: [-0.3523, 1.597, 0.3408, 0.5816, -0.3958, -0.2283, 0.9953, 1.0096, 2.3756, 1.7489, -0.4706, 0.7498, 0.7174, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0507 left_z=0.0161 left_yaw=0.086 left_pitch=-0.0544 left_roll=0.0701 left_gripper=0.9953 right_x=0.3835 right_y=0.3906 right_z=0.0226 right_yaw=0.0002 right_pitch=-0.1467 right_roll=-0.1489 right_gripper=0.9964\nstate[joint_eff]: [-1.5385, -3.6034, 3.9863, 1.3553, -0.2173, -0.022, 0.1245, 0.0889, -11.6171, 9.1009, 1.1111, 0.2955, -0.0806, -0.0024]\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]: [-0.2176, 1.5803, 0.3141, 0.6449, -0.3084, -0.1535, 0.1151, 1.0019, 2.389, 1.7527, -0.4599, 0.7383, 0.7136, 0.0123]\nstate[eef_state]: left_x=0.3514 left_y=-0.0191 left_z=0.0217 left_yaw=0.1084 left_pitch=-0.0276 left_roll=0.0629 left_gripper=0.1151 right_x=0.3865 right_y=0.3904 right_z=0.0167 right_yaw=0.0008 right_pitch=-0.155 right_roll=-0.1453 right_gripper=0.0123\nstate[joint_eff]: [-0.1983, -4.8479, 3.7949, 1.3211, -0.0659, 0.0464, 0.2418, 0.5538, -14.5983, 5.9282, 1.0134, 0.4615, 0.0415, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb3f29bd0f31901923d3fc6903a0b334a364c806a57864f31ca98ec5fd4c5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f214f0b0983befdfe4a98a11aa105f171233d5c53f77c771a5b6b784112bf3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cc5266f0d319a389ada77221a02bd16c192ee14d761a038d7d7acd06401a77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuvSRKCGyT2bbXV-h8b2cXikj1VvUp-X6cqej_P9_vFgxZlkn-LUqh5dcsjoQQ-u7nIVQZXoEO01QBLCio6QOtKrG6LS4XQvMFajnkBRh7kae9LtQuA63pDmSFq80Uh3-eE_ubBPShMTl7rxZdEi90Jp1f42QWjitBu6G3tgX7yK0Fu4oSt-P9XFio8dGNmOvRCEpykqzwjH7R1dyrMewCK1LYk1sz9YEs0t1tMkPozo3Hs1oiSyOqudgvnYOQG2DbfoL9NhDKlUpCRcGFoDmrW1Rhmko2sbUJPKO-bJIJEWyA_5i95_sWH7rR0ZiOPiqBcpipgAQLHPlJehg9n9nA4c3wqLBvIr3CUyYiuoH0emSyhhPpBpInTcPQhw-FZ_TAqD212bjbL4gmvoLJxGDZihOCz6cQzgzj-jeqqLcTvPKfV2YqFopQ1VsJz7YYUKyeCql2lYDPfIXfL3gTdh30vsNC-fXrM2q7nYOiQ0WvloVEf8FK2_fIKoptDh030ZGO0DhA-8CXXddlfBenZFZMVIbF-9k44ohnttY5rJhanXfZrFa_n4IFpQtANc0XP1eEEayuBnde83ZEefYPWxzjXcm9c1raMdHkueURmxQ9lr_kOKxryAhpaPpWwkLDCo3qqk1ymBnhOttQsTcrqt3B-IDEm_lrlyc27RNrpRkfTG8ATthjfrs_1J8f3wfYxcEc9WgpwjQbYD-jjJXBD4bRd0qqH_Cc5OGSlEgpMLKRjLU0tX6_oLNGTEUc09OPNKJobMaz300bJQj8nTVIpYQEN6PBJ6p56pLCpJPbLCFZmQFgR4YOYwNgCwEOfDb3ad0lLy2ymkMnjX5W5Uakl9TskMhosk4OXXbledRQOas_NL0_4fC-SiZVdx268pLB-Q6ysSPly5l5i8AB5N3u4jw3kw524Ao77EcRySB4Htmto0Q769sy_CGCTU9DGHZ54JXRQUwrALDo1702CqK5gmNDy-MNbRDRExVR2Wmq1ID-vjl9suLhPBjCiHMiORmaxRZ3PSOKf-PEcEs1qIDk9sBvcCU8m9J2qXzhJS_xQLSlWwpLM9xb7kLA08rcQqZAw-H_MffZmU6SG-pEhuDU6zXWJQfDdO1YwEjnb98ZJXnfTPMkdwtgLHMTkEIdRIbG3PtKTlRazglI4B4f5ej_nb5LOx9GNUzT2nXkb_qHJ_6Gm2jXBqSACVGO0YnGTkkkdHWQ63p7yJWgbYexGs7JNvKXCT52KAXxPRCzXxbw_yrLuhoSSjtb35GYqsk8jURg5launDGg4-UrORhg3LUrvEvo88HckHfADylWfii2Ss8teIeiVCu_wiZ6Sw8kifxpktio0IK8T4dTMlF2Tjov8DoLW00ZrZcuI704FWQO3gTZT_GCI_X5_O8cjzTlu-_xZh4_pI99DBcu1ERrIaFXQmViIXbo9X1xeV0hYHseKO9ae26mmm1eOzyR-XIcY5AV84CUAu0E3FQGpHd7jPZgpBkVjo-ZErPA0ZoIbtZ7Ey-l0ui4dUNHFEh-uTJAZzi1m14tf1NkmPJmN1UXn3KPYXA3ZT7GFWJMx5nXxKsPWHufSBceaGHBjcconhGtm5B9xfQmUEShV9WOVJvbpBy2LhoUiWhJ85a35qb8NOSHEiHTf-d1CUDJtPEZNNE5wiOpVE73l9_e611qnVv15bEC3jiwfGlZaPjNr62cPxh0BVGvK9ZckI3D2OPIQbizQJQLURp-wvzcQWYjxnYjVQTscj3dUVwTvofyPos0aEcPtVOP3gCgl33b1yc5KPVsvtOmoP45sPbn1S9TK73AixzyVyT8myP4f0INIV4f0j9Jc307J8Ry_JCSIKyY_0Ag4Uvv2M67qdw1cWBM8NwLOTjF9bCDbGkwNkAgJfdYSHgGHXjaXaxkNdtu76M4nMd-UbMTHI9CPSJeclOb18oZ2Alnh3-V65QCAhdCfvKFlBRVoBulvtxhC_MGkJtStmXYamZRnEyIDuBqnJpebDRtIw_9MGsij6cpd68IfhL3GCJLRZdErabpFMsHHnFq5NrHrv2tBM0_6sZwolq6b2ssw2-ejdP8PDHwv1xg3Lv5Q3AjzziYQ8HJtlCqY2PFEokl6M5BAyIOE3l1O2FIZRF0CNIl-KidKA8EscHzA595zw_LMUAfLn4M49i3WMknn9EIEUC482s9fyjeqA85Pw2hXbDKczvJbW1jd4hXw4RLAAvJNKb3HP3y8mSThrrwRTdfL0L2Un4w4GIY_sJHEo6mL5WzFCQNbrsrpiApCKeJoYIOgwFTwtKuco8mkGZfOO7itVPOaIr2I33cHk65DBstHpb-4r4NZFEpRwLGNVBCSZ3L2EDKigR-tI2qmkz4X4stF-h5xAyVMEvtbcBo7-ectLOc0ll-3lhHP0aO9-npWPR0b5oQ2d4aMQfmevIT6xwVEv3SLTnVO7-MqcwSk9spbZC7WWfqKg0ltUkURzLkwiNkfagyRi7FLIByAwCeTB6jrvr7Jhii9vTuI88m4hQ_uQS_ZUZD-GiCsGWqPGB8Aqh4EFvrJ304yLpzaE7YGfYIgOHRxJlHAo4OtdICDQyeANWiGISBi5rcMIY0KTGFTEBqi6LiDfvcViCjCk6BzoWZAoMPczSvB9a2Yy0Rbl1jVcVEf8CIxoiKFxvMq31I_IZOL6fgnR-j214v6CCvEnIqlF_FwXzXnpb6bPigFlNqppmDFG_JybVVU_8dtfqDVkKrIGf_VrnJ_fYUT4iK5mhU2z9IkkhetsxeEMJyKKRN-UY7SWRmpoguD5Eqpjz1MrhIRFDsTH8D0fBC7w6isGDzD8pFw37QWlJ8ND9qtKN57ovj5__IHGN38N4h66s7a-PaNvzMaU3Y-X-sbCKPb4lR-IcVRena_22BmLyNj30U25p7s7sqllJjgoegnagHri7LVoX7tO1fFd7OaomJPjsadl_EtnIBF",
  "id": "rs_06dbcf307b9d3ff0016ab45ba92c5887d0bd45bd4c06f495c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"right_x\":0.49,\"right_y\":0.24,\"right_z\":0.075,\"right_gripper\":1,\"right_pitch\":0.2},\"note\":\"The yellow marker is held, but the brown-plush grasp missed. I will verify the marker lift and approach the right basket’s near-left rim so I can bring that basket within the left arm’s reach.\"}",
  "call_id": "call_zVCVXphViYb5dF6oHKqIfsth",
  "id": "fc_06dbcf307b9d3ff0016ab45baebda487d0bc9da462fa31656a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVCVXphViYb5dF6oHKqIfsth",
  "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]: [-0.2153, 1.2304, 0.4839, 0.1139, -0.2989, -0.157, 0.1137, 0.6743, 2.1727, 1.1824, 0.3832, 0.6827, 0.1921, 0.9957]\nstate[eef_state]: left_x=0.3492 left_y=-0.0195 left_z=0.0974 left_yaw=0.1047 left_pitch=-0.0401 left_roll=0.0584 left_gripper=0.1137 right_x=0.4769 right_y=0.2431 right_z=0.0396 right_yaw=0.0059 right_pitch=0.1015 right_roll=-0.1862 right_gripper=0.9957\nstate[joint_eff]: [-0.3897, -4.9162, 8.6496, 1.6484, -0.2466, 0.0024, -0.1734, -0.7043, -14.8581, 5.6137, 1.8779, 0.3346, 0.0317, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53c0650e9fe1da6ae5b14c9d8a1fa1745c306c1e7a1a14be56a3dd4c3ab751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2d6dd6ed6b19f25ed221ffa2e6eb4331fb51c9d64f31a1299f581022ff466a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29d4efb3617974de7ed81053075df17442d30de8bf4f1e345446144428311a1",
      "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 98 changed as sent

message 106 changed as sent

message 110 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, 1.4719, 0.4191, 0.4309, -0.0521, 0.0444, 0.0099, 1.0618, 2.1944, 1.5169, -0.437, 0.7761, 0.7757, 0.9963]\nstate[eef_state]: left_x=0.3647 left_y=0.0496 left_z=0.0481 left_yaw=0.1057 left_pitch=-0.0617 left_roll=0.0787 left_gripper=0.0099 right_x=0.3432 right_y=0.3685 right_z=0.0435 right_yaw=0.0054 right_pitch=-0.1309 right_roll=-0.1312 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -5.3812, 5.2034, 1.6679, -0.0855, -0.0024, 0.7497, -0.6085, -10.9197, 8.3624, 0.7497, 0.4811, -0.0464, 0.1099]\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]: [-0.2176, 1.5803, 0.3141, 0.6449, -0.3084, -0.1535, 0.1151, 1.0019, 2.389, 1.7527, -0.4599, 0.7383, 0.7136, 0.0123]\nstate[eef_state]: left_x=0.3514 left_y=-0.0191 left_z=0.0217 left_yaw=0.1084 left_pitch=-0.0276 left_roll=0.0629 left_gripper=0.1151 right_x=0.3865 right_y=0.3904 right_z=0.0167 right_yaw=0.0008 right_pitch=-0.155 right_roll=-0.1453 right_gripper=0.0123\nstate[joint_eff]: [-0.1983, -4.8479, 3.7949, 1.3211, -0.0659, 0.0464, 0.2418, 0.5538, -14.5983, 5.9282, 1.0134, 0.4615, 0.0415, 1.0623]\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]: [-0.2153, 1.2304, 0.4839, 0.1139, -0.2989, -0.157, 0.1137, 0.6743, 2.1727, 1.1824, 0.3832, 0.6827, 0.1921, 0.9957]\nstate[eef_state]: left_x=0.3492 left_y=-0.0195 left_z=0.0974 left_yaw=0.1047 left_pitch=-0.0401 left_roll=0.0584 left_gripper=0.1137 right_x=0.4769 right_y=0.2431 right_z=0.0396 right_yaw=0.0059 right_pitch=0.1015 right_roll=-0.1862 right_gripper=0.9957\nstate[joint_eff]: [-0.3897, -4.9162, 8.6496, 1.6484, -0.2466, 0.0024, -0.1734, -0.7043, -14.8581, 5.6137, 1.8779, 0.3346, 0.0317, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53c0650e9fe1da6ae5b14c9d8a1fa1745c306c1e7a1a14be56a3dd4c3ab751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2d6dd6ed6b19f25ed221ffa2e6eb4331fb51c9d64f31a1299f581022ff466a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29d4efb3617974de7ed81053075df17442d30de8bf4f1e345446144428311a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFu9vTUcmxWMyzeRWupizq_LcFxvDmpwB4mWc9a8o987wT4PoAEgM8OO_rSTXHfoyXud-nVqrYmeNUIk6scz2OiV8WIvS59s5FMUAOwslYCBle0I8FgKvmUEIAqCp-DCzaRowJ2F5bmsZag_r8L5opLcsnNXenPv0cmyrU0hzX5uKKIpRtexNMfseJzg8zaBk8aWnZv3HlkG6uVZIBOAxxrRnFWGB8IprtZ5F05NHE9N56-eXk21lzQx8GleUXDg-XOqT4SbFRRWl9C9-R9DBd9hY-9-52GRJk43hUxlR7iUY2tMVKKsCBEZ5KmpsTtV7-T2m4ubAEsIpKIaU5ExYMDcIu0aZse7MOwDE-DAwK50-Mu-7hnnQIfQXyo5QTZfGeXKnvOkaHSReXA9_YVF1X8aHjHVyLa63t9Dv3j0Ky0Y50NX_57-VKXp95JPZDKRKJM9748NOGrbXd_NU5k4Fomorn49sJ6EXE8VI84qkbEQ2wzOqlgEOdfGJlbRGFIZYscUNBDaIOevrXbw9JIeAqDQsFA-sN38FXdFNVJbwpOjZg-haeObQhU_NvDoo1CE2ayZxJ6qQiakPLM8nosDEXVH3vYV4DS7IAMX7WnLT8V82q5IPUr1YwjsTNDSOqjZIC3JbGYkAJI8xd3yymlrvKkXEbxi6-anQjx-bzqF5oDCCzl5zAIKKM3w2wZUPLSxwQEvmvFFaeEcYQGbIuWMWxAfQ3pEI8kYbC1PjH5vrfaexLlyYTVSdFMtbHnMVwZa6j0N9Df4tv5omwvD9_uxBNlyKLgl1LiH4cRgp5UZkOcdfBDrAdrs8zLcZ1zREwzywRARrPAzBWq_cM7rwua9PTGbArpAxhfeJjryegYf2am7fSJ0LX8tdsQuOTnIu22dz-aWTeqebhXvPzXKM6nf3_djlDvjKvlP8epWDCiysLm39ENePeAf9kYLHyj_6kPSBBuGXM53kKRWBprH-AS2GwkkiETAdg_dAVXCUjmFI2XSTSZ4o-27T8Lj-OnxEBaAe-_3OffcI-1tkOsOgLA3FZghrttgVFG4qzKunB1BKFklbxXHtRAlH2uBFATUHAw_k2wRi6X-AZzTQoVKGrrO_gf8dW7UXPtGY2G71ACO-TpnQOS_W-P6hV-gY-kiWstNQp8giuo2KqlBYA65XFS7YA3Mzg4YQjuXGHSduz6d8pS7nxY01o93J2ferH5mvzTyrRQh0VNwm7OpQn-VvnAX0rnhhNwpvbBlo1i9mQMK57GOwnOKxwf-auBLIhKCnqn8rZLaGELl1LgVLdEuNn52yTKYCmopIJAzfXyQuanooe5_BQPhjsyA5li7MC0v3x-sWYQJWiK-kKRh0mNcfaFvrCv7Fg7rgD0r-iluanjiBfBetyh0d1CNr_Aybv7fbBPoaCzSgLbGMJ0VKvYd_4rUeQbwQm3e5RFiZiNjGraH_aLZIbZUeHgB6PB_g5N5lXtbWgadKKBmmI9gSgugohDWrc_vFw7rynJjZOkFFK2HibyZI46sRifuOdxazhRZHBbw3DBTYsbakimS7oSGkrhY6t-gFQPs3YOwWDG82XVk-lZBJDjbXYPlqU3EDslzcnbSyVIXo_UDzQB_tmhB5GuII2rgpoYB-YkgENiHMhE2OtGhoEFhylSs4FkcHiRSXwdZf8y4aZ9wOhT-eCn-M3ig1SvIAj7phnIbPU8YRyhuj4XkCKo09hLOFZQU5_R5-3Hxt-54XmWGG5-HkTFSksfOrxIsKnPH95mlyx710z4qBQiddKvpnzk3w4a9tRUbHfnMmuUaQU4KCIJtB7yq7NKAm0U1ZwcOZno6u9RHJHxhHp1xaw3pCPHNljBj9yYxj1-I1OoKIZHvmABmRY2pFco8M0GWcBtJz_mLpQ0DoiMYAQ6qF7Bwwg0KcXAs7FggtlKxJmPPViB55Q3I-rOnCRpThXMep2GfGFzKw2l3nm1Xo3Lsjvvtj-yrSmweFw1tq0RxkXaT2YnOGa1NZRiUTGwT9AsnN0-NyO3JOWOhGtjw2vYCgi5YJKtzg68accbo5P8ZI8OW9936EQbqgqVgnlfKcg0N9hB6F8GHSOX-s1FgWgIaQNzQgqD3vtXDKfRT6EdD5jhhqvGgBvNxM9qUZRjU-c1BmDoIyCSJIwLDYqkCRMVeQ1mdR-kktpK1bHwqqNy_sWm556pwnjA7a8VzNFahUosD0m53HvuTTQle81NNEf9esp3pw0ilrCbhUrT5BsXhXBlxIThytg9m3tS189TXBACEAs9Ut5vxnLLBENK_8Dn2apRYc_qoXp4Bkh8m2yZ50eIhd9dGTy_-J2aYv7I6oXOh0HEVwHK8SMbqLdee4SpmVZrwKjvV4xfVNjhfGqgLDcZ0KVm08f5F8ae93USPuPvwAtfC6-pFKXidVVcH1IGStW-IGEyo9e_l6m-C7aBr2KCz6dV62iFQrIF_2coVItCCZE1Pc14zV6uYSQZRiiyy2K0gimR_PpQ6E3BFrfeJxv3znf9NZA6V2Xeu2bfso1VWulUASRu3FntRrZCG9go1VGgBr6v1HgpYMQJUuj_N2f4CCs9VqcQELT9foaafMRybV5Bp9z_HkwwHZXF-a6C0-GZqfp9r8efvMypyCOZLDVrkeMgqUBXzhqy4czNf4dFdnwbGCY8SQnHTo8q8cwIaiePDD4At1WLAC0pYk1io-LCKcM6pBP6qIyxavNv1cja6xcYtcRyrDZDgnnZ1m-GKSYWUM05q8s0PGsdWmO-zbF1vkSQNNR7VAwavVdjoJzr0WpaFWlzugIClBIx5VpO1N7zD_qPx94waC4FGPlg16EBsDJ4TkdxWTZdlrAuJ__mIO7hB9ppqsVfwjIUulgifYZwC8s8eBs8xCTmpmGAEMTWAOv-EbzOU3ye1MM2pi7h3RxoKprspdlbjt-Zapnh4PauEHy7WqLzjU82TmGJMrw9LLDXGKFrT0jpBC33DOv7DHQdyYqp8vInGtCkee1Y-LEj4Tk0hr0VrKVGVx7hPOVRSqy3aRAidftWtSDMJ_UppUz276MnaXYYCkOz-bhhOedmOqMB7NWWtYiM_a_vqzjDgVej_RM7bIF0XcX-dxNz_KqytPh8HrIkE4AowSOhER4MCEg3ffuKoQUAogbWE1-vv1VGRHB2k8KThqUAeJA9-3788_nwQf-oH_JMC6S2D4NJp_8HpjeEAQNqX3tfZ6r4juwkd_wnZdA-p9dmR7L0y9MSWKS7DsdzHuNWPT3jM36WhfyPP6AqsVbOqCddQGtqIPOGbFzQDSjukIisV3JftCdsYSkN5d2bCHqRObafY3RKH2IeGJKT-Q5-NS6RQgNtUd37jbFsAZGB-MxcMthEXct8wqraWkTLRvo5HQ3CrVxXLWGsL_YYsfvBykWtYNMAG5X75wEIyw-lqWSD8DWa0SZXjACE8ua6jXEgFaGnipnUWOUKCwLvOCQylMUNWRADpq2AmnwyFOkBjgco5j8M2mOB74Rcn4izSo_HVpBDqG2bHOS_7oEpKXG4UBlhzhkZuyFy844JxFAB04whDi7MB6173n54FEU6PGRbBCTL4vK4Y_WVPXlthgJ7x7pGnOggVocTN-woAgJux3tk_zzjq4wcmGiVh8mkWrLo3rySMkd6g7WKNwzSg1UPiC-0_q-Gmr9eRow744xU4qgPNy1s9RpYtfcyfJoXRH1CRt2QqSCEoFMCzyH5ZAEcE7na6FhbNGOQlQKGP7AKZGHqeoKzSvo3HIS5EuUqCsbXjW09732WJGFkW_3w_X8RTaaattV-ur-cLRNtViSrGF9qZRlc4fC9tphWtA6W4e52lEgtE_Id-5nOlueLVd5Fai-MTfdz5RLOagU4vJEVrglWiPF7wIcwU_WXTWm_nu0s85V9Cj7XbMwj54ydOv7tN0Dkh6oauwWq6Rw6Yo-k6ygPtB4be4cKf1r-FI1Q0JQOvoUv88NXmu37-QuNIgNe4FqeUZ9LgU_hBWlBzfb3W5QArZ-3pzqZ74_4qfyIE7Nr_NRZuJg0=",
  "id": "rs_06dbcf307b9d3ff0016ab45bb285c487d096eaeca60663f69f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.52,\"left_y\":-0.1,\"left_z\":0.2,\"left_pitch\":0.3},\"note\":\"The right jaws are positioned across the basket’s left rim. I will grasp that rim while carrying the yellow marker toward the front opening of the left basket.\"}",
  "call_id": "call_lUkQjuwssb8RaMo8eU6EAJzu",
  "id": "fc_06dbcf307b9d3ff0016ab45bbc205c87d0bf26cecd7ea8a773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lUkQjuwssb8RaMo8eU6EAJzu",
  "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]: [-0.3439, 1.7725, 1.0676, 0.3256, -0.4763, -0.1379, 0.1135, 0.6682, 2.1712, 1.1698, 0.3855, 0.6685, 0.1833, 0.0117]\nstate[eef_state]: left_x=0.5082 left_y=-0.0922 left_z=0.1737 left_yaw=0.124 left_pitch=0.2253 left_roll=0.0581 left_gripper=0.1135 right_x=0.4756 right_y=0.2404 right_z=0.0354 right_yaw=0.0159 right_pitch=0.0887 right_roll=-0.193 right_gripper=0.0117\nstate[joint_eff]: [-0.6222, -9.4838, 8.8274, 2.0342, -0.1148, 0.3639, -0.0317, 0.2667, -11.3709, 6.4752, 1.536, 0.2906, 0.0757, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae148c9de62d45caeb1042d8cdcdf5e2219c507b1ea7c600fffca83ec045e1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7923af4d399e5b02f9680130c699966bcb0c229ddea4e4dbcc8c9f85d8093b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5152fa3eff1df3a996a89a855421d4942e7e6b3bf65ca4718977918674b4b55",
      "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 102 changed as sent

message 110 changed as sent

message 114 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]: [-0.3523, 1.597, 0.3408, 0.5816, -0.3958, -0.2283, 0.9953, 1.0096, 2.3756, 1.7489, -0.4706, 0.7498, 0.7174, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0507 left_z=0.0161 left_yaw=0.086 left_pitch=-0.0544 left_roll=0.0701 left_gripper=0.9953 right_x=0.3835 right_y=0.3906 right_z=0.0226 right_yaw=0.0002 right_pitch=-0.1467 right_roll=-0.1489 right_gripper=0.9964\nstate[joint_eff]: [-1.5385, -3.6034, 3.9863, 1.3553, -0.2173, -0.022, 0.1245, 0.0889, -11.6171, 9.1009, 1.1111, 0.2955, -0.0806, -0.0024]\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]: [-0.2153, 1.2304, 0.4839, 0.1139, -0.2989, -0.157, 0.1137, 0.6743, 2.1727, 1.1824, 0.3832, 0.6827, 0.1921, 0.9957]\nstate[eef_state]: left_x=0.3492 left_y=-0.0195 left_z=0.0974 left_yaw=0.1047 left_pitch=-0.0401 left_roll=0.0584 left_gripper=0.1137 right_x=0.4769 right_y=0.2431 right_z=0.0396 right_yaw=0.0059 right_pitch=0.1015 right_roll=-0.1862 right_gripper=0.9957\nstate[joint_eff]: [-0.3897, -4.9162, 8.6496, 1.6484, -0.2466, 0.0024, -0.1734, -0.7043, -14.8581, 5.6137, 1.8779, 0.3346, 0.0317, -0.1001]\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]: [-0.3439, 1.7725, 1.0676, 0.3256, -0.4763, -0.1379, 0.1135, 0.6682, 2.1712, 1.1698, 0.3855, 0.6685, 0.1833, 0.0117]\nstate[eef_state]: left_x=0.5082 left_y=-0.0922 left_z=0.1737 left_yaw=0.124 left_pitch=0.2253 left_roll=0.0581 left_gripper=0.1135 right_x=0.4756 right_y=0.2404 right_z=0.0354 right_yaw=0.0159 right_pitch=0.0887 right_roll=-0.193 right_gripper=0.0117\nstate[joint_eff]: [-0.6222, -9.4838, 8.8274, 2.0342, -0.1148, 0.3639, -0.0317, 0.2667, -11.3709, 6.4752, 1.536, 0.2906, 0.0757, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae148c9de62d45caeb1042d8cdcdf5e2219c507b1ea7c600fffca83ec045e1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7923af4d399e5b02f9680130c699966bcb0c229ddea4e4dbcc8c9f85d8093b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5152fa3eff1df3a996a89a855421d4942e7e6b3bf65ca4718977918674b4b55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvEDnr04Bc8CxCgnPy23wPDAomXq-2ZGmnT8t5zU-LxL5X3EYV9iOyIBD8PVdJvh-7jS_hgEC9diciawUWRQRLPgu8-sKr5qfaZxRiiAh4e8WbLknmmDFgllYgRN8Ms2-c9EaPnU9re78qu2e-EdcFf1Iiyho5FU1Bvi5XvtSsv4UtDF3rYX3ZyttAmXClE4Vjsf5UAqr7OZQS_w2Ql87hvsV5PQdppYKB899lKmzRhHZqlyG9-XpBo6t63yb8LYNX57b17jGKKbhWlfu-DmA-Q4jFX447Lgv_EocMNZUyrxSDpTfFAxe-epMua0LfGGj5_ED0mlIdrctUcrRcTmmNO04Swl7dCgYWxrfFNWP_aK3y2QlWNYMMIcRNPACVTISKsusalUZfVtA7TXYhCkO0bXlMcwja1-_ae7Zn89E-RO5WzDd3Zr0N643da1zp_e1fQxW9d8jmKP-61sSaAlfht_Y6D_b8Dnm-Jeh3MLuZuRpyCr9eZWUScTyaEHFSNnqWL7_7MA352eOG_ATKB_PGlc5x4ZtX1_FDx0ilFVjD4TzeJjOLdX8Wi0PSG8kjaq2izzZoOfam-DWsToEWvIlIRjRcfeCi28MetWyX0ZaKxVLhH6VEPJpMZpKJT9hk9y7kqqHdAo925DEhn26inCKucun61gferE2RL_ZhTQRKSrCelHIRHMaD6C2TpW6bAG_IHQnnGcP1ssefQ03HyIuCXFlptom0qk5s9DEC0NhE5s01Yoc9ip11zylBtguKASa4qrjNp0yx937Vfvi7F471xt0cinJR7gK6y169DsnTjZDW3bg3dEb1nWXz3hxNER7m4YY75EXInBRVOl4vuzhzKRiNV9RijX0jMB-4yGpZCAAyUGBgyktdJVYOm5KmUTxGUzV_AdXeHp1l1lHrfN_vsWCfaW-Hm5JvQSKVTic6Vvf8-nJHlOvFLyrP_nQyvLNmHkMmoLAZK4PtJerWaZ3eyyMoFsA_Y7ueRVj4xsk8M60RrMQCBQjDFsQGs2xZ5YyfGOP1OazFXwRozXJXSbexmAwkU1F9cQgHyEbbByCjNYrigOrcj1HH-NX9V62MwM_czLzJof_Vg3Sg_bon9Z_te19kdFM0tbqmRJr8pBoTB3wZZOVp1QIAzGbb15tEtCprYK8uPKQN2L03whIneFLi_yhUrpg4enrjzJVK5X-F3wZIDch28DzuC-UO8Ntjdr1k_3HzssV-RledKRLgmWKE5BOtcVUuCQTlUPd5y3d8KFwpteTUCgCZ9BAK09NUDifl2q2IpgEJfue7UFRnJ_BDph0VcKm-12PXHKycYqNmOPw5ECpNuzvI248l9Y2nvZ8Skfhp8cPmTxAXwMpxVhUtCZACeEz8PF3DDQUhF4TLARHTBCh7xEI_cLHRGahdIb17vySimpmQlYKcFstnHe_iPqkBPX4MHRtSLMH27mgcWveYGuAVlP1Uw1Qk0Q8ke9J1bXUGLdAAjZx3tyj1fKsB7LHtr06XGnzOVGbeKWB5B_b1O7QnfpAYk_Ff4XoYbD7b5QvXws3bkcY-cJ8iOBesvqGEwVmnznN33cdgsqqGGdZEKrRmwagfbhgaB6IFNMLCeH254msNc9pe6q773vpCbEQWy3xhUBR4BcEjGQRnd6IzFQeX2DrlMUoUxkUQeO4XlqQ69SmqBBNHq5ErI6UcgNs7Rws-yyI0QoFMHRPcQtM4puZyWWomMU0BP1VbmSOSfbZQ0OeBqg3vbgMlxeQEHBapGXMiFtfbLg_pEHkpcrJp8pTjRySEBrrqiG4sIMD6hc59I5NmMPumBfATaYJfhAlkEPnSdrqEJJPmLoMU9W5lv31-EMnLWQLCW0PtxVeQChE2p0j9KKuTGOyxUFpd6IdXyxAcboA83Lwe9EJmIsBw=",
  "id": "rs_06dbcf307b9d3ff0016ab45bbff2fc87d0bdaf5303987119f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1,\"right_x\":0.51,\"right_y\":0.205,\"right_z\":0.07},\"note\":\"The marker is positioned over the left basket, so I will release it. The right basket-rim grasp was empty; I will open and move a few centimeters inward to straddle the wall itself.\"}",
  "call_id": "call_VkEcV6gkNlMc5GfaAMXs0jIf",
  "id": "fc_06dbcf307b9d3ff0016ab45bc319d087d0bcc50afd5446feb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VkEcV6gkNlMc5GfaAMXs0jIf",
  "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]: [-0.3454, 1.7859, 1.0695, 0.3214, -0.4866, -0.1493, 0.9957, 0.5655, 2.1578, 1.195, 0.3202, 0.5671, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.5086 left_y=-0.0914 left_z=0.1674 left_yaw=0.1359 left_pitch=0.2136 left_roll=0.0579 left_gripper=0.9957 right_x=0.4972 right_y=0.2074 right_z=0.0338 right_yaw=0.0344 right_pitch=0.0245 right_roll=-0.2258 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -10.3043, 6.3795, 1.8339, -0.0415, 0.0659, -0.2271, -0.8821, -15.3778, 8.2667, 1.5946, 0.2857, -0.0122, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0e7918eb616620df0dcfe9834a5787eeeca64342f93ea4f5d5f06108e4b9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c175fc34020da2483d6e3fd162db90c983d553fcab573c9a820a2efa88947581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb912f4d4be2de776165fb035be3a53ef3f6d87ea4f3cd0b38fb2b503640923",
      "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 106 changed as sent

message 114 changed as sent

message 118 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]: [-0.2176, 1.5803, 0.3141, 0.6449, -0.3084, -0.1535, 0.1151, 1.0019, 2.389, 1.7527, -0.4599, 0.7383, 0.7136, 0.0123]\nstate[eef_state]: left_x=0.3514 left_y=-0.0191 left_z=0.0217 left_yaw=0.1084 left_pitch=-0.0276 left_roll=0.0629 left_gripper=0.1151 right_x=0.3865 right_y=0.3904 right_z=0.0167 right_yaw=0.0008 right_pitch=-0.155 right_roll=-0.1453 right_gripper=0.0123\nstate[joint_eff]: [-0.1983, -4.8479, 3.7949, 1.3211, -0.0659, 0.0464, 0.2418, 0.5538, -14.5983, 5.9282, 1.0134, 0.4615, 0.0415, 1.0623]\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]: [-0.3439, 1.7725, 1.0676, 0.3256, -0.4763, -0.1379, 0.1135, 0.6682, 2.1712, 1.1698, 0.3855, 0.6685, 0.1833, 0.0117]\nstate[eef_state]: left_x=0.5082 left_y=-0.0922 left_z=0.1737 left_yaw=0.124 left_pitch=0.2253 left_roll=0.0581 left_gripper=0.1135 right_x=0.4756 right_y=0.2404 right_z=0.0354 right_yaw=0.0159 right_pitch=0.0887 right_roll=-0.193 right_gripper=0.0117\nstate[joint_eff]: [-0.6222, -9.4838, 8.8274, 2.0342, -0.1148, 0.3639, -0.0317, 0.2667, -11.3709, 6.4752, 1.536, 0.2906, 0.0757, 0.7692]\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]: [-0.3454, 1.7859, 1.0695, 0.3214, -0.4866, -0.1493, 0.9957, 0.5655, 2.1578, 1.195, 0.3202, 0.5671, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.5086 left_y=-0.0914 left_z=0.1674 left_yaw=0.1359 left_pitch=0.2136 left_roll=0.0579 left_gripper=0.9957 right_x=0.4972 right_y=0.2074 right_z=0.0338 right_yaw=0.0344 right_pitch=0.0245 right_roll=-0.2258 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -10.3043, 6.3795, 1.8339, -0.0415, 0.0659, -0.2271, -0.8821, -15.3778, 8.2667, 1.5946, 0.2857, -0.0122, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0e7918eb616620df0dcfe9834a5787eeeca64342f93ea4f5d5f06108e4b9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c175fc34020da2483d6e3fd162db90c983d553fcab573c9a820a2efa88947581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb912f4d4be2de776165fb035be3a53ef3f6d87ea4f3cd0b38fb2b503640923",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvMyBrnZzEiK1ly4VYvYQZ2ZO3_WpHCTzrknDeJ6ZM13eGMpFytiZtTeZhzsAkvROmqyDp__1YCJ-HpcB6_vbuh46wSATrbFy_6CaTyDxLmox4E1w48Rj3tJorbqzdYC_IZTTa751ppjXtkCNkD3zwiDnVtiaBmarQ_6bc30f44D36xUq6-UuCWbnJcm1kXx7BL1m2OhciN1V27ytVaygi-7PH_AZO9PvaV-ycJFOUzZD74tqnCkzHXFLMS9I5_aSwNoivubOsay7dN390N_Bcn1FrQlnPE1PTOPUpNoE6c_A0uYji_S9tJOtHo7MR_wu4lS035sbAvX4-o4ZJCSIhVGN1mCMSQzNVWGmbj5rKuV9oEpAgbZQJzvsWVcsbMbGE7r4pTHmsdVheQODXy88Ys0C3s0R-k9kPmSUUGTPHjd5lTq3koTsUAVwBsGJPDNWQuqTXq5tFzZWdG5FRnhvNQhNvRWlJnU-Qa3kSgOykS9a1YgKB0QAB24886UZLftSkRzSTvYhRzj7_h7EOMtcqObQ1oFWJRNbJR5g4-89Lcwrwt_fnSfqrWf32ghJUhOr6nwaw6SoBRE2-zbUWb5_n4k9UKJLzf-MTLQreFgxg49KJBJhe6jxS5KOrzAxU5XFuntXkYip1ZdpoaJ3jUrgFyc4T8ruETOdKZfx2qeSSYhOFmL2zLPatxUXh0u_Jo18fGE4MCt_VoC8KkAqqvo1krFQ_8tF2j9xuU_8fmDldMO9n-gtqVX5ZBLgQqKHgCMTNfGa3rOHOlzpAYb5GEkkXAKh03ngcO9wwVmN5LInYYk48z39LldTyNNar4aq66iFPv25tUg9v86OAUZJh8XcC6MC3N04KbdojnLnWyoT4AcAEj9tu2sL-ghzxD6fJr6JOdUiw5M25yzKo5-wRuv6y8PnSBnbo8616_AyMi5JN2tfkcJetV1zlZW2sXdrc2NKJYASXtWsxE5k2x5wii7YN2hDWABxEcPxGuAjRB3aSqoSaaBZPUJHybdHsi5zHR8oweghUwjwpsOt0VRQVUCDfia3fWO-eLWiuzfpigdoO_jkCOomaLoaRN3wtRfnjlk9trQsuEX8i6-0jh7e88nlQ3-v6TsqeHn2L6Jqf4WLiejHDj1z0XMWYPZ4rCmtuoamYfjsW6vS_Kam6hFIeRJ0QoNZSt9yQ7Z7XbRFN5ZZre91WDt_nk8W-H-DBJx6SZ4BfKOMkZ-lVWMgAyXAxdEWLNFGVEEzKVaLzB-j_CrOZQzxbfmg8MXVS4B7xswbHiOb_dIasamYjorV4KY5r8XERZy8bNxFCtavgFJ7DS-Z3o_mQos8BIbzki1uE5yP7eCNkv8bSs-75cXuz1ubOJ9fEz2WNO8N88TFxxPVWLviWoV5liW1pz-IQVu7YN8OgUsBGqyGkwiabv0vhFYnDrKlQdBcf7Ou_WbJgZ7AX6Le66d0pDB7Mq-S8FyIgvYIb46UldFn3L3rEAext0QGcPxpZI_pjPHk4-vaYfUwC6IjLH1qlSbIAEMyFhKi3z7RapolThwUjC8BEIEIRP48rshjYWDn5uK_kqwoPw5uhYZnoHPoRmxv7SChS-MwzQ2p2IrveWvLKsorp9bbmYsiPzwAZ24N1sEfAFxnye1Cvwiy47YJCBdd3YIIg3z3ReFW6kojhcmEClQEhdkSfR6H-iRugBI_op7pvcOAdGW13h3PndSxxmGqdplXpWeQvH0afxXLrZejiMnGPGOhS8DsM_pVHzbzvHbdZtxdUI9QQBEAwmnwG6gND0Tt6GkzFD8UvgcecA0W8VB3HcDO1qrFZYT2rrHtLakWHKyHas2nrt7BluLZoiDGcaSPOKgkWmrDp1xYGHAzjAe4ki1-f44dq2747C4MGHmuDlSM0B7jpc9BWpXWjxJT1sf6tUBED00yjX2JrBgoPSCCEjy14jbZhoTcQKKSd5hb-Kz9w0AMQxsJ0lPEvVgA8mpZ3bzQyE5HkHx8pLyqdZltq9A-GwITZb6HCqaAAlDLCvx5wH_aJM_XkfaobPfS92N1rag7vXWgz2dQB-29ux0rJIgcUXi8T_oJ_1YZ1h-dhIPezmBkwOyh2_X_ZuueSvl5liwAW0aUKnZbwtMuRFY4YCA866ibWGuOOAWARaa_bph1FFDLOCzbIFebpVcjjW-SCmTC6EbaX8bUeWNN5sgJIuneBx5-4u7Or1soOFCaFNcgUk1iVfxBeFY57hYdrDLj0uzp2qjo-8aFJyvQqSSpOGBcfoeajwEyqYUvr_EKo7pgG0kY14vucKhwfRL6bT63nHgNe7ydDrCuuhGLhZnGNIqdvpqbbILi0eMPxsr9udZ9HRtVPzlusNtFOLIn54q5hq0NbAPTfxAlH319TpveJfvUFyIkHSerOWDMz4kJd4OTNxWafrykenxxH-pPh5rHfuPSGVDCduyiyc0kqyi9zhbTGa1J3UfYUy_W9Vnbed7VAky1qnYBwQsdeRuafYXuAtB7oc7HX9Q7RFG3jobof9Kp8UNkWFv1WLtDS628ctkawY-T8ULWWwZnLcb_DsJkhc2rWDAwqMJMd7bsXyWqJHEcscsKK5ET6KSh7e5PnTJo8jk6Z7TCNOE1evUwS6NFq2yguC45MjlsLJiNURe5ICy2XeZx_qdzh5utUXecgU6Zo2LXgoeG2Gw_3lbD0V8Q9toNEYZnpZ7-xgHTVrjccXgCRVxow4ssgPdg==",
  "id": "rs_06dbcf307b9d3ff0016ab45bc6a93887d0ba0d9bee7e521317",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.07,\"left_pitch\":0},\"note\":\"The left basket still appears empty, so I cannot count the yellow-marker placement as successful. I will secure the right basket’s rim and use the left arm to approach the brown plush, which has shifted toward the center-left.\"}",
  "call_id": "call_EHMpGczD7uIX1mjGBwP3BMtT",
  "id": "fc_06dbcf307b9d3ff0016ab45bcadb8c87d0932cb848b3d0da11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EHMpGczD7uIX1mjGBwP3BMtT",
  "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]: [-0.691, 1.874, 1.0, 0.1379, -0.6815, -0.4671, 0.9967, 0.5625, 2.1578, 1.1934, 0.3077, 0.5629, 0.1009, 0.0121]\nstate[eef_state]: left_x=0.4244 left_y=-0.202 left_z=0.0756 left_yaw=0.0968 left_pitch=0.012 left_roll=0.0571 left_gripper=0.9967 right_x=0.4959 right_y=0.2055 right_z=0.0308 right_yaw=0.0373 right_pitch=0.0104 right_roll=-0.2349 right_gripper=0.0121\nstate[joint_eff]: [-0.1983, -8.6085, 6.5846, 1.3602, -0.4371, -0.0659, 0.0952, -0.0752, -11.494, 5.7094, 1.8291, 0.2173, 0.0611, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eaf4323c95dc4e3fd2da04f170da266c284a854bc46839a059b014dc68424a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ce80ffbd7087e9537b369c11a38bc3f8c42800e84e4b692250a13e532800c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5537418ea9071690158495535a4a20f62b0813b5cb0de21778ac6a5fa936f423",
      "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 110 changed as sent

message 118 changed as sent

message 122 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]: [-0.2153, 1.2304, 0.4839, 0.1139, -0.2989, -0.157, 0.1137, 0.6743, 2.1727, 1.1824, 0.3832, 0.6827, 0.1921, 0.9957]\nstate[eef_state]: left_x=0.3492 left_y=-0.0195 left_z=0.0974 left_yaw=0.1047 left_pitch=-0.0401 left_roll=0.0584 left_gripper=0.1137 right_x=0.4769 right_y=0.2431 right_z=0.0396 right_yaw=0.0059 right_pitch=0.1015 right_roll=-0.1862 right_gripper=0.9957\nstate[joint_eff]: [-0.3897, -4.9162, 8.6496, 1.6484, -0.2466, 0.0024, -0.1734, -0.7043, -14.8581, 5.6137, 1.8779, 0.3346, 0.0317, -0.1001]\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]: [-0.3454, 1.7859, 1.0695, 0.3214, -0.4866, -0.1493, 0.9957, 0.5655, 2.1578, 1.195, 0.3202, 0.5671, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.5086 left_y=-0.0914 left_z=0.1674 left_yaw=0.1359 left_pitch=0.2136 left_roll=0.0579 left_gripper=0.9957 right_x=0.4972 right_y=0.2074 right_z=0.0338 right_yaw=0.0344 right_pitch=0.0245 right_roll=-0.2258 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -10.3043, 6.3795, 1.8339, -0.0415, 0.0659, -0.2271, -0.8821, -15.3778, 8.2667, 1.5946, 0.2857, -0.0122, -0.1685]\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]: [-0.691, 1.874, 1.0, 0.1379, -0.6815, -0.4671, 0.9967, 0.5625, 2.1578, 1.1934, 0.3077, 0.5629, 0.1009, 0.0121]\nstate[eef_state]: left_x=0.4244 left_y=-0.202 left_z=0.0756 left_yaw=0.0968 left_pitch=0.012 left_roll=0.0571 left_gripper=0.9967 right_x=0.4959 right_y=0.2055 right_z=0.0308 right_yaw=0.0373 right_pitch=0.0104 right_roll=-0.2349 right_gripper=0.0121\nstate[joint_eff]: [-0.1983, -8.6085, 6.5846, 1.3602, -0.4371, -0.0659, 0.0952, -0.0752, -11.494, 5.7094, 1.8291, 0.2173, 0.0611, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eaf4323c95dc4e3fd2da04f170da266c284a854bc46839a059b014dc68424a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ce80ffbd7087e9537b369c11a38bc3f8c42800e84e4b692250a13e532800c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5537418ea9071690158495535a4a20f62b0813b5cb0de21778ac6a5fa936f423",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvVbAabLbCxyhDkgEQOYZ6a2X-8JvP7ou_tCpNlEjL4UA37aFVrrTs33RJotQ7lYNkXrcYH4r4MKCTxP2XdYscXfkbpKgsBDr0nKyvnkmiuQab7L6R13hcetjw6-GsQ9NRnYpdIuPry3zDFhurXA5yrpwRkdRMag8sFES_iEAI1W-Qfz5O3lEXMWVsC4JNL9E31OfC1gQwzboA7IvMYyIFIu1FQlxRfd0gzEMRpnDpkxzKPxZ6TI6-_40KLgHkPl6bNVjFNRNdSNnmzLhKn5Ygq8XE9NP4p52zdP58rS0SsyqCAI44BfaAMEbJwvU463wmNS7PxrlqkhlZDyx5AeVl8EsUyDr0w7WToRRfNQH5LJuvC5abJtRTu351C4lTXT8JfWiWsKXGLXPlYgHmjzJzq7lI9UAW52lhk5wesGe_ALb6f5M7Ur7JG_hiFi4XchTxMCvMQkhc8LEI2zZ1RuIE1EweHKLEuhnoEfAOAiJ0CkBCaPTf3e0D_L-7iiuCy0eFwTJQBp-Ds20PMT1d0J7Cr8Um3y-4XdJUmPIHLrSLvRV-deuV1-LA0loOTWebRnFjmwECaSkjcXyyp3ezKnUld1jsvsWkpGC7fwkKQi2ikWZw9MkIsPC-ifpZNPDavY5_3xonhb8Hz0cpzm57Q7He2rNYPm5hoj8Knl66QlvoFZ6KeRIorFV4BpzSJfxGuNFf466V4NGf_nKoxQD9tTh-sdsjikyvciPRHO0-JLBvx7Ubw2wAd3sJg12fyp8TFP5tCt9m4ELkN6RrWIZpjFKVx_phmL8jn7MqLRyt6APIjESM3_ePJfbGWzyDtb2NFAoJXsn0CuOiF1QhB2n9VHWg_qputXjTtTlMXo3kDG1RDIryh__hnPCveEEC7v1FSdyWXH0pCtY84aIsqJGKR_kKXW6UQhlavr9xGNL2Yv3CtgCsQ4j8occFPyHgOGV5hDRjAMjMzJYI3TdQwiIGTj627fxeP-4zcUfK3nY_X-UinpYkQt0Sl8uZXsLsLFL6cN1FWNBRYSug0_fG7OYiXdMaLEtiTkd0ckZZbg7fCgf8WfT0qqD7kddh_MsZOAFazSbGo9-0MGdfUmBclxQBuemLAy_WPmajZ5P3A_ifkV2iJbP15yfODEgZl5M94Qh1pglsU60_2TrKOXAARKTElTnOX27c3jQ06_ss26FmXwAvz3pIT8FX04RyO_TzjbKoczujZLbyeqf5G9m927-2ugFipwynsxrgKVNDTsTFCYkS43E4-dHjfCR0lmBGXSruNauxDdw-JqylZxvosm74zOWGX87UeNTi3c3XAE-rgsbEoi5lX-4xDDGTzbf_pxpS8XGbSTRJgvHfhB5V9nku73dzm2JvheVa4jdiOU0XY_bgSJBOYkDCmIyK5BFJeSD74kjmmpmyjFpsPXeLZ5WYTSD-C2Abn6Vxdt0NCMHIe3y89Mn2902OSp1OCb8co3J3PWPkEfzwk0ednCzNFO9xXt6tpJO3M2SNlT2p9JOnXLjsej_hKzRSnzpS0cjs1K5qUFWgQRfdW8IYMJBCHGM8U1-N1mePBj7IHyZ8a3kMG12LDKx7ygoK7VkQVIsd0cvp5YpdzYXwGRdk523q2QfbTAdWyKp8WiI9aiuq_6dXSFOUzjr3fx1aA819OHAMlD_wPL_ifaF_pKZgMwbIa1JNsM5EWAh52zeR_hMSqUH06cr6bhOE9bqFlTzhHilt6T1EOqaa7XuiU8_hsWPnukSTQW0intnVRbnoOlUsqg1iFF6t05Vttrxg3joIQRcZKUKSKW68bXw6huNtm3mrMDoIQW34hEII4lOpnWjX19kv4UtqIqp7w5a73WRy-F5TVD2eF4hu1YvT0_gDmhwG3q9RWkpiysueYE3jaAW1SdLJKfe98y9uhI-rKKWTjAUiu6d-Tw8YlvNG0nLSDATS4EDoE7J0cJBwa4XprYoJ7KJETIMm8Lji9B7efxc-sXDhLR2_TJ0QGhNjpmmqdz603Ot9dhZ-NVxy4UBiHyvsrxZRRc865lIzZZYwgsWqw6mF-_E6X1nTWltxa6_nbtwYdcmjrrm5kOJQ_Bs9zWP8wygFrc33HFuUt0Zog8uYV1p6jzSvVLiB0mWCiYcFAyvu31JGo91jocVcPBSoP32lFVyJ26gqj1P_QfMOD9lp76-elCVhkPeBmme5dfTMy4zq8nbkwJudRMAiESfVAZ2RiNTRDecQSZM2pUvxfQecYSMgXO9Lyv4ox9jxoJ4RdMy4WLWzmAq456Xn3ueiXQsx1aZ1ehB9BRcjoNP-nrNg085SjFlZ5xmSYZhcsxvvOaTHozu5_fxLmSi_8_R3wMfXxui6j1WhxX_lt_USiPMEy_TKOjyGFgMli2DFtqEWjadfCJE0vpktD99j0IgGvTcWllPqHWIOlNngAh6UVg96v9_51zZo1lDZXlu8Fftfh6v8GYXVMde3Pm97QbPmeL2CqtUguqEuYqDLskVxu6pY5qA2yA89J2XI6H71bH8HgXuaoZWh46r-AyZsPnZP3d72W2yMgI8-1RhZwzTpKT7W3S7LaAn32UKTfQ8l1B_kcpyxJQFTCM6X0N-WGPzlLyoJKJgFRtiCEg2QSw0Q833_LKjRxoW4ieLvTsO3E1nMINhQtrGPSIEj-EQ==",
  "id": "rs_06dbcf307b9d3ff0016ab45bce61f887d0bd21bd698513e90a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.02,\"right_x\":0.535,\"right_y\":0.13,\"right_z\":0.18,\"right_gripper\":1,\"right_pitch\":0.3},\"note\":\"The brown plush’s torso is directly below the left jaws. The basket-rim grasp missed again, so I will stop trying to pinch it and move the right gripper clear above the basket.\"}",
  "call_id": "call_mXP2wMgH7unUzOkiisVkoaGo",
  "id": "fc_06dbcf307b9d3ff0016ab45bd3f3f887d083f7c62c8eb045c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mXP2wMgH7unUzOkiisVkoaGo",
  "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]: [-0.6903, 1.9942, 0.9524, 0.3496, -0.7174, -0.4599, 0.9967, 0.3859, 1.9404, 1.1343, 0.3817, 0.4511, -0.1032, 0.9944]\nstate[eef_state]: left_x=0.4313 left_y=-0.2009 left_z=0.0419 left_yaw=0.1214 left_pitch=0.0592 left_roll=0.0483 left_gripper=0.9967 right_x=0.5254 right_y=0.1342 right_z=0.1288 right_yaw=0.0515 right_pitch=0.1704 right_roll=-0.2669 right_gripper=0.9944\nstate[joint_eff]: [-0.2667, -7.0085, 3.7675, 1.3114, 0.1832, -0.0904, -0.0024, -0.759, -13.5179, 8.3624, 2.2686, 0.1685, 0.0611, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f2515eae7dbef19c63a66b7ced69792a6096eceedb37d71e0a2e0b2d29d7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4f25a45aa10c44b2f03d20c4e064fb27d7ae32c87b030e8abb6506b9cc8447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f4479f6b52fba6c9f14e85d3333ff62629bba2c1cfea508a25c037b91c9632",
      "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 114 changed as sent

message 122 changed as sent

message 126 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]: [-0.3439, 1.7725, 1.0676, 0.3256, -0.4763, -0.1379, 0.1135, 0.6682, 2.1712, 1.1698, 0.3855, 0.6685, 0.1833, 0.0117]\nstate[eef_state]: left_x=0.5082 left_y=-0.0922 left_z=0.1737 left_yaw=0.124 left_pitch=0.2253 left_roll=0.0581 left_gripper=0.1135 right_x=0.4756 right_y=0.2404 right_z=0.0354 right_yaw=0.0159 right_pitch=0.0887 right_roll=-0.193 right_gripper=0.0117\nstate[joint_eff]: [-0.6222, -9.4838, 8.8274, 2.0342, -0.1148, 0.3639, -0.0317, 0.2667, -11.3709, 6.4752, 1.536, 0.2906, 0.0757, 0.7692]\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]: [-0.691, 1.874, 1.0, 0.1379, -0.6815, -0.4671, 0.9967, 0.5625, 2.1578, 1.1934, 0.3077, 0.5629, 0.1009, 0.0121]\nstate[eef_state]: left_x=0.4244 left_y=-0.202 left_z=0.0756 left_yaw=0.0968 left_pitch=0.012 left_roll=0.0571 left_gripper=0.9967 right_x=0.4959 right_y=0.2055 right_z=0.0308 right_yaw=0.0373 right_pitch=0.0104 right_roll=-0.2349 right_gripper=0.0121\nstate[joint_eff]: [-0.1983, -8.6085, 6.5846, 1.3602, -0.4371, -0.0659, 0.0952, -0.0752, -11.494, 5.7094, 1.8291, 0.2173, 0.0611, 1.0672]\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]: [-0.6903, 1.9942, 0.9524, 0.3496, -0.7174, -0.4599, 0.9967, 0.3859, 1.9404, 1.1343, 0.3817, 0.4511, -0.1032, 0.9944]\nstate[eef_state]: left_x=0.4313 left_y=-0.2009 left_z=0.0419 left_yaw=0.1214 left_pitch=0.0592 left_roll=0.0483 left_gripper=0.9967 right_x=0.5254 right_y=0.1342 right_z=0.1288 right_yaw=0.0515 right_pitch=0.1704 right_roll=-0.2669 right_gripper=0.9944\nstate[joint_eff]: [-0.2667, -7.0085, 3.7675, 1.3114, 0.1832, -0.0904, -0.0024, -0.759, -13.5179, 8.3624, 2.2686, 0.1685, 0.0611, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f2515eae7dbef19c63a66b7ced69792a6096eceedb37d71e0a2e0b2d29d7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4f25a45aa10c44b2f03d20c4e064fb27d7ae32c87b030e8abb6506b9cc8447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f4479f6b52fba6c9f14e85d3333ff62629bba2c1cfea508a25c037b91c9632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvZ_-ekpF_EYxk9uQRzuMn87XwnxHDnb-DJgy8LXTav5W87saUAz7-gNsFipbjxNh3_3H4SpI4SBjfY_7ScefM1xXIDxomrHBqnF01vPgpv2hvXVXXKbWopVn8tVHtlmavc7yyclNIHoGn8tEmh6tDayRIfapO3RLG9xQtMrnaEDkJimUu2Oq8Dtz-o5eg5ndYjs0lytTJQj9E94imfAQfb5DX5vhCr4gPeqKKmSuecBD1XvGe_EWjfulLJiEgzOGXy_RUJUkuRcM4ZfJWJ0gLjruhtjdHoIHaMIlG6-OMvgQ9X77A1pisxv9x9vVSy7NPa7duGhAMvRHw70ArB4jO8n1GwPTpHTvvq5RvHqB8dLqmG-K3g_f_BDan2NwbtNaC_F2Aq4vOWYtFiZ036pcJ8UauMXyg8w2I3zRh1VIwH64iJ7uQ3I-BU23-SeF51_ffd1ghFqJz1PuLDgQuDn4DkeGqvs5-sXwWviQ4YLjIwElx_FnlHEabLWwibMJZqqBSYx35NGcf5O3LqaIDnHgoqKzhXLJXnPCjLumag9ImxFfcDtMzHTwT0--3NUNOmB08thJy_8XOToE497w2xTg9SZBh2BskmDiRdYOy_icUOXmcjD2ZkH74RAeIJ-PoznZStrS4Eu7zm4i65v3hUWBX_aZz8Z9XQK6EwTAAnJjP1APAJ5f-rY4zFTuoK-XJYZzHVAav-K5ocpk1zhm4hD-SN6XlwkkbtJo5RGHsF7xKB4OJWOKpbRYAFUliGi9erUqSdNyFY2ixlzh_QV97polumHf0RHVNjFV6XrvRKi8usr16ScBrWlW4HcE9dSUzSx4-sY5tykgI_0YDZaulxN9RRN9F3WHAZVJKRkWSnmBiDp3FAJ0W_QSkveqNLf0WdmTqMf2z2d2VpAc1HBILzVOqFrIcKhSVnp44_dOtPWUAyOFgKvIdTyYCGitGHxghj3ygu7Ra4VaIad_QZJ_9Ka_-E0ay_ZmqCgk_U7yXiUwAiPYYd-iYEqYvUE_T30AdZtXYdFcwu5OSz9B3iC3mDQVlg8PMw6hOYtFpFkutSXTOclvZlpgvtiUMO5tWfOp-3ngpJQBos_sFf4wp2bhInclT57112p3Tp_GvtwY31kINIffgEACC-hxKG5wcQfK9vf_2otD_Tzov9x7Vmvc4N3-8FTrQqe5bxjgPoua5QnZzJ9Hi8wCMEvxZhjZdy4fChjUTbJxovQSRnqwbmkaS1kypytRJJpFwHrx7vtdI_aGXbh4jJEbwShP0vw1Ost79-Gd5jp9eLT9drOyHS0TKjLYeAVD7c9eiNH3wRuNw5WwKB7Kx0B5vr5hq_uGPGMG6iygbKUvthSNbv5yTfhKDlajlu0E3iTjrrFGv2S1VPYJZ63bGSrjQyI86mdClSE5bE8DrX4vqZWmWKuZl4zeUGPlwQdWGYP0XtoS2kuhsWA2obsKYOZPKlOBLnAHarUtt0L6XUFGYBrIZNHAYZFL0XWTfRjA==",
  "id": "rs_06dbcf307b9d3ff0016ab45bd77a0487d0abc1f32da4927c65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.3,\"right_y\":0.02,\"right_z\":0.26,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper is around the brown plush’s body. I will close on it and park the right arm away from the baskets to prevent further interference.\"}",
  "call_id": "call_KDxVvMJbg9VacME06mN2gG5v",
  "id": "fc_06dbcf307b9d3ff0016ab45bd8c0b087d083b089dbc34755a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KDxVvMJbg9VacME06mN2gG5v",
  "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]: [-0.6903, 2.0026, 0.9516, 0.3824, -0.7334, -0.4644, 0.1093, 0.0738, 0.9081, 0.9073, -0.5583, 0.0525, -0.0071, 0.9949]\nstate[eef_state]: left_x=0.4341 left_y=-0.2005 left_z=0.0443 left_yaw=0.137 left_pitch=0.0828 left_roll=0.0338 left_gripper=0.1093 right_x=0.3113 right_y=0.0173 right_z=0.2494 right_yaw=0.0261 right_pitch=0.0121 right_roll=-0.0218 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -10.3726, 5.2718, 1.1648, -0.1294, 0.0024, 0.6569, -0.2667, -2.1128, 10.2085, 1.7363, -0.1148, -0.0269, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc12d2e7503c7c4266fa2fa5cbd3343c79e102fc886d560cc4a665147ea44b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889539e2b2b742568db69a24f86793ee6e51e82b7d095ec6f1063fb54c47b35f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c14f026c81d61c30f045416e2e7a1a91f7bcbbdcca70c9216fcff2f8193cb",
      "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 118 changed as sent

message 126 changed as sent

message 130 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]: [-0.3454, 1.7859, 1.0695, 0.3214, -0.4866, -0.1493, 0.9957, 0.5655, 2.1578, 1.195, 0.3202, 0.5671, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.5086 left_y=-0.0914 left_z=0.1674 left_yaw=0.1359 left_pitch=0.2136 left_roll=0.0579 left_gripper=0.9957 right_x=0.4972 right_y=0.2074 right_z=0.0338 right_yaw=0.0344 right_pitch=0.0245 right_roll=-0.2258 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -10.3043, 6.3795, 1.8339, -0.0415, 0.0659, -0.2271, -0.8821, -15.3778, 8.2667, 1.5946, 0.2857, -0.0122, -0.1685]\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]: [-0.6903, 1.9942, 0.9524, 0.3496, -0.7174, -0.4599, 0.9967, 0.3859, 1.9404, 1.1343, 0.3817, 0.4511, -0.1032, 0.9944]\nstate[eef_state]: left_x=0.4313 left_y=-0.2009 left_z=0.0419 left_yaw=0.1214 left_pitch=0.0592 left_roll=0.0483 left_gripper=0.9967 right_x=0.5254 right_y=0.1342 right_z=0.1288 right_yaw=0.0515 right_pitch=0.1704 right_roll=-0.2669 right_gripper=0.9944\nstate[joint_eff]: [-0.2667, -7.0085, 3.7675, 1.3114, 0.1832, -0.0904, -0.0024, -0.759, -13.5179, 8.3624, 2.2686, 0.1685, 0.0611, -0.1538]\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]: [-0.6903, 2.0026, 0.9516, 0.3824, -0.7334, -0.4644, 0.1093, 0.0738, 0.9081, 0.9073, -0.5583, 0.0525, -0.0071, 0.9949]\nstate[eef_state]: left_x=0.4341 left_y=-0.2005 left_z=0.0443 left_yaw=0.137 left_pitch=0.0828 left_roll=0.0338 left_gripper=0.1093 right_x=0.3113 right_y=0.0173 right_z=0.2494 right_yaw=0.0261 right_pitch=0.0121 right_roll=-0.0218 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -10.3726, 5.2718, 1.1648, -0.1294, 0.0024, 0.6569, -0.2667, -2.1128, 10.2085, 1.7363, -0.1148, -0.0269, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc12d2e7503c7c4266fa2fa5cbd3343c79e102fc886d560cc4a665147ea44b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889539e2b2b742568db69a24f86793ee6e51e82b7d095ec6f1063fb54c47b35f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c14f026c81d61c30f045416e2e7a1a91f7bcbbdcca70c9216fcff2f8193cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvkdCpotiiu7yiiNOhl2Xc9YoOgEX4iZl7e1_jIAjvj4OBKAIh__WoikXf7bzOKH_W0WuOG_jozwKi7WfRjdZbXqwsMvq1waKRyluYAy1oYljgFeZK5ON0Do5v1qJggiaBHyFTm_D8TTyPDqMyQaz5slZwABYJpI3gKE6aMXUYjJgGpMkUJBJpC3QERBQtUEiA9rsFANP58S2dGhuDzLXRugUB84vReK3DSG10OTAuITWTKX3IQNbtBcOdQ_rm0eBwaGDTDebDHSh9TBI8jcCXX8efLVxoi2Pyph8eQ8PLzPckWzpjCP6uD0ZcN0uo4YO9-nD4hnQ-S4TYV18GBIkAsxn0H6FO9_3i2ZC4S1pLjJaW9EPJfSdtwpLhm_yfJHfqTmv-FqpitUzd3o93tTKbTBdnop-McpsKvpCbRixJ4gGBOFj-OzGDKZMGPjK87MGiSk6OpkAtpZN6rpO_t17sSnI7ea-zadMx0FVLRFY11q9wRIS-wwnSSzsNwwF8kHzg4pzKuNfF2uaB1vAZHZSTWTsVUIxadCuiw51EMR_sgFxfufxOkXjqcmQyd3aYKK8wP6ELEqJy2ClccJnbFh2B3lafeoeTTVQO-xIbX4wcKZXZd4hVA1M7VZbsT95Gca0laBUjik9T7hQfUmAHspZqDsO7SHQxOnxyxQiCyHZ1aqW_4lEyibjbFt2IkqaaxETDp8zpeCzPopC94LnJ-J9rNg5gDl3EpU-gztAOrKYDBSeWU_OBTteBTrZgP5UVZ24hdnqTFvaLPIfbj-kFzpAhdp9POAZKjqGLoatzqoeWD1T8Spq7LsyBhKe3LR2M-YBdnrZi4LCtcnCCB2wxLhsI2XCLLhRPwFhG4ANDaZFTJ1t9NqE_5incmRVVkCXlkxo2fOzqiCsFLrPent9tWgXVbvdSVaMnTtBk-S5op0Ov-YXZElM3i2woLaMkzAeChu5vEYq64TR8tF930pG23YSth7rHzwgDrOwxq6R5eeHTJtTh3lZXNXnTPfTJddfnb57dVdC4SGi8PyDnB27P987UxHzTEox03HFqk4Pb7HbY9qAE2RX46J36I7ac0PRbQDS550z9DdDdoqBLRRykKEMzEEt83FnmBugXoTGQGc-T9rYedM6DWMZavve_vYLlnNVwvq_pq_bLdvaTH0r5zRX4x2WK1VuLerUJIITg0uaw0yXu5DlyvWMtjXogW1DC1T-U43LvIHV2njcFUI7a-Qq09gN4Z3ihQ_PA6_l9sFZ6wzrZW79Ait05ui6oQtLexv-hyBHS5P8kaDhLU85DSBf-u34KapTMet7mq3tuuVvN-lkrwyxbql7azx2xDFxq7fSCIqmnalW1qsVY8C60fTLeOd3ZJbt5K-TuAIlqOv8G_aHqBjooMYIDZ-Am9pCuCT3mxb8dFiqJkX2-_IeZew5grTzckIBQ0ZN-WUcrB7ww1o7eZhMcC7sdCN_fVmCsHaFcd4nnjl6_CPCDEBPJG5S9CAljB3HH27LdVWt7G6S5ZN5ehN_Iz0aqhOFZxnws9OJKUdMFXYBTN4ReeiZkz0v9u43LxxhWf0UvSvn0hS9dyRChDxXaog5Pmt-pBzi5c3nPGhu4S9yWyjFgeYqeBrct488s7Rd-Sxj9_eRDllkNc-RFyLXOIHa4s5xb7pxzgzRN1TpSx5VGBHwcJ9O_oWTo0ChLbyiW7R9GgPqC8owJpfzrevhCiXt54XXoLmLznz2JBOXmlaj2UEiUjBXyZaWOKmL3u-OXeurfgMa6Z3nZTvD5MB5f7_7fFZfa9dvJ14hkwDSM_6sDuZQveds48Ll2PjR5jsY6CPxlpOynIicvt24H3ftrE-8O4gmU-7Opv1QswAr40WmJtFzi4rkXDWvw5jxS3YYYp_Et-v2Ao7WGM44JxT2sHH7tC9lBYfJ8gxHRIok-1HAP1MH9dGbmyjCVx3hCS8NBLQYduvNYoOiYxvw1R3wiFQqYJNj5GVHEqQszK6Mpf_7F7fJNOJMCS7uBi6OvuxwQ4y1kEDd1SS0XzJThuvl1qahdsdw_byW6H1g75Wbv25JoiV8IHvEy5GTcZGeg-igxOhFcKj7Xty8vwpUeFlh70qckdFYbnAL7TZYuK-56dku3IHbR2Da98cHQ8ZXCM8JWdk17endI8gxZyWysN-MtrkzEtHhDDpsPQ5OZCkhM02j3pwsMlmGSCZEDVnMqum0kyyfIP7kzGuB4QBq3O6pqNhAtyF4mJXObeU5Uw-3WA3ilQii2C95JO5VWNGNjRr_H8jcWAh8spX6jAFVWfz2rYmsldoOe3MDMaRB0PdJAaQDAx4oixRIen80nEf2DHpEMuuo-qotU81BN7K-xXsB_ebA5syc6sEkhw5uBLnnyGUp-6pNrfYV_cZrpBc9AkXwvX_aMN56vuEIXeffe-3bait0OW6jP7CWeWjOCPtUcNO1xkCJ9gGRk1MMoNFaae2287aiUiaJWlxzHqHCO_Kb9rt0BsMShdKUV16IAS03O793ciYYXfGHLALDCesW0ccwXoMozgv-oySokYhMQyq1u7BtgYGR5NL1Eeebqj9w0mgBJHPHNkUkKedN8T3yWHpXwcYgsImsgXeP8y6IcgPqpBSKcttoSNZ9eURZ7_--3yrT5mOsFoukGUp215-eBMLk41RPw7Ld-JPel6_LmYzv-LEzVs3KLWWh5XWUdH6Kcfw6SMWU89mNa_MPn6JfaJgVbP1HPlXGdxpSVdWqQwwHqWh52rI5ZtviBm0IJpRprRialjUjRkVrAzt92GxdFv0fLJ1ZWYEqq8IwwSp5NDk1jcyuu6KzLhYiKa-cUdyxf7Q_FruYcFsb96Q8qSUe7WaZg7cICUkxDpchqJggpdUGQA26O4ggL6yXOlyquDFGTbbox1mdrOFj8SOv82AkjjrO027Pxh-zONib0mVDRFUdKgm3jh01TxICvDVsw3WYyCR684xT9R4BWh8mpYZzUfVxPOW1PR5rS7e0j5iGYudh5R2w13fXumi1zss46z1UAA61Gscd4-lde8uli1GEXrM5OnT53KPtOaTuqiVU8hD4GAwfY9w6IB7o1nhoGGRTahm_HaUr2OPpJEw2szIw==",
  "id": "rs_06dbcf307b9d3ff0016ab45bdd286487d0af676c81e7d3f33d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The brown plush is held at a nonempty gripper opening. I will lift it first, then put it at a reachable central staging point rather than attempt another unreliable cross-basket drop.\"}",
  "call_id": "call_YAe6ySi24JVGQS2J3I9OIn5t",
  "id": "fc_06dbcf307b9d3ff0016ab45be377cc87d0a8b5b54eb4775850",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YAe6ySi24JVGQS2J3I9OIn5t",
  "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]: [-0.6903, 1.8229, 1.0683, 0.0593, -0.7338, -0.4725, 0.1117, 0.0708, 0.9161, 0.9039, -0.5861, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.4324 left_y=-0.199 left_z=0.1148 left_yaw=0.1401 left_pitch=0.0652 left_roll=0.0466 left_gripper=0.1117 right_x=0.3083 right_y=0.0177 right_z=0.2397 right_yaw=0.0309 right_pitch=-0.0274 right_roll=-0.0194 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -11.9043, 8.7453, 1.4628, -0.3199, 0.0366, 0.2271, -0.0752, -2.3726, 7.1043, 2.0, 0.0855, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7de115177f7f06386e7fd2825bc891da60e5ca15da7afff992321ecfe9a3284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07609360875ccd5eeb47bf6d8cf7c5189b22110763c07752e0802ba4eaf890dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59434d519bac9f63fe69d1aecb3a96e1e39172f0779d247ddba96f05203c3321",
      "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 122 changed as sent

message 130 changed as sent

message 134 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]: [-0.691, 1.874, 1.0, 0.1379, -0.6815, -0.4671, 0.9967, 0.5625, 2.1578, 1.1934, 0.3077, 0.5629, 0.1009, 0.0121]\nstate[eef_state]: left_x=0.4244 left_y=-0.202 left_z=0.0756 left_yaw=0.0968 left_pitch=0.012 left_roll=0.0571 left_gripper=0.9967 right_x=0.4959 right_y=0.2055 right_z=0.0308 right_yaw=0.0373 right_pitch=0.0104 right_roll=-0.2349 right_gripper=0.0121\nstate[joint_eff]: [-0.1983, -8.6085, 6.5846, 1.3602, -0.4371, -0.0659, 0.0952, -0.0752, -11.494, 5.7094, 1.8291, 0.2173, 0.0611, 1.0672]\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]: [-0.6903, 2.0026, 0.9516, 0.3824, -0.7334, -0.4644, 0.1093, 0.0738, 0.9081, 0.9073, -0.5583, 0.0525, -0.0071, 0.9949]\nstate[eef_state]: left_x=0.4341 left_y=-0.2005 left_z=0.0443 left_yaw=0.137 left_pitch=0.0828 left_roll=0.0338 left_gripper=0.1093 right_x=0.3113 right_y=0.0173 right_z=0.2494 right_yaw=0.0261 right_pitch=0.0121 right_roll=-0.0218 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -10.3726, 5.2718, 1.1648, -0.1294, 0.0024, 0.6569, -0.2667, -2.1128, 10.2085, 1.7363, -0.1148, -0.0269, 0.0317]\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]: [-0.6903, 1.8229, 1.0683, 0.0593, -0.7338, -0.4725, 0.1117, 0.0708, 0.9161, 0.9039, -0.5861, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.4324 left_y=-0.199 left_z=0.1148 left_yaw=0.1401 left_pitch=0.0652 left_roll=0.0466 left_gripper=0.1117 right_x=0.3083 right_y=0.0177 right_z=0.2397 right_yaw=0.0309 right_pitch=-0.0274 right_roll=-0.0194 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -11.9043, 8.7453, 1.4628, -0.3199, 0.0366, 0.2271, -0.0752, -2.3726, 7.1043, 2.0, 0.0855, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7de115177f7f06386e7fd2825bc891da60e5ca15da7afff992321ecfe9a3284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07609360875ccd5eeb47bf6d8cf7c5189b22110763c07752e0802ba4eaf890dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59434d519bac9f63fe69d1aecb3a96e1e39172f0779d247ddba96f05203c3321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvuDgEaXwG_GrxEhBX9Gbp7l9Ena5jFLMTLWEmEuGVEMsosegrCxRThQwf34C2O6dROkcYFBpNF_9jXlvvho5TgsvEUU-R-l_1_KK3aTkoytOHf1RwLw2frPn3OsYsXc2lhQ2G-clRn6_N0kRJMaLKAhhkiXP2Z5fkmrcCNxzc4Ujwcd_tymWk76Alq5uOj0ut12N-vCLXj7NnyQ1vz5rYohcHIr_PAIOoJK6Ty9yIKRWT47AS_pOo_0rntdGBbzVUpzeA--eX6N2DAfU7HTeCUAGlRqh9ZGpo0vumF3ETQ41lFs8wsS3uXSgM4OYYK3mtc42eYc8czPaMJUKfeglo-UqovmywBERcb57oUTycLG6s2z4buOdX-7aYd0Zk_2z9d77-kjDULwmUZwkFe6BaFcfAzdZHZT2hXLtlF2veAgGyBXKVvWiFmkHn0OYG16T8Z87_Ixdpyplz-s6X8Oi7_hvP43k9PqFNTyIzWQH0jNUxxJ6x7moVKf6_-pPi_97KaRpYKV-Dl30L88WqRoKjxveD6brPoOcYyFkYkaWPOPx6f6_SQuqZiG86sr-4xWFRWXhnH_vxKdhYo7Ch0SkNgeKQSQTqfamDwz8CHavlBDpcOtYWZldmkpUTHjcE3Bpn3XEYfJPbFWiZTCr03bkA8AWcFIsA3bQLOB_P6p5jbWXdQlpEmnHmwqMD9HxxUjU60sXybizuX6q0s_nQ830wA5y1D9MBEiNSxWhdosrya6FhhlsX1nQt-QsAnGWAXvJRBItfx2nSmv9RcQ_vTEH-O0IF7mHHCIohtzpGR4U5pjCvQbErhIJIwuZimmeJ4Wgpt5aI95CMQuCvnaYR7YWEfCGPX5yr4w5SQ_1JJmxZtPM-UTn4lboDeWXM7oGfDkxOBwO8fXdxFM1CPYK2o7H9VgP2CIcbzCp55HbYJimqE_6dycSzMJX7DaOnfIZZmt0GiZbX0JjKBEPu-vMLxDKUn9VvZoH44gLIRvyk8vQ3FZf1zOvKkhSsLzfYC1oHqriro9cEAy8moM6PDHkh2q382lGnQbDKs6vQhh5mt5A8MGvHZE8hnFeYQkTVWzI5Olat0YhZ7GBg0NWrsPCy-R52BahTOI1bnUBF-FQF6BJGYCtwBYy_k6v-kMVq49k8Djr-MnM1oKNn6QRX-7VgbzZc5SraUJa-25jdsRrYIp0zi-f59t_lDPtYPqAk9-Vl7y7gskkQacvhalIqrttXqeWRLGmh_n_zcuSwYr955BinvbK4ye4T_z0ExgTEVbhV2yEdJG_vBnonjVnVvMQUnT9ixXHn4vme-bVb31b35fpdJX4kuS4al2pSRxVhtjDs4JD4mgL40R71yTXMhyMzQ16uGmrh0mhcUSSAfZr15TMIWYkcLE8kNnl0wz7uPhDXMA1BMaAo_d55zQtxcUOAK7Z8pVG212ACaB6JWeO4VPcKKZsW1tQfcX9I6b-Hb_VhR9RA2lOiHwCugiSW0bv2QmHXXg8icxMe9fn2qNu1IGqPStYEkqVWa85wV-LvgpYVZnMvwNTUMfGAExMy97frJyTgcWXwz81Q1pUQbRhKSeAcs63r4GyLm9gO3Sq9_udy-bkfSCR0FAOKo9lT4PDkxg_NvtvVrRIksNgD9eFADBYcG5DTFV9tMl0GH9At3CKwkyW7WEs7emcRc4_Ps5BzKIwMjgxLA44o4IFTBKNY4ldo-ty4jH-UomPjZ076CjyB7shL17xudS4oqs0kK_lJ9T1cUajjVROOgbKpMpCjNsC8yrbRRSjHjuCQdU5iv2nk9mlH6Dj8SYLYPx1FmgkF1AwCBo6nBGm53-bEW-U-dMteq6bhtJojaUaygJL3afv6ATvgCYSVaEh9oyknXKsYAlY54nQKAO0UKsSMwBATrURQyHBGXS4Q-I24yYPRPB9zyUwE_5HH2b2_db7me8S1kRMEiZsJFZeLmbAY1xFYb03i8HHA1hHMNoBVV0L9w9XicLVR2Lsz-n6h4Ql6KSE5PIEqNVuUQ6c9q525W5HGL7QOAzzUNxrOJNSwMU3ot97oE3D3Ae0wEJ5q8emaBiI-VEKAs58jTlK5O8nXhXDwOCU6bsH_07WoN9LR9PE7dhOoIInqrUg6kINnzdr5Vt-6JJpfVuwc-KJaCHyMqjesrmh9xdkLeG2qof8MkK_KAosuSnAsq3I-04RHSNvyoD5iOf4kKxGzEeIr-P_PsvaJ0--VPEQtWvGJPZNhyuAqL8wWOgiiJv7EiWFHxrhhWEgq9onBQtR2wlgFE2BKLAAwpe8oU2Sn76G1DibrK9JaSV1LGfhLWEqII9UWSfXQ8M_FgpjokGWG0gX5-5lE6aDi6k73psjDECpi45SVpGMMjeLG0RVoiFxZHZ-PV6-4HxwD_HeqL_0YTrHDwBxEkqd2WWIedC81j0chaJEXCS5WQdM-dSJ1B4pEXhLspt60r8POspVHs7eV4Jt6fg7v5aObdqKQJF0PzXIDmkRD-r0yClFo7aFWomBxYaK_kIXmjAoWHxsAsfQ5jSCNfrMtRfuTFaiWRWPAMaxvmBAtULUDLC1FLOsvIbugGOV4j1jJe6mIA3Km2nZvNjEbdBhkO-kUwNJHGeKQ2NvrqTBYsInwz0WBVhNqvlDzSpbucf1hqFH7I7_GZaCymz7_8o2JLafSQS0-YCHs=",
  "id": "rs_06dbcf307b9d3ff0016ab45be6b45887d0852606e88961f279",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.4,\"left_z\":0.25,\"left_yaw\":-1.2,\"left_pitch\":0.45},\"note\":\"The brown plush is securely lifted and projects well beyond the grasp. With the right arm parked, I will try positioning that projecting body farther inside the right basket; I will not release unless it clears the rim.\"}",
  "call_id": "call_uNKJnmamEzvwICoC7E361zE2",
  "id": "fc_06dbcf307b9d3ff0016ab45beca47887d086070174c7b57ec7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uNKJnmamEzvwICoC7E361zE2",
  "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]: [-0.4835, 2.2997, 1.882, 0.1951, 0.5507, 0.0826, 0.1135, 0.0708, 0.9165, 0.902, -0.5903, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.5426 left_y=-0.3853 left_z=0.2159 left_yaw=-1.0415 left_pitch=0.3727 left_roll=-0.0183 left_gripper=0.1135 right_x=0.3076 right_y=0.0177 right_z=0.2379 right_yaw=0.0308 right_pitch=-0.0339 right_roll=-0.0197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -15.0632, 9.5248, 1.8681, 0.3443, 0.2906, 0.1783, -0.3077, -1.9214, 6.9812, 1.7705, -0.0073, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1474dcbb49c95998b4c7685c29297f0ddfe2c2f4058250af530500a30d82251d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b3a317573805e3616195feb6bc2e6c5d80995908b0d5148837e2c1c8803abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65d8ac0f2a18cc481c8c66e29a5035eb528eebb40b33006aaa4020903263811",
      "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 126 changed as sent

message 134 changed as sent

message 138 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]: [-0.6903, 1.9942, 0.9524, 0.3496, -0.7174, -0.4599, 0.9967, 0.3859, 1.9404, 1.1343, 0.3817, 0.4511, -0.1032, 0.9944]\nstate[eef_state]: left_x=0.4313 left_y=-0.2009 left_z=0.0419 left_yaw=0.1214 left_pitch=0.0592 left_roll=0.0483 left_gripper=0.9967 right_x=0.5254 right_y=0.1342 right_z=0.1288 right_yaw=0.0515 right_pitch=0.1704 right_roll=-0.2669 right_gripper=0.9944\nstate[joint_eff]: [-0.2667, -7.0085, 3.7675, 1.3114, 0.1832, -0.0904, -0.0024, -0.759, -13.5179, 8.3624, 2.2686, 0.1685, 0.0611, -0.1538]\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]: [-0.6903, 1.8229, 1.0683, 0.0593, -0.7338, -0.4725, 0.1117, 0.0708, 0.9161, 0.9039, -0.5861, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.4324 left_y=-0.199 left_z=0.1148 left_yaw=0.1401 left_pitch=0.0652 left_roll=0.0466 left_gripper=0.1117 right_x=0.3083 right_y=0.0177 right_z=0.2397 right_yaw=0.0309 right_pitch=-0.0274 right_roll=-0.0194 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -11.9043, 8.7453, 1.4628, -0.3199, 0.0366, 0.2271, -0.0752, -2.3726, 7.1043, 2.0, 0.0855, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.2997, 1.882, 0.1951, 0.5507, 0.0826, 0.1135, 0.0708, 0.9165, 0.902, -0.5903, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.5426 left_y=-0.3853 left_z=0.2159 left_yaw=-1.0415 left_pitch=0.3727 left_roll=-0.0183 left_gripper=0.1135 right_x=0.3076 right_y=0.0177 right_z=0.2379 right_yaw=0.0308 right_pitch=-0.0339 right_roll=-0.0197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -15.0632, 9.5248, 1.8681, 0.3443, 0.2906, 0.1783, -0.3077, -1.9214, 6.9812, 1.7705, -0.0073, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1474dcbb49c95998b4c7685c29297f0ddfe2c2f4058250af530500a30d82251d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b3a317573805e3616195feb6bc2e6c5d80995908b0d5148837e2c1c8803abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65d8ac0f2a18cc481c8c66e29a5035eb528eebb40b33006aaa4020903263811",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFv0i44IzOkiBG1taZymzCxt8SZ2NcitoSN-7azANQTNFuJYh-7oBU68WRPs1NCCcrl1LtXgAWC_L_tV-9eFFfJRGEfpNzqgq1CUksD9wyayT34b-aXAq2YG49wNWaCmzf7rXYVSd1fCO0xpMXUBT6H5OAjfrsM424DmowA-dTJyjTHp7Ykjxwo09nrDh4ANEdobvNo7ZbGs7eAFEe7F6F4wm2aC7o3EgXI2sQMGs76WZRvXSw_VqoqFH2UqftWR-IdKB2IOknzVBNQ-9rCxV5tRSu4BBoF-o0qRDZf8wtbUyy_g2mGzM5sdp7X2vpLjwrMDJXgKZeF8mp0eEkxbGPRBtfyrf0PNAJwDuXjYqSMJzHuAZ-8rT_RfrcgrdJSJPNHLPCXO45GErUIUCJB69nmOuIQieZi_aSWTk_SWC4ULVaB8cmPYKsBMe6_0qA1LrLfwgYsqlDAai6Ugft3o2abiYErCiVBpPiopswXBT8zDH6NfRHchxU_IPbuAqk-hauPi_ZmDwXRi5DsORBZkQsBaf6V6wtBenVqgYeQtgkXnG_o8ogI2ch9JPLY2AFq2mqyegzNxPCVkb_v40u68bthUZ4ijzvHIRYh41rxah6z2GdaalUiE1H8QL9VbMai6AJyqLvNliCIkmytZAK-8esCGpaDLHxdjGMP7MIMEhclqBbNaf2dtDuWKRxwyCaFM7bTKXjcwBuOrKioANghJBmIY4jeY2fTVynzyVFuUKBVpywVMCnjMXp3u2RXnxowQshSIaD0TKXMCwI0RlCQcpOk89rnBeAuEcCw-lY1df8ebpyLPBxzwWkw41H3OdvbautRhc5wyd5S8dyNov97YXl3PWSYkzD9Vbqc3egw9L6tvxeP5cAp6ZWCCN9CetqWnMfi1OhfNhA8E-LMZPG5mQ7bCvuoG1dXjytp176aYbMCw4hBAflosQVjJCcruWV3O3BToeNSRs19Y5qgDQDw3FTecVM3TXsuSWNl-foUyhOcUkbANfe5aNkz-V2-R133OIFJ8EmVAdWLgI3-JymnnHEFQqIsFu_tde_9-ATaKPo8i7DBd_4hLsdRBgCxl2FRdxIiIW5eSMeXorGeZw4eu13qQMTHeEoEKqN1THrowWtw4JjqQ49budeW3wcjBes9LoJ6P6dNBNZsLxSfvbjc80atKX7uf6tbNYCBZCgNO-mxW893sJn-tXR2_lLTAearaRjN_KHDixHNZQzusNZ-4Sig4HDwKeeZ52Q8OFYRJcPy8LcoaM5PNC-mneLlMxMM8D3ZLR9p7gBrzaSLmH27KY63wym1O2aB9x_zmk-aHXrdZOmlj-4UtM8qGYkYiCGwM91PTurQEYarIR1dvo4PDndbIF8uDrUIQ5IAD3VUlX8fAyhCo9TpoQJD-0dRAnBZt8o10udiS_jLK-n1ZLNleV-5bojATcuM776nOivV3ovCfoKI5bgcFLEwe6V7S4MtOCcNERfkvt3hgmb-B_UelfbaRj_pyXxD9zhw-vtqqoZdmfTD6WNx8oHSoslgWGs3HyRVsTvIypDFShk595MOc2NO7xOYxJoSmMarjIaojJBSayTH9HIF4Iw4ZWUIJHg_sWuQz6_i0Ze4PbYRR7Y5FG_XTFoe0qDHDen4HHEK7ksbo2U2kiPvePIzrDIQRmaQco7Ro",
  "id": "rs_06dbcf307b9d3ff0016ab45bf173ac87d0983cb469769568d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.145},\"note\":\"The brown plush’s body is now over the right basket opening rather than outside its left edge. I will lower it onto the beige plush before opening the gripper.\"}",
  "call_id": "call_m9CK9C713yr5a5U52oGpYHlm",
  "id": "fc_06dbcf307b9d3ff0016ab45bf342e487d0be8b8724bb894c91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m9CK9C713yr5a5U52oGpYHlm",
  "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]: [-0.4808, 2.3703, 1.7527, 0.358, 0.5571, 0.078, 0.115, 0.0708, 0.9211, 0.902, -0.5903, 0.0429, -0.0074, 0.995]\nstate[eef_state]: left_x=0.5406 left_y=-0.3834 left_z=0.1468 left_yaw=-1.0348 left_pitch=0.3421 left_roll=-0.0453 left_gripper=0.115 right_x=0.3082 right_y=0.0178 right_z=0.2366 right_yaw=0.0313 right_pitch=-0.0384 right_roll=-0.0191 right_gripper=0.995\nstate[joint_eff]: [-0.1162, -12.2735, 6.5299, 1.8681, -0.0464, 0.0269, 0.1343, -0.0615, -2.3043, 6.8991, 1.7363, -0.0122, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f61a3ebb32cf524c25197e0af159876b13c5c3053bb2093b47dc3aafbf59476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a738bcaa2b2a17f1313ad269c910aa292898eb1a82a5b53b94130a86dd3059da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3343d5863f9baf2981bd873088c373eb5051c835d4c14faa63e324f0d51695",
      "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 130 changed as sent

message 138 changed as sent

message 142 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]: [-0.6903, 2.0026, 0.9516, 0.3824, -0.7334, -0.4644, 0.1093, 0.0738, 0.9081, 0.9073, -0.5583, 0.0525, -0.0071, 0.9949]\nstate[eef_state]: left_x=0.4341 left_y=-0.2005 left_z=0.0443 left_yaw=0.137 left_pitch=0.0828 left_roll=0.0338 left_gripper=0.1093 right_x=0.3113 right_y=0.0173 right_z=0.2494 right_yaw=0.0261 right_pitch=0.0121 right_roll=-0.0218 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -10.3726, 5.2718, 1.1648, -0.1294, 0.0024, 0.6569, -0.2667, -2.1128, 10.2085, 1.7363, -0.1148, -0.0269, 0.0317]\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]: [-0.4835, 2.2997, 1.882, 0.1951, 0.5507, 0.0826, 0.1135, 0.0708, 0.9165, 0.902, -0.5903, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.5426 left_y=-0.3853 left_z=0.2159 left_yaw=-1.0415 left_pitch=0.3727 left_roll=-0.0183 left_gripper=0.1135 right_x=0.3076 right_y=0.0177 right_z=0.2379 right_yaw=0.0308 right_pitch=-0.0339 right_roll=-0.0197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -15.0632, 9.5248, 1.8681, 0.3443, 0.2906, 0.1783, -0.3077, -1.9214, 6.9812, 1.7705, -0.0073, -0.0757, -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]: [-0.4808, 2.3703, 1.7527, 0.358, 0.5571, 0.078, 0.115, 0.0708, 0.9211, 0.902, -0.5903, 0.0429, -0.0074, 0.995]\nstate[eef_state]: left_x=0.5406 left_y=-0.3834 left_z=0.1468 left_yaw=-1.0348 left_pitch=0.3421 left_roll=-0.0453 left_gripper=0.115 right_x=0.3082 right_y=0.0178 right_z=0.2366 right_yaw=0.0313 right_pitch=-0.0384 right_roll=-0.0191 right_gripper=0.995\nstate[joint_eff]: [-0.1162, -12.2735, 6.5299, 1.8681, -0.0464, 0.0269, 0.1343, -0.0615, -2.3043, 6.8991, 1.7363, -0.0122, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f61a3ebb32cf524c25197e0af159876b13c5c3053bb2093b47dc3aafbf59476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a738bcaa2b2a17f1313ad269c910aa292898eb1a82a5b53b94130a86dd3059da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 464):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3343d5863f9baf2981bd873088c373eb5051c835d4c14faa63e324f0d51695",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFwHr6EnLN4pnzTE9INO3WNN33weFBX-trbvRyTMCSP7Yg8VYOG8mWuFuKvYzXTWvYAP2qqmjJRxId7y_UricGKMBtBc_FegriLEFh2FnLiqF_PEQ2y2FGDUt5Li5pQV0j9lDGYBMpnwLoFcorRrZk4Gm8c_rGAd___Ayfw36H_xhepmR8cm3a9tE43SAqp3Js2I2Sb1eazQYr0cJKgPnwirc6XzBjWxyHwF_JVpVY9uclSq8wpBWIO4DviEKyztsODhDJMaktc-JdnMYAWvmicNgb7EtzmjC9shaSFaEAHglKk9r2RyJnkqdtgIeABGQpOgyn1BttDxU7T8ukiwDLwRM7iHJDMFn9O-u5gFooV3E0enhsLg0CzqFfUrQ2IZv9kb_vXG8CkyT-tt5ZtTTS4yrbSQAUFF_h-c3sYck33nWHh5d9oORPC0foAYUZYOH1im78qv4KHSUCocRn1JKr5Th71XDtt32RHl_tI-V4NrsnfajthmDC_TBDK9zTvWxZoIhJobK_vdofMkP_Z8nfUoLJ0u7haxup6eH1yVnLvlOtA3oFDy9XInq0d_QpezDGaz30CoGewiXZ9ghAy182GfQgjirTTWPibH-u7enqtC9fp_4YqueEt0UnzRbfTwNgiZElIbQTfurEdlmYn5cwl2YeJcNn0YhZ6YOWevgOlmpw0ntKjaIkNSfiX2lrGf59Q7bzAeB9Qx6GUatvWggP1_xOOmvQJ2FuSeS9YZHHe-NFS5uHXxVnW9ONP-QgVoNN_29KWTPJZa2VtTpLh0viWD2um1nB7S1ipIfgp-wm8kAEjlv1le3vXBeWxnEoVb6AxEHef0fXHCMatZpXaKBFyqIQw4yI0FtnWGVHI_AJ0FouDvmFeRLfxtJ4RQCkDUe6NWFCLvAETZY_DCx7He-YLiyzGKXYbhQUxRWygS-IOhVjyW28CRKh07j2E3b_Aw5qQPOZfdE6djuFU3nTS9MI391UsXkVxvpKM3ttdedenuKC1RmuR6jExfJqEVuwtgOVMHEvRtELl5SB9gC1JyI7L8KoVaybdGaQfwa5r9ATIsq1oq38dVoiQknyg46kbxyxhpsp9LvemIWgDZGoUChHelKyPYdJh9E0pKBX6pOYvgtQn161tGKbEwjPTm-6DNnsmS0amorRlL32LanIUMK13UbcnUJG0CzTOYtJIbs6t_2r1VI5sAWLrCC2kO-PTbvupu4VzrJijsOKEZq7EF4fiqVmbmie7YxYFxRrZunGZxCPlHIuMYd3o5_3BYKGaAhFhkI0mcqrTFxezFHIzu4sxt34G84S1YyrkHRMHpFdqBT2hpamv6E1_fNMElM3KtBVjIrkm03JQw3WWiCUw5Vv_vodDRj8Bmy8s9Fl4uE5U2dobXznG_NF5A92gSHU3NIqM39V1L2n52h4lr-MX_UYEI137nfTPS-l3CmIPTIjHXtcxAUzgKJ5A70cHP-LihDVcc089udA9Ho11pxrxO3KMqzrM_IIPApl5or_OCBxeloIE47F8_UtrK5v07_VXUrhHMejj_FeqCVZlJ_VoAT0RJdwvBfhjflEwacZ-YINa_q-cTisiEDtlMM3JLmGmVwOJ48t92Zh1rsEPgpTDub85p3LljLPec5Lx6wm5-tlWPv4kyA0x3DTSK0lCbPLgIlVjN53VWXJy6BHf9audH6OHFVR6CxgC9O92stkPKltdou_JzIXEo3sVVhopvsdzljD-dFKzpsprFJAS-Vh7oAYh_KNQCF4JhlyED7wogJD3BLGZ7F4kUnhVUC15TGf3p2Gq13GcBQ-UL1fJDcOu4bWPwg40FiFkTv1jcw87nJNlHRD4KOa_5VHgLJKS9KR-Xq--YlNkKr0OeNZqz-88VHAiCpqXmUwGL4g2bTTWVCGgT4-MAMeOkxRIjUjlITx7-YziBnwxGWnnpnYO1TPmppINROkPWE6yBJ3R51In_GYWCNZ6WBK6TAs_6Nup64bSXCdI-4yDa7-50XbPjHn1IeYFh1gywWKPEyTCAQJCwaKikEjc6CBLZUdKdM_oA6eGDXRNRemuYrQdv37p7LafV_yEHkDaeBlKpYyG4ZyWLyLd1_1DSEnaYpfuK6BheuGdmJE7SAmIYaUE7e2TV8w2gJyRIOQYsJc0kzSyTEu4aYRhXneL9SNSw9_XfQWtPoKaGQdU4qH-xCAAa4GZ2Q_HdiMhLQ-sjhiFha1-kdtLLo5mOspLdyKK_Pzat6KdsDztH3U14ARrWrMUAzKWv1QokJgTLEUyoTHUwUJtJBNN66hv1kfaucqx-kec_gHr7bdZORqUSuQwjwbbAqEZYTw1jrvXXPZU6eBGaTbWFeBw24Fcx2p9ezknKXW9L9fHDWSVT4iICeu2b7kHMoAwgJvb8aZGgzUOkF0aIHv2zdnpp7sbob0cz0Y1PpVwVdfk2aMi4M8ZpFvgNVRLiwVfpxL2mvspAMC6H0QMyXs0FE-Q1AGs997MYmw6OnbJ63QAOdQahmuTyDOQvdIheswlAeE8WJtLMylT0tgScdCZjFsaQ7zdvrI9pQOvm9e4IZgfeOsfCF2xvN-0pe7BunHpESVzuQv89fbMgP4LrazzCKP1MhSXfZe89l4czjaWeijn-iYTmyql1C0QsIOHLXhNsNfsgl3H0xaTzG2zOvWs2K5ZdvA_OFLGuKNmN-Jjh3i36m1GPSG50qM-BPzOa4l-ntLZzDwK17aL_jvWNAFTiFOnFOP9JX61ubbGJTmAg9X3kOTxPQpk-pe0kw5V4TaX7svNw0qkcFzTJWd_gcFbxkfkwsCDSFOOhGJYgXNqRYvynvt27tB1O5r6Wn3iX5eJQR1kiPaydAKT5Na9D1bKVUwvikwnZfJr0JhHTqt53dt8NOTHprfqlAXnZ1HJnvo81fpLsCihjJhzzgvEp_mlFc9xV9PxTVh8WKgwcIHBFmoL5ZOlNzYNt_E-soBrV4jmXfqkgcOEXy8pYLha8u8FBkDGB0S0JLBZ2sU8F9NqbxlmPxSyMFZLVNFghCK-nrm6reltnih-0K4k3gXRz3cStpks4-Y1ois3_wye7VSUyqd9UhUH6GVEkvJ8y-HF42tM8TQpPMdOOevUImZQ18r9OSK0sc4qK3ldH_TSwrY1aZ1qtgwky6NBbRP4EbBzkT4ucGh8I3REZo4WQ8jly899GwNCX_Dc7mmAAY6PE6uC9uihIm1FUYyCgvbz9Hp-1yyi91RMnq-ymJvAHGR8PZEgguqkKymRQMPbR3PtQtVXhQ6eac67Z2yFaICTAkySkGrT6uA7hS3KBDcJfCZ7CIx4A8pTOvhQU6QU9Vk7yDvxOn4-UF2b4rpqnB24HQ9NYnkmAS6jjoeL29U0ZVamSBxDLvFNew4lrk93VxlwS9V5HlXv9M-bNecsAfa2vfkc0rgTi3_c7Lg6QBSALSQwoShVr5BRTyPiB_LmivT98zo-W_L7jk8IJzAfB1rRPKBxinl3uSaLcNkdGImgsR5UGWFmmHDaRtBpjpM3DAbR-l2QL9HDv_vEOmhrIhbCq2DlXtZcBb03y2tmIwxNrRpBgsKZGtzYebqPuD3pAylLLyTU3RdGXNszKKztM0NxqnRN8NzpLMacZE9iVTMGZDXRppQJfHHTMOGU9QADFEs5qrJBI_BRXqZCTTXCXkdkIlXIA6EtrJZHkTmXzxxHhsWQBwbi4aWJEtBckEMUpC8H_zQQytl6gvY0RqXHKq_NGhF2On6y_joM4AyI02UkCtJBJm3J2w_I8oHLqef7n3WdUsEpMysyhSxSo6lU44xraP5HaI71SnPSGDFbnqxaKGIc1PjJXRO_qAPiE57gi5zdFVg-vmXl40H1-qQNSvHNACa45-fXlxd_pC1N0cCuGufPDio2D-pK6ZqNfGTyDzNMJ81ZSTAJR99DEIfUPp03vGw_WcJE6xIRPKTo7exQ2R2LFoXZ4SfflbUS5qBkFS-nMbA-k_kxzGajgT3nk",
  "id": "rs_06dbcf307b9d3ff0016ab45bf6526087d0868b00ee2321bd95",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFwH0t8GfZYw4c80LishTod_xzCdrEcdgc3CErhJCpZ9eMoSQj9l2i8xKnVNOvcE5zlhFvhjKYaCSAMxyY_UrrKjALMAmMmWYznPcdHuFd5XCWJSPuQ6tFqRUHE8W6t7QX14SNOeJaD5HPqQ7DkMZ0MduJPB0DUA-YKHRrRZI71fDlNr2l53B1QK8jjt40sI7plrbcVjSZK1Ztj1SE6I0rYhSi8YKzqOOAcZR4tbUUlwc2ZLSM0sa6nX2mFU4cy7LIf0mpxvL6bDRNDjPMpUvIB6Y41Hojt_uYeSmaPQ4la64QsrvKmyoNOTRxiLTCYJWSr4NwEQeVB5zCUrqK2ylDRzfQaaoUhFVqB01wbDH1ZUnE_T752GMSc_i8_zucNGCbN-22DrlUg97V3loVZiOCIGFjxldcMIMHVgzER4WxiYDGHvDXh7QnLJC5Fwv6NglCtMuI0PfihbC6LyIKVFlM58CJmDyW-3b1_hvW5fefBGHBFH4Us-VZ8quM-51xsupSlsOfFPDIbgnxLkLKN67tJkdCya897R8Lig_Va6DG8-DPl0jmoIOtiV6Z6ZJ-jfv83mmVQmYnzVovhZgVnLW3h1Nw9HA4nercVTGEHm-fDAg7WPiXRX7ifxAuaKdEeVgdkPvAbNwtN1CaOSsHIxVKwfQ8W0pto3-Mi0xcqpzNSAR0unfaWA49RMrMZKKf2VeHJjWKCXBprKat6g3YnBhAGJN3sqxbwadPuXBd1_7z9nsp4Y5Wpel6dr6GbLFbkFX6NZDUWYdyDCorWPksNHIzH8GyOVbC3zpCyvYnd6khQ168wFAgcNJvXaINpX5lS6DVo1Ppyv9L6ZiVCJjhZ6DwHC5aODwQi-I63ocBSP2yLtD9TFOANN7AgFuBf67CPSTGt6GfLrJrcepMh0teGm2Y4s1s6RNMn4W6l7EBV0N1kgUF9p4TTgZC09h78CbzXVETnP9oI5DYkLc6Tfa-B_8eZJqb27MTsFAB68kXuNqNuo51xtQd8hAAm9A3Dg4NkqUK92UnCBcreehP3SbBZV9yu6LZL780CIvD_iTBnr95WwyY-005Xacu65mCEG8uPmPRYTIZilTjPLPNU66_JZ3u0LpDfaBoWVs5SQ2ZhNa7NS19Jhd63oK9pbY97gIH6xNapzU5Ysf-MzR9DMi5g8hAyxBRDJ6CSNUO95eHMOx6rVm9z5A8qpk7B84-AwdAMhiBkvt9-V37Fug0YaCRANVI27GYuRo4VMMoov32ALWoiPUCrDwMT3t3tXu2D_aUYWdvRY72OcT3zzsrcVhDgYj8bRywG9-F1YaRTOuoDGVnQitg4WfuGfWKrybpwTeXmLdHdH8dH7dnW6_7DpUWQcsqt7WLAp52G--DJ6V9Fv6BaKuvKL33sCfoJ-Do4nzYZYemJWzCIZMlpUBIJiojQeaf0JleSLh_4MXfiyp4scoQ38pCge9IbBPyQGpRI0t5vv4IUciEtTp8c6TFyG6PF9eXBThagswPWoYNZfxtGAl3tVcK0YV4xR-Nc4ByV8qmmXJSvpiYS7fEmX--vlsH2MY-Md8SFnYyQI0CRhRJ8Lfe6VdbuNAYR--vpw-ycYd0WuYp8MfmSEHEYmOT3Qt7g-cM-GUK5nHOafFKOo3nAN_sedU4Bb_OFVVJNme1o4x9uHsYc9Ded9DBQRWnHtE5no-hRUS-g9Pxl-2vlFnDDHT57iRa-PT9htHk3lR-28HGMj3iDuymidsgNxVPEREAR0VKpY5S5cJoxVteZFc1G1s_pwXeep7AHosMp1Oq6n1y1AuwGjjQxOoctOd3PSMSSDSRY4XeBlQ30hNQDubZc7RYdXX2gO7R2Ngv5Q_FhtJ59Lt5DRCuR3dKut9tA8n59JjWN310HmNcxeJnsZxpQycLKX0bz92ZKv2wr9nKSl_ribnUuSWe3rUqR1IUzfu0XcVSZwvSbVeJZUGQlNn1_IVSDzdFU79CMRGMBsgDNhI2vOndF3meon9BWafCzEPIu_7O5tCiWXkHQqOi7AuqTyYECRhJ5oIREd9WmV8bOItg7M08hfBawBSibjmtUrlRPaXTRHafHEVROuTtseOHvhYWykcOlL5hJvtvhxbQeDyD88u29t4t4htVTeVUy2y-UjygqgRNKVEk2_f4sFlsfhPRvG9yobbHC_8ecbc2qUIYVeN0Fl3iecgBIHrgF9e7zYNhwKoIYMDryvCrNx9iG3imDW9IqfCdWcpKKh35e9TPcTkRlegpbK9aYnooPz0yKUZex0BSL_ThMDsHK80-77jCwuow3TuBEZI-apa1sce7dM_JHO5D3LiTBPgjZzyWAup1B02NUf5TVu63V2Bobqh4RETMzJo99ZSXkIPeQklh6uaitZi0p06aLag7EclL3Qugfx2bEbXCRr7p3Y2hG6OyPea51LbURkmIlGf9swFkAE2hV607EPoybfoYt9nhts6LOLElJjJzQIGudcoT1QHqU746koWXJORBN4qkqvtNyV1Z6OrGQsnNuj8hjiQlwAB78WBtZv6c_l2byMjjNqwO4vrj3GAhIZ9nzbhoecBBLk76Ghr-NDwYcrF8cNmf-5fEEMViGMlEQgJIlsRCjqBKz0Vgc=",
  "id": "rs_06dbcf307b9d3ff0016ab45c00e11887d0b5fad2900e765ebd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_y\":0.045,\"right_z\":0.055,\"right_pitch\":0.4,\"right_gripper\":0},\"note\":\"Part of the brown plush still hangs outside the basket’s left rim. I will approach the basket’s outside right wall with the empty right gripper, keeping clear of the left arm, to nudge the basket underneath it.\"}",
  "call_id": "call_58Tz4aa36n45T21m4K6fnVr2",
  "id": "fc_06dbcf307b9d3ff0016ab45c05d29487d08e1b56b595cd7dfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_58Tz4aa36n45T21m4K6fnVr2",
  "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]: [-0.4812, 2.3707, 1.7481, 0.3794, 0.5491, 0.0746, 0.1172, 0.0982, 2.2101, 0.8768, 1.0367, 0.0662, -0.0223, 0.0119]\nstate[eef_state]: left_x=0.5422 left_y=-0.3831 left_z=0.1489 left_yaw=-1.0292 left_pitch=0.3549 left_roll=-0.0379 left_gripper=0.1172 right_x=0.5275 right_y=0.0438 right_z=0.0281 right_yaw=0.0452 right_pitch=0.2743 right_roll=-0.0283 right_gripper=0.0119\nstate[joint_eff]: [-0.3487, -14.0103, 7.1316, 1.4921, 0.0952, -0.0073, 0.2076, -0.0752, -10.1538, 7.8701, 2.7082, 0.0317, 0.022, 0.5104]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c33ca95a63de23c43a1cea4a23fd2437bbec42ff74e39a2861117fd8d577439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbea80df19e6dbc74075677327de01061b9bcc1d2a7e41aff8d861287162357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0e8e3890cc1bf8f1ced64608f7b985f65cbe15da4a229daac14e5d67490456",
      "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 134 changed as sent

message 142 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]: [-0.6903, 1.8229, 1.0683, 0.0593, -0.7338, -0.4725, 0.1117, 0.0708, 0.9161, 0.9039, -0.5861, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.4324 left_y=-0.199 left_z=0.1148 left_yaw=0.1401 left_pitch=0.0652 left_roll=0.0466 left_gripper=0.1117 right_x=0.3083 right_y=0.0177 right_z=0.2397 right_yaw=0.0309 right_pitch=-0.0274 right_roll=-0.0194 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -11.9043, 8.7453, 1.4628, -0.3199, 0.0366, 0.2271, -0.0752, -2.3726, 7.1043, 2.0, 0.0855, -0.0269, -0.0073]\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]: [-0.4808, 2.3703, 1.7527, 0.358, 0.5571, 0.078, 0.115, 0.0708, 0.9211, 0.902, -0.5903, 0.0429, -0.0074, 0.995]\nstate[eef_state]: left_x=0.5406 left_y=-0.3834 left_z=0.1468 left_yaw=-1.0348 left_pitch=0.3421 left_roll=-0.0453 left_gripper=0.115 right_x=0.3082 right_y=0.0178 right_z=0.2366 right_yaw=0.0313 right_pitch=-0.0384 right_roll=-0.0191 right_gripper=0.995\nstate[joint_eff]: [-0.1162, -12.2735, 6.5299, 1.8681, -0.0464, 0.0269, 0.1343, -0.0615, -2.3043, 6.8991, 1.7363, -0.0122, -0.0562, -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]: [-0.4812, 2.3707, 1.7481, 0.3794, 0.5491, 0.0746, 0.1172, 0.0982, 2.2101, 0.8768, 1.0367, 0.0662, -0.0223, 0.0119]\nstate[eef_state]: left_x=0.5422 left_y=-0.3831 left_z=0.1489 left_yaw=-1.0292 left_pitch=0.3549 left_roll=-0.0379 left_gripper=0.1172 right_x=0.5275 right_y=0.0438 right_z=0.0281 right_yaw=0.0452 right_pitch=0.2743 right_roll=-0.0283 right_gripper=0.0119\nstate[joint_eff]: [-0.3487, -14.0103, 7.1316, 1.4921, 0.0952, -0.0073, 0.2076, -0.0752, -10.1538, 7.8701, 2.7082, 0.0317, 0.022, 0.5104]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c33ca95a63de23c43a1cea4a23fd2437bbec42ff74e39a2861117fd8d577439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbea80df19e6dbc74075677327de01061b9bcc1d2a7e41aff8d861287162357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0e8e3890cc1bf8f1ced64608f7b985f65cbe15da4a229daac14e5d67490456",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFwOTa7u73RefFwOSLF-evUXgRzidTrYLxRz5mEzK-VCEUv0l44ZwFLs0S4Ks2Q90O57CT7K1y71Y6DiCbWp2zyzksmch726pccb-o_hmHKpG4ej7AejOCKZxJYr6qMFvhL4isU5XsqpKoHaaGZYXYA-HWejQ5q4W2eKYaJxvzpBiWqyrGWkxMbipFlgV4Pjlbrgy4OHvZkl11k5dh8A6yC8JjSWot2eRmGr5ukofgwpNQY_x4aGXu58p0qbIA83CxOhIHLVU4fbw5SzXLoEEO3RJfAH2rwoB72hiBva-YEIkmt-lgMPuNfa-XP-3xwJIojhwJTihfF4f_f0OJLM0Ph2ItfwQvLnxZWSrhLUskL9YaAsXCXmpKiV--QqdSlwCkqybHoTNhjS50UW5laHDWxKXsgddLngktzkDRaF5JdPtnAg16r2eiLQQ16TR6pjlV64rqM6ylAoiQYHm4fpnFwcYvsaVyKOB17dIq6qvslxgLzj480rva2Ah2hX7MePWpGhGMGyjPMSI2sGlnCGXJ65iGnCQX2uAlYvvCjnP0wfXoorrUugyVS_-FwuEz6NVS3ii08X0g4YGByy5EVq9H_pW-0KAYmnu-7L_wpLR3QgMXiXPP0jdyIiZ8eJkjtfKPFYRfUnuIpXNL2LVHR58y0hASmJSjzolc6VxMidZK46qcSE7Qg2G1X4g4vuyTQTfIPN77cLaRbyLSwfbwZothKnUsSYRewgJr-GFsyPd5PcytPhqPn4FvsbA4zGbXyB1l3FL1RQETh8J_Dwv7GHQeTiiAnm5RDCmRhHVhTokFgLXL8zkogNk_25UKDqLfVskLSOdIOc15Pk6MvWvqwzJIvsrFEpbKBkd8AUL1CWTNfOBY5yeR6Em2RdMxdJv7n7iLxE33TamGOkta26jZwMnsPZjn9kW3IODKaqADWwWWDiqW_nrbPJLAwSIZ2U9chUBRHu6LhIMmEBNvHzO1kZfB5JiiFNzoPWg_7FxGVhlYBEi19adHyapYDaWH8jtn57r4zAgql93Z8jgtBD2yBIDsDI4IF6prwQMQIWjLPh8mb5m8G6ECByLC9ZLxlf4ypplaiMeYhHlfc_eMNO0C62Epn74yVNn0F7NNsumlgE3c37b4Js9epu6XXwkq9nvLD5s9BuV4-wGcz8YZwcZH122RHznbqk0osn6Vj8avN9tzECuQJDVdjBq6RH3lN5lQMUYPBHglDisSI32k3zzxPOifHWt-4ii-pF8eCSCzETU3Nz8DXmhEXe0jK2cIWnbjysEga7Sgztrgo5IAFJgxD5uQj5Ky6mdb7T4j65WAHDLHpQOhDUZRcUvnRYkBRxLRSfYEl4p4HtWv-tczbXe_zVRpj7I4mm5tGHoCnmuhE3eA6YPNTB3OaUxxLib3cnqVSX0c9FEOa8JXvzN9F_8kK5MdbvCSlmNkRT7Aj9cRSJolxRnsGefziisqtiaxGhcQ8v8rsrZPwj0KzS7wBmR0pyflX0Uk5ulsb86f-yRPv4gSXC___obM4Y92mfioJ2cl88nJtAk7KMCHURLCMfI9peEbU3rswaUdizfFbcU5_TiTvd94VIOAyPxH1NcPSaQTeqXQPMKnWQ3jr8eEhD9VD9n2VPVWuxUaMGCNjIeTQJPsvynXwEhV5pgpAhuuZggRvYjueg5SGGVaDDcFuskkpIW6g-xulC-e1f77gSaXTeQr40Fcf5Cu5TigTT2ABCTfHATULyRYAEXTgOTvzXH16Py8qEFh5SQuC8VaM3TYF7HTpq_g4EVF7LKavVJW_HXxwQPcMWQkeepMkd74mWK-iPHJkNHWj-YTtQf5mJYBW0XJCrhBzUPll1r4PLw85GeUKf5Ap3boh-k2yHeABn1Ia6Jq39rJi44Mnu0MnW9heLZak3vCv_cFShEWhqVaxLUr-DsAUNdDEeaOi51SKUzbHwaeBLH8tkK3vak_DEjoqEm1DeSD4=",
  "id": "rs_06dbcf307b9d3ff0016ab45c0ad89c87d0bf5ee7b0ba92dec0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.045,\"right_z\":0.06},\"note\":\"The right gripper is beside the basket’s front-right corner. I will move a short distance forward along the outside so the sideways nudge acts on the basket wall rather than its corner.\"}",
  "call_id": "call_C9TIlhysywYEqmluyZkIA5XQ",
  "id": "fc_06dbcf307b9d3ff0016ab45c0dd22c87d0b3aacec600c388bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C9TIlhysywYEqmluyZkIA5XQ",
  "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]: [-0.4808, 2.3707, 1.7481, 0.3798, 0.5457, 0.0738, 0.1185, 0.0917, 2.2303, 1.0534, 0.8104, 0.065, -0.0235, 0.015]\nstate[eef_state]: left_x=0.5428 left_y=-0.3826 left_z=0.1489 left_yaw=-1.0254 left_pitch=0.3548 left_roll=-0.0378 left_gripper=0.1185 right_x=0.5598 right_y=0.0436 right_z=0.0294 right_yaw=0.0413 right_pitch=0.2045 right_roll=-0.0328 right_gripper=0.015\nstate[joint_eff]: [-0.212, -14.0103, 7.1179, 1.7558, 0.0757, -0.0611, 0.1294, -0.1026, -11.7675, 8.3761, 2.4689, -0.0855, -0.0513, 0.6569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1129041b047095debcef8fbace31acb2ca3340b8e833213a696ceec182f0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a5383161b9e3c1f46fbad80ae438515b24fb878efba0d82c14ae155efe56cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6359ed03b5a0a0f2bb11bef20eb2a89ea623ddab62e917550f4d98be71faad",
      "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 138 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]: [-0.4835, 2.2997, 1.882, 0.1951, 0.5507, 0.0826, 0.1135, 0.0708, 0.9165, 0.902, -0.5903, 0.0437, -0.0078, 0.9949]\nstate[eef_state]: left_x=0.5426 left_y=-0.3853 left_z=0.2159 left_yaw=-1.0415 left_pitch=0.3727 left_roll=-0.0183 left_gripper=0.1135 right_x=0.3076 right_y=0.0177 right_z=0.2379 right_yaw=0.0308 right_pitch=-0.0339 right_roll=-0.0197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -15.0632, 9.5248, 1.8681, 0.3443, 0.2906, 0.1783, -0.3077, -1.9214, 6.9812, 1.7705, -0.0073, -0.0757, -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]: [-0.4812, 2.3707, 1.7481, 0.3794, 0.5491, 0.0746, 0.1172, 0.0982, 2.2101, 0.8768, 1.0367, 0.0662, -0.0223, 0.0119]\nstate[eef_state]: left_x=0.5422 left_y=-0.3831 left_z=0.1489 left_yaw=-1.0292 left_pitch=0.3549 left_roll=-0.0379 left_gripper=0.1172 right_x=0.5275 right_y=0.0438 right_z=0.0281 right_yaw=0.0452 right_pitch=0.2743 right_roll=-0.0283 right_gripper=0.0119\nstate[joint_eff]: [-0.3487, -14.0103, 7.1316, 1.4921, 0.0952, -0.0073, 0.2076, -0.0752, -10.1538, 7.8701, 2.7082, 0.0317, 0.022, 0.5104]",
      "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]: [-0.4808, 2.3707, 1.7481, 0.3798, 0.5457, 0.0738, 0.1185, 0.0917, 2.2303, 1.0534, 0.8104, 0.065, -0.0235, 0.015]\nstate[eef_state]: left_x=0.5428 left_y=-0.3826 left_z=0.1489 left_yaw=-1.0254 left_pitch=0.3548 left_roll=-0.0378 left_gripper=0.1185 right_x=0.5598 right_y=0.0436 right_z=0.0294 right_yaw=0.0413 right_pitch=0.2045 right_roll=-0.0328 right_gripper=0.015\nstate[joint_eff]: [-0.212, -14.0103, 7.1179, 1.7558, 0.0757, -0.0611, 0.1294, -0.1026, -11.7675, 8.3761, 2.4689, -0.0855, -0.0513, 0.6569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1129041b047095debcef8fbace31acb2ca3340b8e833213a696ceec182f0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a5383161b9e3c1f46fbad80ae438515b24fb878efba0d82c14ae155efe56cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6359ed03b5a0a0f2bb11bef20eb2a89ea623ddab62e917550f4d98be71faad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFwTcpc531YDoSgJwe5DukNC7wjCDxtUzmZFZ0Pgank8zdsj7Pu3v98a2z8lniqRcqysGIxZBDP0KgMpC8P1l4dCppztr5a4fMN9VOmEKMEDWU0FxU3jy7ekYLkMKv6yLxyOIxYT8cSzKopUMv8DylhxDldzPgGm--v0bM8jSPc2kVpFaEm32KNebtVGSF_YcIaD9rt-iA9ZOfX9U8HLo4kziorqMCxLHSpGDHvkwrrZ5RHvL-5wVcxw-DYiF7y3rDkHXUgQJSiiOKBYz_leqbcxS6N02PUvlSh0jJaPWFPtozNnO-UOYK0Y6EiHg-i4QvgnmC-xOT0hoAFG3R5i-Ww4Er-hqdExecxxnuly8mCpy_WzXIUTh4smF6wTEjUkMwdFSlXPxr7_kUtpIvc7j79HytmG7WWrm_BoDw4dKqVZc77XEEK-8_qoK1cGHDvGoke0Niys2Jk3OApBjAxe8vpQEXGKY8dQ0HvvbFkSKtC_JNIgtk0Qy9LURLRbJ2duoX8kmVkRgu7YzYTCKTh-Sh7-DCeeajwKsHeTc2gUohyWACQLhZtkM37yOihc2ePMpfPBYKjDt7wquFjilaFV3GFabdmV3vRAd_rk77GDt1O7evrlgxoZssuZOaoYG-tWtkhgnoTgO3TrsjudjgGIdLOSziplHRU-mbkuKWdSqVJSEB8oQzMl3sX3JcUIbqK_Oyd_M28MblRPbBi6pm-N53jDxSVwCDVhA2O0UrP4RacqbIReQ9nOhAunHwtRykUj0gZvXS-jnfTyfotvDoJoOES1dIui9Z0pUYqU20lqtklJ99ZKn2w-_2xj9srgjciFSL2pKD3V-KsngeqBYFPSjcmuo8VRs-rKcNXjSoAEQZpu83j02q2-6VQ17cVDR8viLNVcTqJT1QXF6fjhKb1Y1U_sHrvZDoY6MZcVoKtwsYUhVuUD3Jn4hAzyFCX7PtlKwz7cg-JeWw0R-WTz8LWpCpEZqErvHPfNz1nbqf5Xlct_MOf41TwlzqguuXVN7QDrPTz5dn5tSzYVGfQMkp8bZYgU3QT2cE6HMsp-Ed5q03xmdVux1k7hVtFc1-zFIoHEc4mj1V5HK3X1T_b6FnFKlFNy_WWrGs2_Cue4l2DoFGX6Dr789KdVX7gmCGcvIv8r4FhqUYOYAW2z2942bTUC3LJ7CqhQGWS_V4INO90bWiEK-EUV0UQQT8-Qmr3MhQLVtlvEs2CnZe8zWft-ybwIL_xj7SnE3yeL_c7d7IiOiSueCXBippH322vt7uQ8T3LqFLA9C3Qiv5fIIW3qIJ86AWfTZA==",
  "id": "rs_06dbcf307b9d3ff0016ab45c11712487d0bf560ee33972e4ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.13,\"right_z\":0.06},\"note\":\"The empty right gripper is against the basket’s outside wall. I will give it a small, controlled sideways nudge to bring the opening under the suspended brown plush.\"}",
  "call_id": "call_9oL5Wph5mA8X77hE5oYugoRC",
  "id": "fc_06dbcf307b9d3ff0016ab45c12199887d08483fc2df255768a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9oL5Wph5mA8X77hE5oYugoRC",
  "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]: [-0.4808, 2.3707, 1.7481, 0.3798, 0.5457, 0.0711, 0.1187, 0.0906, 2.2314, 1.0821, 0.7433, 0.0589, -0.0227, 0.0173]\nstate[eef_state]: left_x=0.5428 left_y=-0.3826 left_z=0.1489 left_yaw=-1.0239 left_pitch=0.3548 left_roll=-0.0405 left_gripper=0.1187 right_x=0.5619 right_y=0.0442 right_z=0.0243 right_yaw=0.0453 right_pitch=0.1648 right_roll=-0.0316 right_gripper=0.0173\nstate[joint_eff]: [-0.1299, -13.9556, 6.8171, 1.7558, 0.0122, -0.0024, -0.0024, -0.4171, -12.2462, 9.1009, 2.3761, -0.0659, -0.0513, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee7f95915e5e2b8ac47c8c8d696d2609bb6efd98af6ef60d3da7f4427cffc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941fc7983c1f4dba9e1757e2307487245ae86bc3cead38c625412fec9f6f1df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7706ed99f25134f16479553ba50e31003e047c69cef2de6c2a3d312dbd69391",
      "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 142 changed as sent

message 151 changed as sent

message 155 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]: [-0.4808, 2.3703, 1.7527, 0.358, 0.5571, 0.078, 0.115, 0.0708, 0.9211, 0.902, -0.5903, 0.0429, -0.0074, 0.995]\nstate[eef_state]: left_x=0.5406 left_y=-0.3834 left_z=0.1468 left_yaw=-1.0348 left_pitch=0.3421 left_roll=-0.0453 left_gripper=0.115 right_x=0.3082 right_y=0.0178 right_z=0.2366 right_yaw=0.0313 right_pitch=-0.0384 right_roll=-0.0191 right_gripper=0.995\nstate[joint_eff]: [-0.1162, -12.2735, 6.5299, 1.8681, -0.0464, 0.0269, 0.1343, -0.0615, -2.3043, 6.8991, 1.7363, -0.0122, -0.0562, -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]: [-0.4808, 2.3707, 1.7481, 0.3798, 0.5457, 0.0738, 0.1185, 0.0917, 2.2303, 1.0534, 0.8104, 0.065, -0.0235, 0.015]\nstate[eef_state]: left_x=0.5428 left_y=-0.3826 left_z=0.1489 left_yaw=-1.0254 left_pitch=0.3548 left_roll=-0.0378 left_gripper=0.1185 right_x=0.5598 right_y=0.0436 right_z=0.0294 right_yaw=0.0413 right_pitch=0.2045 right_roll=-0.0328 right_gripper=0.015\nstate[joint_eff]: [-0.212, -14.0103, 7.1179, 1.7558, 0.0757, -0.0611, 0.1294, -0.1026, -11.7675, 8.3761, 2.4689, -0.0855, -0.0513, 0.6569]\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]: [-0.4808, 2.3707, 1.7481, 0.3798, 0.5457, 0.0711, 0.1187, 0.0906, 2.2314, 1.0821, 0.7433, 0.0589, -0.0227, 0.0173]\nstate[eef_state]: left_x=0.5428 left_y=-0.3826 left_z=0.1489 left_yaw=-1.0239 left_pitch=0.3548 left_roll=-0.0405 left_gripper=0.1187 right_x=0.5619 right_y=0.0442 right_z=0.0243 right_yaw=0.0453 right_pitch=0.1648 right_roll=-0.0316 right_gripper=0.0173\nstate[joint_eff]: [-0.1299, -13.9556, 6.8171, 1.7558, 0.0122, -0.0024, -0.0024, -0.4171, -12.2462, 9.1009, 2.3761, -0.0659, -0.0513, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee7f95915e5e2b8ac47c8c8d696d2609bb6efd98af6ef60d3da7f4427cffc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941fc7983c1f4dba9e1757e2307487245ae86bc3cead38c625412fec9f6f1df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7706ed99f25134f16479553ba50e31003e047c69cef2de6c2a3d312dbd69391",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFwYzVBgivZkywLD1GXtREfeQKTPVfy03QweL0WtC3a3oFSpDcfJe2fi-aIblgozrbt0xXHvKqsyTf-qF4uAvreEd9GYj7X9pyNncpUnYTxVoTfveMlRQ-EDnjidzTsGuK67lJSqbdjAZK6YvFZM3yT8UD87sXU1EIZkZixhHe96A4EmSz892PpsZP3Wt-4Ee2OME9xKMkfYg_DLfKqsQKJwSL93A_nONDf3STagBwne_ybS9s-fQk-_Xoogy_OwimtDJtypZ4N1DEfJbthtuG1DipZD0b77hSFYAJfLr_cfS7BIHviYLupEMOWCbQTytF7uce-c5n8hxeSkJ387l-K3sgZmtUwni4D0N2Kiig-wR-uTgyEtu0w2kNAEg2mw_j2ZOLCS2pnrC5mgWWPApSBdQ0Ckvosm13C8xNWObA5pYEz-NeBJwIgJS-4LrR9tEhdSjEg77y5WAYeDBny5RDMCpSfAmrjMEfCf8WPklPNgidua-LBuc-LBuM8liC-8OkDzihDoiuwQm3Vwdbp4xFV0Jkc2G0l1aCVP7ERKdvWYyc66nrXdH2MfuKU4tFxENW7z97wUsUo7V11W7C-2FCB2CZ9PsFD0l-tF2cpoqr5QSYpvSP7j-LlWQb0mMywv4OOaCaGyufJRca3mQHhOyndekHHi8xt1Cp803HjGvVKagRuQ7XkqAmg6ICWsi0hlXlb6H1LhbYyyRwr6mG449QqbazkNFypM9rgYyJiaON8UDSJHtaWRj3BFkGE6W-OW8Yj0NNb5H2JULXnooGSR0_UR0dYLN0AUZC87xRC3vdm0EKgtcK_Zzco-4n6_PrNLu7F-zAYWa8EwPHnJpHC54Xlw3oSZ_LmggNCGiB2jb4eHzqu_NFGE_TCxrEo5XB2Ym3h_rGxjSTNkRmElxskeKWGTvFEebLJ2zGIk4rH03HWpUG_DclSzY0lLQvA57VcZnsOdYbD2g0Y_QdTt-A3mTC1yDS0ZVGu1SZklntsDoXyAfZIsNNZbpAEEh1STTbfgETn885owreb-1j8tsgDnVjMDG6mdv6C_TZgU1dvp9TQxQmrEaXqbCn_kUzacOw4A0r_q6eVtfFfk6ZtzzKh-R8SRnf9-ggQ66kEYqqmcV0nos-jibffodeXRpwTEY1RH3bUAHFSOSpmRFSik7UgE8cr5QA46-H2a-uF7g1GgjL_-EfXWA7oCD2QHW8jaauTuTmQvhVvliKtXoSOD_sB9KXmsmOKrZi-IYHjFkg9xNqi4hkilgi2vdUTQxjmy_eMdBmfSTxJw_0uAVdQIgJm2_GncHQ8PQiB57gY1YgByySlOqSMrG_4TwE53LnXBzoyeKZ_gudTVcZIMWgcTWq8RtyWLyat3_-nIZEoCayOebDJTRH9D7ARMT50zCNzy2bgbBd_Rxn0lwUkJNow23LwA28c6P2Zyk3xuJNB6i9Vi9QF1MB94cl-Eg3cDNYVsG002cuSlxvAHnk4CFA5qgC6PfgETixFLAEiWZseoM_gsx-kzD4qobDKoZKWUzoFoUOwr8_VGG0cJdgo0evdnc2QgTtegZaON6DqmaP3StSi47byAZT3eP3CoNZbQh96b66dPdx4vS1QlgYkfvDBiU4ihM8QSPSxFRNsu0FYlaO8hkShM-yydsfxe8pzGJ5TUgcpGYPmviyDJDFLrurcNwlS72Bk1ueXkvXIuXzlQOJKmyHQtzzoJkB3G3QzBoAdSsr5z1mslwPP8IDLLH56EwD4PFSY5feaf2hxd0hgOez7cFE0BTfjX8hKSfFo2Z6FF0uUmQjbhITRscGGOClqxZUXccs5VbqayK0SMrnH3TXHzd8NclyEHuPrAqyTJH3qKpfoGALShaNPwvr8DEPe4cUFBCpknDzwoA1iwddYWqIk9eVN_70S9ZXW2RwOwi5o1irGcZSyFU135URr4BbE8inJmdsZdM6iOaucp1QgXFVCynbQMAvwvlHSy7mqDD7A0d7N9d_npA1PVHwZbd_3c1OdArpU6Rg==",
  "id": "rs_06dbcf307b9d3ff0016ab45c153cfc87d08d542dfd505be6b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0.02,\"right_z\":0.25,\"right_pitch\":0},\"note\":\"The basket nudge did not track, so I will not force it. I will release the supported brown plush at the basket rim and withdraw the right arm; the overall sorting task remains incomplete.\"}",
  "call_id": "call_V6lfILaKVg7pgE6ZhSn06OXA",
  "id": "fc_06dbcf307b9d3ff0016ab45c17aaec87d08e72b095ffc86a7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V6lfILaKVg7pgE6ZhSn06OXA",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4808, 2.3707, 1.7462, 0.3748, 0.5453, 0.0677, 0.998, 0.0895, 0.8936, 0.8639, -0.5125, 0.0509, -0.0227, 0.0182]\nstate[eef_state]: left_x=0.5424 left_y=-0.3823 left_z=0.147 left_yaw=-1.0203 left_pitch=0.3488 left_roll=-0.0478 left_gripper=0.998 right_x=0.3118 right_y=0.0225 right_z=0.2434 right_yaw=0.0515 right_pitch=0.0286 right_roll=-0.0336 right_gripper=0.0182\nstate[joint_eff]: [0.0068, -13.9692, 7.0906, 1.8291, 0.0562, 0.0122, -0.0562, -0.6496, -1.7983, 9.4974, 1.7411, -0.0269, -0.0122, 0.7253]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb86d4a0e2dc11512fe44ea75966bcc7a18cdd51e2691e0a6ce9cbd709b73e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d122199e28030ab01f41fa1f02235851e9b406c5bb1352e17d0cb080633a0fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb3516d6ab434afe3fbd1f250eeed1044987a3c9d02ce170b49deb3a81b02d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}